RGBDSLAM Cannot produce Octomap

asked 2013-01-23 16:31:57 -0600

Merdad

40 ●6 ●6 ●14

updated 2016-10-24 09:01:15 -0600

ngrennan
1 ●1 ●1

Hi,

I got RGBDSLAM working on my Ubuntu 12.04 machine. I am using ROS Fuerte and Xbox Kinect. I can save the map as .pcl and .ply, but I can't get any octomap. When I press "send model" in RGBDSLAM and save a map using octomap_saver and try to view it using octovis it only shows an empty cube (which means no map).

I used rostopic echo /rgbdslam/batch_clouds while running RGBDSLAM but nothing is being published on that topic! I checked the settings in RGBDSLAM and individual_cloud_out_topic and it is set to the right topic (which is /rgbdslam/batch_clouds).

What could be preventing the data from being published on that topic? Any thoughts on how I can generate an octomap?

answered 2013-01-27 21:40:33 -0600

Felix Endres

6468 ●28 ●57 ●93 http://www.informatik....

Maybe you disabled "store_pointclouds" in your launch-file? It is on by default.

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I removed a few lines in the launch file including that and it worked. Thanks.

Merdad ( 2013-01-28 07:34:11 -0600 )edit

Hi Medrad can I see your launch file? I also cannot see any output when I use typed the command rostopic echo /rgbdslam/batch_clouds. There is also no topic published from the rgbdslam node in the rxgraph. By the way is it the kinect+rgbdslam.launch file?

VicL ( 2013-05-07 04:25:16 -0600 )edit

batch_clouds is only published on command, i.e. from the GUI menu or ros service call. If you want to use/visualize the aligned clouds as they are processed, subscribe to the pointcloud from openni_launch and transform them to the tf frame /map that is published by rgbdslam.

Felix Endres ( 2013-05-13 11:28:30 -0600 )edit

I see! after pressing Ctrl+M or clicking on "send model" under "Data", values starts to show up under rostopic echo /rgbdslam/batch_clouds. Thanks Felix! Where should I look at if I want to automate this proces based on a variable that I will publish from my own program that will run simultaneously?

VicL ( 2013-05-14 18:38:02 -0600 )edit

In your own program call the ros service "/rgbdslam/ros_ui" with command "send_all". See the ros wiki tutorials for how to call services.

Felix Endres ( 2013-05-16 09:11:58 -0600 )edit

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