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2019-08-09 17:06:44 -0600 marked best answer rtabmap+3d map

hi all, i used rtabmap to created 3d map from environment. i used stereo camera for this. my question is that, in rtabmap, How is the 3D map created for stereo camera? it is feature based or area based? in other words, What is a 3D map creating theory? thanks

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2019-05-20 01:59:18 -0600 marked best answer rtabmap+Turtlebot+stereovision

hi all, i am new in ros and rtabmap. my goal is create map and navigate around the map with simulator robot. my work is not on line. i captured stereo images from two web cam and save these images at left and right image files. then used tutorial of rtabmap and draw map for stereo images from this link ( https://github.com/introlab/rtabmap/w... ). then i want re-use this map for navigation. i studied tutorials of rtabmap_ros from this link ( http://wiki.ros.org/rtabmap_ros/Tutor... ) but i don't understand. please help me and write how can i reuse map for navigation?

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2019-05-20 01:52:36 -0600 marked best answer rtabmap+pose file

hi, i am following the tutorials of rtabmap and use this package for stereo vision. i created the map with stereo images from file (link:https://github.com/introlab/rtabmap/wiki/Stereo-mapping) for ros and saved RGBD_pose.txt file. the file's parameters is (x,y,z,qx,qy,qz,qw). but i don't know where is origin? and what is qw? please help me

2019-05-20 01:51:50 -0600 marked best answer stereo with two webcams

hi all, i have two webcams and want run these at same time. i use usb_cam package and mylaunch is this:

<launch>
 <group ns="camera1">
  <node name="usb_cam1" pkg="usb_cam" type="usb_cam_node" output="screen" >
    <param name="video_device" value="/dev/video1" />
    <param name="image_width" value="640" />
    <param name="image_height" value="480" />
    <param name="pixel_format" value="mjpeg" />
    <param name="camera_frame_id" value="yuyv" />
    <param name="io_method" value="mmap"/>
  </node>
  <node name="image_view" pkg="image_view" type="image_view" respawn="false" output="screen">
    <remap from="image" to="/camera1/usb_cam1/image_raw"/>
    <param name="autosize" value="true" />
  </node>
 </group>

<group ns="camera2">
  <node name="usb_cam2" pkg="usb_cam" type="usb_cam_node" output="screen" >
    <param name="video_device" value="/dev/video2" />
    <param name="image_width" value="640" />
    <param name="image_height" value="480" />
    <param name="pixel_format" value="mjpeg" />
    <param name="camera_frame_id" value="yuyv" />
    <param name="io_method" value="mmap"/>
  </node>
  <node name="image_view" pkg="image_view" type="image_view" respawn="false" output="screen">
    <remap from="image" to="/camera2/usb_cam2/image_raw"/>
    <param name="autosize" value="true" />
  </node>
 </group>
</launch>

but when roslaunch my launch file, one webcam run and others is off and instead that the webcam from laptop is on! what is problem?! please help me

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2019-05-20 01:35:13 -0600 marked best answer turtulbot+rtabmap

hi i have stereo images that save in a directory. i used rtabmap_ros package and this launch file for created map and localization:

<launch>

   <!-- stereo_20Hz directory -->
   <arg name="dir"        default="$(env HOME)/Downloads/stereo_20Hz" />

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

   <arg name="rate"       default="20" />

   <arg name="ground_is_obstacle" default="false"/>
   <arg name="align_with_ground"  default="false"/>

   <!-- Run stereo_sequence_publisher to publish synchronized images -->
   <node name="stereo_pub" pkg="bag_tools" type="stereo_sequence_publisher.py" output="screen">
      <param name="image_dir_left"         value="$(arg dir)/left"/>
      <param name="image_dir_right"        value="$(arg dir)/right"/>
      <param name="file_pattern"           value="*.jpg"/>
      <param name="camera_info_file_left"  value="$(arg dir)/stereo_20Hz_ros_left.yaml"/>
      <param name="camera_info_file_right" value="$(arg dir)/stereo_20Hz_ros_right.yaml"/>
      <param name="frequency"              value="$(arg rate)"/>
      <remap from="/stereo_camera/left/image_color"  to="/stereo_camera/left/image_raw" />
      <remap from="/stereo_camera/right/image_color" to="/stereo_camera/right/image_raw" />
      <remap from="/stereo_camera/left/camera_info"  to="/stereo_camera/left/camera_info" />
      <remap from="/stereo_camera/right/camera_info" to="/stereo_camera/right/camera_info" />
   </node>

   <!-- Run the ROS package stereo_image_proc for image rectification -->
   <group ns="/stereo_camera" >
      <node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc"/>

<!-- Disparity to depth -->
    <node pkg="nodelet" type="nodelet" name="disparity2depth" args="standalone rtabmap_ros/disparity_to_depth"/>
  </group>

   <!-- rotate camera so z axis is up and x forward. -->
   <arg name="pi/2" value="1.5707963267948966" />
   <node pkg="tf" type="static_transform_publisher" name="camera_base_link" args="0 0 0 -$(arg pi/2) 0 -$(arg pi/2) camera_link stereo_20Hz_left 100" /> 

   <include file="$(find rtabmap_ros)/launch/rtabmap.launch">
      <arg name="rtabmap_args" value="--delete_db_on_start --Rtabmap/CreateIntermediateNodes true --voxel_size 0.0 --Vis/EstimationType 1 --Vis/MinInliers 15 --SURF/HessianThreshold 100 --Grid/3DGroundIsObstacle $(arg ground_is_obstacle) --Odom/AlignWithGround $(arg align_with_ground)" />
      <arg name="rviz"             value="$(arg rviz)" />
      <arg name="rtabmapviz"       value="$(arg rtabmapviz)" />


