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2021-07-23 22:33:48 -0500	received badge	● Student (source)
2018-09-19 17:21:33 -0500	marked best answer	rtabmap no work (only xtion) -- odometry : could not get transform from camera_link to camera_rgb_optical_frame.. hello .. i follow rtabmap-ros tutorial. but program dont work. http://wiki.ros.org/rtabmap_ros/Tutor... i only use xtion (openni2). no odmoety no laser. and i command line `roscore roslaunch openni2_launch openni2.launch depth_registration:=true roslaunch rtabmap_ros rgbd_mapping.launch rtabmap_args:="--delete_db_on_start"` output is bottom and gui is black i think this is problem. `[ WARN] [1464615244.777627115]: odometry: Could not get transform from camera_link to camera_rgb_optical_frame (stamp=1464615244.512744) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)!` i check `rosrun rqt_tf_tree rqt_tf_tree camera_link -->camera_rgb_frame-->camera_rgb_optical_frame --> camera_depth_frame -->camera_depth_optical_frame` i watch simillar question . they have odom --> base_link_-->camera_link.. so i add static tf broadcaster node(base_link -->camera_link) but no work.. and change launch file (frame_id cmaera_link -->base_link) http://official-rtab-map-forum.206.s1... $ rosrun tf tf_monitor Frames: Frame: /camera_depth_frame published by unknown_publisher Average Delay: -0.0993342 Max Delay: 0 Frame: /camera_depth_optical_frame published by unknown_publisher Average Delay: -0.0989423 Max Delay: 0 Frame: /camera_rgb_frame published by unknown_publisher Average Delay: -0.0991952 Max Delay: 0 Frame: /camera_rgb_optical_frame published by unknown_publisher Average Delay: -0.0985974 Max Delay: 0 /////////////////////////////////////////////////////////////////////////////////////////////// * /rosdistro: indigo * /rosversion: 1.11.10 * /rtabmap/rgbd_odometry/Odom/FillInfoData: true * /rtabmap/rgbd_odometry/frame_id: camera_link * /rtabmap/rgbd_odometry/wait_for_transform_duration: 0.2 * /rtabmap/rtabmap/Mem/IncrementalMemory: true * /rtabmap/rtabmap/Mem/InitWMWithAllNodes: false * /rtabmap/rtabmap/Mem/SaveDepth16Format: true * /rtabmap/rtabmap/RGBD/OptimizeFromGraphEnd: false * /rtabmap/rtabmap/Rtabmap/TimeThr: 0 * /rtabmap/rtabmap/database_path: ~/.ros/rtabmap.db * /rtabmap/rtabmap/frame_id: camera_link * /rtabmap/rtabmap/subscribe_depth: True * /rtabmap/rtabmap/subscribe_scan: False * /rtabmap/rtabmap/subscribe_scan_cloud: False * /rtabmap/rtabmap/wait_for_transform_duration: 0.2 * /rtabmap/rtabmapviz/frame_id: camera_link * /rtabmap/rtabmapviz/subscribe_depth: True * /rtabmap/rtabmapviz/subscribe_odom_info: True * /rtabmap/rtabmapviz/subscribe_scan: False * /rtabmap/rtabmapviz/subscribe_scan_cloud: False * /rtabmap/rtabmapviz/wait_for_transform_duration: 0.2 NODES /rtabmap/ rgbd_odometry (rtabmap_ros/rgbd_odometry) rtabmap (rtabmap_ros/rtabmap) rtabmapviz (rtabmap_ros/rtabmapviz) ROS_MASTER_URI=http://localhost:11311 core service [/rosout] found process[rtabmap/rgbd_odometry-1]: started with pid [34941] process[rtabmap/rtabmap-2]: started with pid [34942] process[rtabmap/rtabmapviz-3]: started with pid [34943] [ INFO] [1464615240.954724732]: Starting node... [ INFO] [1464615241.074584475]: Setting odometry parameter "Odom/FillInfoData"="true" [ INFO] [1464615241.281704904]: Starting node... [ INFO] [1464615241.384123291]: rtabmap: frame_id = camera_link [ INFO] [1464615241.384244674]: rtabmap: map_frame_id = map [ INFO] [1464615241.384285855]: rtabmap: queue_size = 10 [ INFO] [1464615241.384331464]: rtabmap: tf_delay = 0.050000 [ INFO] [1464615241.384361071]: rtabmap: depth_cameras = 1 [ INFO] [1464615241.636235974]: rtabmapviz: Using configuration from "/opt/ros/indigo/share/rtabmap_ros/launch/config/rgbd_gui.ini" [ INFO] [1464615242.353012125]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true" [ INFO] [1464615242.355861361]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false" [ INFO] [1464615242.539713960]: Setting RTAB-Map parameter "Mem/RehearsalSimilarity"="0.45" [ INFO] [1464615242.564056420]: Setting RTAB-Map parameter "Mem/SaveDepth16Format"="true" [ INFO] [1464615243.052447762]: Setting RTAB-Map parameter "RGBD/AngularUpdate"="0.01" [ INFO] [1464615243.077966419]: Setting RTAB-Map parameter "RGBD/LinearUpdate"="0.01" [ INFO] [1464615243.225300360]: Setting RTAB-Map parameter "RGBD/OptimizeFromGraphEnd"="false" [ INFO] [1464615243.283571878]: Reading parameters from the ROS server... [ INFO] [1464615243.754540264]: /rtabmap/rgbd_odometry subscribed to: /camera/rgb/image_rect_color, /camera/depth_registered/image_raw, /camera/rgb/camera_info [ INFO] [1464615243.876189639]: Setting RTAB-Map parameter "Rtabmap/TimeThr"="0" [ INFO] [1464615244.215550331]: Parameters read = 0 [ WARN] [1464615244.777627115]: odometry: Could not get transform from camera_link to camera_rgb_optical_frame (stamp=1464615244.512744) after 0.200000 seconds ("wait_for_transform_duration"=0.200000 ... (more)
2018-09-19 14:31:52 -0500	marked best answer	rtabmap_ros how to set odometry and camera? Hello i try to xtion, kobuki(2 wheel mobile robot). i read http://wiki.ros.org/rtabmap_ros/Tutor... . and apply my launch. i modify rgbd_mapping.launch.and program work normally. <arg name="subscribe_scan" default="true"/> <!-- Assuming 2D scan if set, rtabmap will do 3DoF mapping instead of 6DoF --> <arg name="scan_topic" default="/kinect_scan"/> <arg name="subscribe_scan_cloud" default="false"/> <!-- Assuming 3D scan if set --> <arg name="scan_cloud_topic" default="/scan_cloud"/> <arg name="visual_odometry" default="false"/> <!-- Generate visual odometry --> <arg name="odom_topic" default="/odom"/> <!-- Odometry topic used if visual_odometry is false --> <!-- Kinect cloud to laser scan 11cm 16cm--> <node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan"> <remap from="image" to="/camera/depth_registered/image_raw"/> <remap from="camera_info" to="/camera/depth_registered/camera_info"/> <remap from="scan" to="/kinect_scan"/> <param name="range_max" type="double" value="4"/> </node> <node pkg="tf" type="static_transform_publisher" name="odom_camera_tf" args="0.11 0 0.16 0 0 0 1 /base_footprint /camera_link 100" /> but result is strange. first. set my xtion from robot ( 0.11cm, 0, 0.16cm) so i add tf broadcaster. <node pkg="tf" type="static_transform_publisher" name="odom_camera_tf" args="0.11 0 0.16 0 0 0 1 /base_footprint /camera_link 100"/> result is below link. https://plus.google.com/1106177581457... 1.point cloud and map cloud is different. is the result normal?? 2.map is bad when robot turn a round and go to origin. https://plus.google.com/1106177581457... full launch file. <launch> <!