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how to get rgbdslam map data?

asked 2012-06-08 07:28:38 -0500

shubh991
105 ●5 ●6 ●10

updated 2012-06-08 09:48:24 -0500

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..

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answered 2012-06-08 07:50:21 -0500

flag of United States of America

3045 ●62 ●89 ●110 http://allen-software.com/

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.

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answered 2012-06-08 11:04:34 -0500

shubh991
105 ●5 ●6 ●10

updated 2012-06-08 11:05:40 -0500

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...

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Comments

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

allenh1 ( 2012-06-10 10:54:10 -0500 )edit

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

tfoote ( 2012-06-17 18:32:00 -0500 )edit

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Asked: 2012-06-08 07:28:38 -0500

Seen: 371 times

Last updated: Jun 08 '12

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