Drkstr's profile - activity

I am following this tutorial to create a new ROS package. In step 4 we build the catkin workspace and sourc the setup file and once this is done I can do a roscd beginner_tutorials from anywhere and it will take me to ~/catkin_ws/src/beginner_tutorials brilliant! ...until I close the terminal window and open a new one. Now roscd <TAB> <TAB> doesn't show "beginner_tutorials" as an option. If I re-source my setup file i.e. do a . ~/catkin_ws/devel/setup.bash everything works again.

Do I need to source my setup file everytime I open a new terminal window or is there some way to permanently add it to my ROS environment?

I have this source /opt/ros/kinetic/setup.bash at the end of my .bashrc file.

Trouble setting waypoints and running a mission using mavros I am trying to create a set of waypoints, add them to a way

Awesome, thanks.

Is there some way to manually localize on RTAB-Map?

At the moment, when we launch RTAB-Map in localization mode, we need to drive the rover account for a bit until it finds enough visual points to localize.

Is there some way to manually localize on the map so we don't have to wait (an undetermined amount of time) for the rover to figure out where it is on the map?

Trouble moving rover from rtabmapviz I have recorded and localized my rover on a map generated on RTAB-Map. When I sen

Turns out, I didn't have move_base running. I launched move_base and I still can't get the rover to move. :( I have upd

Manually localise in RTAB-Map Is there some way to manually localize on RTAB-Map? At the moment, when we launch RTAB-Ma

Hey man, ive got a follow-up question for you: https://answers.ros.org/question/318220/trouble-moving-rover-from-rtabmap

Trouble moving rover from rtabmapviz I have recorded and localized my rover on a map generated on RTAB-Map. When I sen

Now I just need to send it a goal and get it to move to the goal. Any suggestions?

That worked perfectly, thanks :)

I have recorded a map using an Intel Realsense camera(D435i) and RTAB-maps. This is the command I am using to record the map

roslaunch rtabmap_ros rtabmap.launch
      rtabmap_args:="--delete_db_on_start"
      depth_topic:=/camera/aligned_depth_to_color/image_raw
      rgb_topic:=/camera/color/image_raw
      camera_info_topic:=/camera/color/camera_info

It seems to have worked fine, I can load up the saved database file into the rtabmap GUI tool and see the 3d map.

Now I would like to localize and navigate using the recorded db. For this, I modified the launch file I used above to the following: https://docs.google.com/document/d/1g...

Here are what I think are the relevant bits:

<arg name="stereo"          default="false"/>

<!-- Choose visualization -->
<arg name="rtabmapviz"              default="false" />
<arg name="rviz"                    default="true" />

<!-- Localization-only mode -->
<arg name="localization"            default="true"/>
<!-- RGB-D related topics -->
<arg name="rgb_topic"               default="/camera/color/image_raw" />
<arg name="depth_topic"             default="/camera/aligned_depth_to_color/image_raw" />
<arg name="camera_info_topic"       default="/camera/color/camera_info" />
<arg name="depth_camera_info_topic" default="$(arg camera_info_topic)" />

  <!-- Visualisation RTAB-Map -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(arg gui_cfg)" output="$(arg output)" launch-prefix="$(arg launch_prefix)">
  <param     if="$(arg stereo)" name="subscribe_depth"  type="bool" value="false"/>
  <param unless="$(arg stereo)" name="subscribe_depth"  type="bool" value="true"/>
  <param name="subscribe_rgbd"       type="bool"   value="$(arg subscribe_rgbd)"/>
  <param name="subscribe_stereo"     type="bool"   value="$(arg stereo)"/>
  <param name="subscribe_scan"       type="bool"   value="$(arg subscribe_scan)"/>
  <param name="subscribe_scan_cloud" type="bool"   value="$(arg subscribe_scan_cloud)"/>
  <param if="$(arg visual_odometry)" name="subscribe_odom_info" type="bool" value="true"/>
  <param if="$(arg icp_odometry)"    name="subscribe_odom_info" type="bool" value="true"/>
  <param name="frame_id"             type="string" value="$(arg frame_id)"/>
  <param name="odom_frame_id"        type="string" value="$(arg odom_frame_id)"/>
  <param name="wait_for_transform_duration" type="double"   value="$(arg wait_for_transform)"/>
  <param name="queue_size"           type="int"    value="$(arg queue_size)"/>
  <param name="approx_sync"          type="bool"   value="$(arg approx_sync)"/>

  <remap from="rgb/image"       to="$(arg rgb_topic_relay)"/>
  <remap from="depth/image"     to="$(arg depth_topic_relay)"/>
  <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>

  <remap     if="$(arg rgbd_sync)" from="rgbd_image" to="$(arg rgbd_topic)"/>
  <remap unless="$(arg rgbd_sync)" from="rgbd_image" to="$(arg rgbd_topic)_relay"/>

  <remap from="left/image_rect"        to="$(arg left_image_topic_relay)"/>
  <remap from="right/image_rect"       to="$(arg right_image_topic_relay)"/>
  <remap from="left/camera_info"       to="$(arg left_camera_info_topic)"/>
  <remap from="right/camera_info"      to="$(arg right_camera_info_topic)"/>

  <remap from="scan"                   to="$(arg scan_topic)"/>
  <remap from="scan_cloud"             to="$(arg scan_cloud_topic)"/>
  <remap from="odom"                   to="$(arg odom_topic)"/>

  <remap from="grid_map"               to="/map"/>
</node>

I know RTAB-maps in localization mode only publishes the map after it has localized, so I drove the rover around a bit... and then a little more .... and then the entire route that was mapped. It still hasn't localized or published anything onto the /map topic.

How would I go about debugging this?

Please note that I am new to ROS, so it is entirely possible that I have missed a step somewhere.

Let me know if you need any more info about my setup.

Trouble localising with RTAB-Map I have recorded a map using an Intel Realsense camera(D435i) and RTAB-maps. This is the

I am following this answer to export a .pgm and a .yaml from a database file generated using RTAB-map.

But when I run

rosrun rtabmap_ros rtabmap _database_path:=IROS14-kinect-challenge.db

I get a message saying that /rtabmap did not receive any data since 5 seconds. I know there is no data being published into /odom, /rgb/image, /depth/image,/rgb/camera_info

but shouldn't this data be coming from the database file?

When I run

rosrun map_server map_saver map:=proj_map

I get this message:

[ INFO] [1551154609.903198676]: Waiting for the map

and

rosservice call /publish_map 1 1 0

doesn't do anything.

• I am running ROS melodic on Linux Mint(Ubuntu 18.04).
• I have downloaded the IROS14-kinect-challenge.db file from here
• I have double checked that roscore is running. :D

Ah, looks like I just needed to wait a bit :D Thanks for your response.

Ah, looks like I just need to wait a bit :D Thanks for your response.