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RGBDSlam + localization

asked 2012-06-05 18:24:14 -0600

Brioche gravatar image

updated 2016-10-24 09:00:43 -0600

ngrennan gravatar image

Hello all,

Is there a way to add a 2D map (where I will show the position of my robot) in the GUI run by roslaunch rgbdslam kinect+rgbdslam.launch.

Actually I just would like to reconfigure the windows of RGBDSlam GUI ,but I dont know I should do it. Does someone have any ideas? Because it's a common wanted GUI, I think it's exist and I don't want to redevelop something already developed.

Thanks a lot Cheers

PS: I'm using ros electric on ubuntu 11.04

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answered 2012-06-06 02:06:53 -0600

AHornung gravatar image

You could regularly create a volumetric 3D map in octomap_server out of the point clouds from RGBD-SLAM. octomap_server can create a downprojected 2D map for you which you can then display in RViz together with the 3D map and your robot.

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I've tried to install octo_server as shown on the rgbdslam wiki page but I've this error message: Unable to locate package ros-electric-octomap-mapping Unable to locate package ros-electric-octomap-visualization I think it's because I've just upgraded my ubuntu but I don't know what to do...

Brioche gravatar image Brioche  ( 2012-06-07 14:00:20 -0600 )edit

Hi AHornung, would you please tell me how to create a downprojected 2D map using octomap_server?

Chong gravatar image Chong  ( 2012-06-18 09:32:42 -0600 )edit

answered 2012-06-05 22:54:08 -0600

Hi Brioche, there is no way to configure RGB-D SLAM for this. Would you want to preload an existing 2d map?

Don't know if that helps, but you can display the current pose in rviz (just display the tf frame /map).

If you want to modify the code, I can point you to where the functionality would go.

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answered 2012-06-06 14:54:07 -0600

Brioche gravatar image

Thanks Felix and AHornung for your answers, I really appreciate your help.

I was thinking to use octomap because of many posts as this one. I do know that's not a 2D map but looks like a good idea.

I was thinking to preload an existing 2D map and then display the pose of my robot. Since I'm 2 weeks-old in ROS, I really don't know how to do it. I didn't find any tutorials on something like that (I may not look to the right place...).

Felix, when you are talking about where to modify the code, your are talking about Rviz code source?

Another question: which roslaunch should I launch if I want to run rviz with my kinect? Because I have tried openni_camera but my rviz GUI is lagging like hell and openni_launch is not working at all...

Thanks again for your helps


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The problem with your setting would be that rgbdslam cannot load a pre-existing map and localize. Therefore the initial pose of the camera is always the origin of the coordinate frame, and you wouldn't know where that is in the 2d map. I am talking about rgbdslam code & gui, I usually don't use rviz

Felix Endres gravatar image Felix Endres  ( 2012-06-12 03:40:54 -0600 )edit

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Asked: 2012-06-05 18:24:14 -0600

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Last updated: Jun 06 '12