Ask Your Question
0

how to get rgbdslam map data?

asked 2012-06-08 07:28:38 -0600

shubh991 gravatar image

updated 2012-06-08 09:48:24 -0600

I am using kinect for SLAM. In this process I can get the map generated using rgbdslam package but I don't know how to obtain the rgb and depth data generated by the sensor. Where exactly is the map or better say the rgbd data stored and how can I obtain it?

I am new to this thing so I cannot provide much detail. If somebody could provide the answer it would be very helpful....if you need some detail from my side please ask for it... I am using ROS electric on Ubuntu 11.10..

edit retag flag offensive close merge delete

2 Answers

Sort by ยป oldest newest most voted
0

answered 2012-06-08 07:50:21 -0600

allenh1 gravatar image

You should record these topics in a bag file:

/camera/depth/camera_info
/camera/depth/image
/camera/rgb/camera_info
/camera/rgb/image_color
/tf

They have all the info for use with RGBDSLAM. Then, use that package to map with the simulated data. You can save the map in the GUI supplied with the RGBDSLAM package.

If you are just trying to make a 2D map, then record

/tf
/scan

and use the gmapping package to map. Use the map_server package to save a map.

Hope it helps!

-Hunter A.

edit flag offensive delete link more
0

answered 2012-06-08 11:04:34 -0600

shubh991 gravatar image

updated 2012-06-08 11:05:40 -0600

Here's what I did and the error that I get...please help

shubh@ubuntu:~$ mkdir ~/bag

shubh@ubuntu:~$ cd bag

shubh@ubuntu:~/bag$ rosbag record -O rec /camera/depth/image /camera/depth/camera-info

Traceback (most recent call last):

File "/opt/ros/electric/ros/bin/rosbag", line 35, in <module>

rosbag.rosbagmain()

File "/home/shubh/ros/rosbag/src/rosbag/rosbag_main.py", line 807, in rosbagmain

cmds[cmd](argv[2:])

File "/home/shubh/ros/rosbag/src/rosbag/rosbag_main.py", line 115, in record_cmd

os.execv(recordpath, cmd)

OSError: [Errno 2] No such file or directory...

edit flag offensive delete link more

Comments

Did you compile ROS from source? What Version of ubuntu and ROS are you running?

allenh1 gravatar image allenh1  ( 2012-06-10 10:54:10 -0600 )edit

@shubh991 This probably warrants a separate question if you're still working on it.

tfoote gravatar image tfoote  ( 2012-06-17 18:32:00 -0600 )edit

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

Stats

Asked: 2012-06-08 07:28:38 -0600

Seen: 317 times

Last updated: Jun 08 '12