Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

rgbdslam commands/steps to localize in preSaved map

asked 2013-03-04 01:43:32 -0600

Scott
693 ●33 ●45 ●53

updated 2014-01-28 17:15:30 -0600

ngrennan
1 ●1 ●1

Hi there. I am able to successfully record an map with rgbdslam but I am struggling to figure out the steps and commands that I need to run to load the map to the map servers and then how to then use that to localize the kinect in the previously saved map. Any help would be greatly appreciated and extra details on the actual commands to run for 1) loading saved map to mapserver, 2)localize in it, 3) display resultes in rviz or something similar" would benefit many users. Thanks in advance.

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2013-03-04 02:27:14 -0600

AHornung

5904 ●43 ●74 ●102 http://www.informatik....

I don't know the exact details about localizing with RGBD-SLAM. But you could load the stored OctoMap file in octomap_server and then localize with humanoid_localization. I haven't really tried it for a free-floating Kinect, only an ASUS Xtion mounted on a humanoid. So you may have to perform some adjustments in the code (humanoid_localization requires some sort of odometry!).

edit flag offensive delete link

Comments

What you outlined is exactly the details I am trying to see if anyone has. Basically, what is the command to load the map to the octomap_server and what are the commands in humanoid localization to then localize in it. Somebody must have tried this and gotten it work work.

Scott ( 2013-03-04 16:29:58 -0600 )edit

add a comment

Question Tools

Stats

Asked: 2013-03-04 01:43:32 -0600

Seen: 279 times

Last updated: Mar 04 '13

rgbdslam commands/steps to localize in preSaved map edit

1 Answer

Comments

Question Tools

Stats

Related questions

rgbdslam commands/steps to localize in preSaved map