No map frame is published when setting use_sim_time_true
Hi all,
I am using Realsense L515 camera and RTAB-MAP for creating maps. I recorded a bag file not to use my camera for every simulation. As I am using a bag file, I should do "rosparam set usesimtime true" to simulate based on bag file's clock. However, when I follow the steps below, no map frame is published! When usesimtime is not true, the map frame and map will be generated pretty good. I would appreciate it if someone could tell me the problem. If you need further information, do not hesitate to contact me. Thanks.
The steps that I follow are :
1) roscore
2) rosparam set usesimtime
3) launch file
4) rosbag play ~/Myfile/Thesisbagfiles/l515witharuco.bag --topics /camera/aligneddepthtocolor/imageraw /camera/color/camerainfo /camera/color/imageraw /camera/color/imageraw/compressed /clock /tfstatic --clock
Asked by Javad_0111 on 2022-05-02 15:14:12 UTC
Comments
Should be
rosparam set use_sim_time true, and why setting--topics? you may miss camera_info and /tf, /tf_static topics.Asked by matlabbe on 2022-05-09 11:07:43 UTC
Thanks for the reply. I have another bag file, and I did the same simulation without --topic filters, but I still have the same problem. After sharing this issue here, I found out that the same problem exists with rtabmap demo.bag. I shared this issue, here.
Asked by Javad_0111 on 2022-05-09 12:12:01 UTC