How to run rgbdslam on gazebo environment?
My launch file:
<launch>
<!-- start up empty world -->
<include file="$(find gazebo_worlds)/launch/simple_world.launch"/>
<!-- start up robot -->
<include file="$(find pr2_gazebo)/pr2.launch"/>
<!-- Tug Arms For Navigation -->
<node name="tuckarm" pkg="pr2_tuckarm" type="tuck_arms.py" args="-l t -r t" />
<!-- for visualization -->
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find pr2_build_map_gazebo_demo)/rviz/build_map.vcg"/>
<!-- dynamic map generation -->
<node name="gmapping_node" pkg="gmapping" type="slam_gmapping" respawn="false" >
<remap to="base_scan" from="scan"/>
<param name="odom_frame" value="odom_combined" />
</node>
<!-- for PR2 teleop -->
<include file="$(find pr2_teleop)/teleop_keyboard.launch"/>
</launch>
I try to run:
sam@/home/sam/code/ros/slam$ roslaunch rgbdslam kinect+rgbdslam.launch
... logging to /home/sam/.ros/log/a4924062-fceb-11e1-b239-00120ebbd636/roslaunch-sam-System-Product-Name-10191.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://sam-System-Product-Name:54997/
SUMMARY
========
PARAMETERS
* /rosdistro
* /openni_node1/use_indices
* /rgbdslam/config/topic_image_mono
* /openni_node1/depth_registration
* /openni_node1/image_time_offset
* /openni_node1/depth_frame_id
* /openni_node1/depth_mode
* /openni_node1/debayering
* /rosversion
* /openni_node1/projector_depth_baseline
* /openni_node1/rgb_frame_id
* /openni_node1/depth_rgb_translation
* /openni_node1/depth_time_offset
* /openni_node1/image_mode
* /openni_node1/shift_offset
* /openni_node1/device_id
* /rgbdslam/config/topic_image_depth
* /openni_node1/depth_rgb_rotation
NODES
/
openni_node1 (openni_camera/openni_node)
kinect_base_link (tf/static_transform_publisher)
kinect_base_link1 (tf/static_transform_publisher)
kinect_base_link2 (tf/static_transform_publisher)
kinect_base_link3 (tf/static_transform_publisher)
rgbdslam (rgbdslam/rgbdslam)
ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found
process[openni_node1-1]: started with pid [10209]
process[kinect_base_link-2]: started with pid [10210]
process[kinect_base_link1-3]: started with pid [10218]
process[kinect_base_link2-4]: started with pid [10225]
process[kinect_base_link3-5]: started with pid [10226]
process[rgbdslam-6]: started with pid [10249]
bool g2o::HyperGraphActionLibrary::registerAction(g2o::HyperGraphElementAction*): creating collection for "writeGnuplot"
bool g2o::HyperGraphActionLibrary::registerAction(g2o::HyperGraphElementAction*): creating collection for "draw"
SOLVER FACTORY WARNING: Overwriting Solver _creator pcg
SOLVER FACTORY WARNING: Overwriting Solver _creator pcg3_2
SOLVER FACTORY WARNING: Overwriting Solver _creator pcg6_3
SOLVER FACTORY WARNING: Overwriting Solver _creator pcg7_3
Initializing Node...
[ INFO] [1347463889.446227314]: Connected to roscore
[ WARN] [1347463889.495273123]: Cannot use concurrent node construction with SiftGPU matcher! 'concurrent_node_construction' was set to false. Everything should work fine, but the CPU-threading won't happen (because you are using the GPU instead).
[ WARN] [1347463889.495310761]: Cannot use concurrent edge construction with SiftGPU matcher! 'concurrent_edge_construction' was set to false. Everything should work fine, but the CPU-threading won't happen (because you are using the GPU instead).
[ INFO] [1347463889.612529297]: Listening to /camera/rgb/image_color and /camera/depth/image
[ INFO] [1347463889.612577246]: SIFTGPU is to be used
[ INFO] [1347463889.612615001]: SIFTGPU is to be used as extractor, creating SURF descriptor extractor as fallback.
[ INFO] [1347463889.844371991]: [/openni_node1] No devices connected.... waiting for devices to be connected
[ INFO] [1347463890.846078666, 733.741000000]: [/openni_node1] No devices connected.... waiting for devices to be connected
[ INFO] [1347463891.847666108, 734.545000000]: [/openni_node1] No devices connected.... waiting for devices to be connected
[ INFO] [1347463892.849301017, 735.345000000]: [/openni_node1] No devices connected.... waiting for devices to be connected
How to solve it?
Thank you~
How is that working out for you?
What's 'working out' means?
Mapping a simulator? I only ever mapped reality, so I wonder whether it worked or went crazy because many features might match each other perfectly.