-- Your RGB-D sensor should be already started with "depth_registration:=true". Examples: $ roslaunch freenect_launch freenect.launch depth_registration:=true $ roslaunch openni2_launch openni2.launch depth_registration:=true --> <!-- Choose visualization --> <arg name="rviz" default="false" /> <arg name="rtabmapviz" default="true" /> <!-- Localization-only mode --> <arg name="localization" default="false"/> <!-- Corresponding config files --> <arg name="rtabmapviz_cfg" default="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" /> <arg name="rviz_cfg" default="-d $(find rtabmap_ros)/launch/config/rgbd.rviz" /> <arg name="frame_id" default="camera_link"/> <!-- Fixed frame id, you may set "base_link" or "base_footprint" if they are published --> <arg name="time_threshold" default="0"/> <!-- (ms) If not 0 ms, memory management is used to keep processing time on this fixed limit. --> <arg name="optimize_from_last_node" default="false"/> <!-- Optimize the map from the last node. Should be true on multi-session mapping and when time threshold is set --> <arg name="database_path" default="~/.ros/rtabmap.db"/> <arg name="rtabmap_args" default=""/> <!-- delete_db_on_start, udebug --> <arg name="launch_prefix" default=""/> <!-- for debugging purpose, it fills launch-prefix tag of the nodes --> <arg name="rgb_topic" default="/camera/rgb/image_rect_color" /> <arg name="depth_registered_topic" default="/camera/depth_registered/image_raw" /> <arg name="camera_info_topic" default="/camera/rgb/camera_info" /> <arg name="compressed" default="false"/> <arg name="convert_depth_to_mm" default="true"/> <arg name="subscribe_scan" default="true"/> <!-- Assuming 2D scan if set, rtabmap will do 3DoF mapping instead of 6DoF --> <arg name="scan_topic" default="/kinect_scan"/> <arg name="subscribe_scan_cloud" default="false"/> <!-- Assuming 3D scan if set --> <arg name="scan_cloud_topic" default="/scan_cloud"/> <arg name="visual_odometry" default="false"/> <!-- Generate visual odometry --> <arg name="odom_topic" default="/odom"/> <!-- Odometry topic used if visual_odometry is false --> <arg name="namespace" default="rtabmap"/> <arg name="wait_for_transform" default="0.2"/> <!-- Kinect cloud to laser scan 11cm 16cm--> <node pkg="depthimage_to_laserscan ... (more)
2018-09-14 17:29:08 -0500	marked best answer	RTAB-MAP with xtion, rplidar, turtelbot (how to utilize lidar internally) Hello, I have question about building 3D map with RTAB-MAP and lidar. As far as I know, RTAB-MAP is SLAM based on image-features and performs loop closure using features. 3D mapping on RTAB-MAP with turtlebot, xtion is good. But, my robot has additionally lidar and I want to utilize lidar. I read the questions about build 3d map. I think that my situation is similar below. https://answers.ros.org/question/2396... https://answers.ros.org/question/2398... https://answers.ros.org/question/2422... My questions are below. How do you use additional lidar internally in RTAB-MAP? 1-1.For improving quality of map, how to use lidar in RTAB-MAP? I think this system for utilizing lidar and improving quality of map. I wonder my method is good or not. I think below system is using all sensors, so it can make good 3D map. This link is system image I thought. link text Thank you for reading questions.
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2017-12-03 22:43:13 -0500	commented answer	RTAB-MAP with xtion, rplidar, turtelbot (how to utilize lidar internally) Thank you for your answer. I got what you said. As you said, I measure and set TF. Below link is TF of my robot. lin
2017-12-01 02:30:06 -0500	commented answer	RTAB-MAP with xtion, rplidar, turtelbot (how to utilize lidar internally) You said "Make sure TF of camera and lidar are correctly set, so that 3D point clouds match with the 2D scans." this me
2017-12-01 02:27:18 -0500	commented answer	RTAB-MAP with xtion, rplidar, turtelbot (how to utilize lidar internally) Hi Thank you for answer. I checked TF and build map. I wonder that lidar is used for correction pose or not. http://12
2017-12-01 02:27:08 -0500	commented answer	RTAB-MAP with xtion, rplidar, turtelbot (how to utilize lidar internally) Hi Thank you for answer. I checked TF and build map. I wonder that lidar is used for correction pose or not. http://128
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2017-11-29 03:03:32 -0500	edited question	RTAB-MAP with xtion, rplidar, turtelbot (how to utilize lidar internally) RTAB-MAP with xtion, rplidar, turtelbot (how to utilize lidar internally) Hello, I have question about building 3D map
2017-11-29 03:01:43 -0500	edited question	RTAB-MAP with xtion, rplidar, turtelbot (how to utilize lidar internally) RTAB-MAP with xtion, rplidar, turtelbot (how to utilize lidar internally) Hello, I have question about building 3D map
2017-11-29 03:01:09 -0500	edited question	RTAB-MAP with xtion, rplidar, turtelbot (how to utilize lidar internally) RTAB-MAP with xtion, rplidar, turtelbot (how to utilize lidar internally) Hello, I have question about building 3D map
2017-11-29 03:00:42 -0500	asked a question	RTAB-MAP with xtion, rplidar, turtelbot (how to utilize lidar internally) RTAB-MAP with xtion, rplidar, turtelbot (how to utilize lidar internally) Hello, I have question about building 3D map
2017-11-21 02:47:38 -0500	edited question	asset writer on google cartographer with xtion, rplidar, turtlebot asset writer on google cartographer with xtion, rplidar, turtlebot Hello I want to generate 3d map using xtion, rplidar,
2017-11-21 02:40:26 -0500	edited question	asset writer on google cartographer with xtion, rplidar, turtlebot asset writer on google cartographer with xtion, rplidar, turtlebot Hello I want to generate 3d map using xtion, rplidar,
2017-11-21 02:39:39 -0500	asked a question	asset writer on google cartographer with xtion, rplidar, turtlebot asset writer on google cartographer with xtion, rplidar, turtlebot Hello I want to generate 3d map using xtion, rplidar,
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2017-01-12 20:24:10 -0500	commented answer	How does rtabmap fuse wheel odometry with visual odometry? hmm i want to know how rtabmap algorithm use internally odometry.
2017-01-11 19:44:50 -0500	commented answer	How does rtabmap fuse wheel odometry with visual odometry? I have question. Where does RTABMAP use the incoming odometry?
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2017-01-06 00:41:29 -0500	asked a question	How does rtabmap fuse wheel odometry with visual odometry? I set up my robot with turtlebot and kinect and excute rtabmap. -- http://wiki.ros.org/rtabmap_ros/Tutor... I hid the image of the Kinect sensor and moved the turtlebot. And I moved the turtlebot to calculate the travel distance only with the kinect image. I think the rtabmap algorithm is internally fusing image information and wheel odometry. How are you fusing? And do you have your own paper about fusing wheel odometry and viusal odometry? Thank you ^ ^
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2016-11-07 01:26:41 -0500	asked a question	record kinect data hello i have question about record kinect data. when i record kinect data, i write command line `rosbag record /odom /camera/rgb/image_rect_color camera/depth_registered/image_raw /camera/rgb/camera_info /tf -O kinect` record is ok. but bag file is large. (5min record --> more 10GB) but your bag file is smaller than my file. For this demo, you will need the ROS bag demo_mapping.bag (295 MB, fixed camera TF 2016/06/28). https://docs.google.com/uc?id=0B46akL... could u teach me how to write command line for record data.
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2016-08-01 22:00:07 -0500	answered a question	Get depth from Kinect sensor in gazebo simulator this fuction ReadDepthData return integer depth (mm) value ??