<arg name="rgb_topic"               value="/stereo_camera/left/image_rect" />
  <arg name="depth_topic"             value="/stereo_camera/depth_raw" />
  <arg name="camera_info_topic"       value="/stereo_camera/left/camera_info" />
   </include>

</launch>

after mapping and saving it, i used demo_turtlebot_mapping.launch in rtabmap_ros package and changed this launch file for navigation:

<launch>
  <!-- 
       Bringup Turtlebot:
       $ roslaunch turtlebot_bringup minimal.launch

       Mapping:
       $ roslaunch rtabmap_ros demo_turtlebot_mapping.launch

       Visualization:
       $ roslaunch rtabmap_ros demo_turtlebot_rviz.launch

       This launch file is a one to one replacement of the gmapping_demo.launch in the 
       "SLAM Map Building with TurtleBot" tutorial:
       http://wiki.ros.org/turtlebot_navigation/Tutorials/indigo/Build%20a%20map%20with%20SLAM

       For localization-only after a mapping session, add argument "localization:=true" to
       demo_turtlebot_mapping.launch line above. Move the robot around until it can relocalize in 
       the previous map, then the 2D map should re-appear again. You can then follow the same steps 
       from 3.3.2 of the "Autonomous Navigation of a Known Map with TurtleBot" tutorial:
       http://wiki.ros.org/turtlebot_navigation/Tutorials/Autonomously%20navigate%20in%20a%20known%20map

       For turtlebot in simulation (Gazebo):
         $ roslaunch turtlebot_gazebo turtlebot_world.launch
         $ roslaunch rtabmap_ros demo_turtlebot_mapping.launch simulation:=true
         $ roslaunch rtabmap_ros demo_turtlebot_rviz.launch
  -->

  <arg name="database_path"     default="rtabmap.db"/>
  <arg name="rgbd_odometry"     default="false"/>
  <arg name="rtabmapviz"        default="false"/>
  <arg name="localization"      default="false"/>
  <arg name="simulation"        default="false"/>
  <arg     if="$(arg localization)" name="args"  default=""/>
  <arg unless="$(arg localization)" name="args"  default="--delete_db_on_start"/>

  <arg     if="$(arg simulation)" name="rgb_topic"   default="/stereo_camera ...
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2019-05-20 01:35:10 -0600 marked best answer [ERROR] [1519888351.478412390]: Cannot identify '/dev/video0': 2, No such file or directory

hi, I'm trying to use usb_cam-test.launch in usb_cam package to read my web camera, but it keeps returning error:

Cannot identify '/dev/video0': 2, No such file or directory

Update:

when i run lsusb devices are:

Bus 002 Device 004: ID 045e:0772 Microsoft Corp. LifeCam Studio 
Bus 002 Device 003: ID 1c4f:0048 SiGma Micro 
Bus 002 Device 002: ID 8087:0024 Intel Corp. Integrated Rate Matching Hub 
Bus 002 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub 
Bus 004 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub 
Bus 003 Device 003: ID 045e:0772 Microsoft Corp. LifeCam Studio 
Bus 003 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub 
Bus 001 Device 004: ID 058f:a014 Alcor Micro Corp. Asus Integrated Webcam 
Bus 001 Device 003: ID 0cf3:3005 Atheros Communications, Inc. AR3011 Bluetooth 
Bus 001 Device 002: ID 8087:0024 Intel Corp. Integrated Rate Matching Hub 
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub

how can run my camera? i have two LifeCam Studio cameras.


Update 2:

when i run

ls -ltrh /dev/video*

this give:

crw-r--r-- 1 root root 81, 0 Mar 1 01:10 /dev/video0
2019-04-08 01:17:03 -0600 marked best answer turtlebot with stereo camera

hi, i am new in ros and gazebo. can i use the turtlebot in simulation (Gazebo) with stereo camera instead of Kinect ? how can apply this? thanks

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2019-03-05 14:57:32 -0600 marked best answer rtabmap with stereo images

hi, i used this file link text for create map and localization by stereo images. but when i used parameter (rviz:=true), rtabmapviz and rviz simultaneous run and this error is created: [pcl::VoxelGrid::applyFilter] Leaf size is too small for the input dataset. Integer indices would overflow.

please help me

2019-03-01 12:45:22 -0600 marked best answer navigation with known map+rtabmap

hi i created map with rtabmap and saved. but for navigation the saved map not open. I used rtabmap_ros on a Turtlebot in Gazebo and this is my launch file:

<!-- Turtlebot navigation simulation with RTAB-Map -->
<launch>

  <arg name="database_path"     default="rtabmap.db"/>
  <arg name="localization"      default="true"/>

  <!-- Mapping -->
  <group ns="rtabmap">
    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen">
      <param name="database_path"       type="string" value="$(arg database_path)"/>
      <param name="frame_id"            type="string" value="base_footprint"/>
      <param name="odom_frame_id"       type="string" value="odom"/>
      <param name="subscribe_laserScan" type="bool"   value="true"/>

      <!-- inputs -->
      <remap from="scan"            to="/scan"/>
      <remap from="rgb/image"       to="/camera/rgb/image_raw"/>
      <remap from="depth/image"     to="/camera/depth/image_raw"/>
      <remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>

      <!-- outputs -->
          <remap from="grid_map" to="/map"/> <!-- input for move_base costmap -->

      <!-- RTAB-Map parameters -->
      <param name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/>
      <param name="RGBD/OptimizeSlam2D"          type="string" value="true"/>      
      <param name="Kp/MaxDepth"                  type="string" value="4.0"/>
      <param name="Kp/DetectorStrategy"          type="string" value="6"/> <!-- GFTT/BRIEF -->
      <param name="GFTT/MinDistance"             type="string" value="5"/>
      <param name="LccIcp/Type"                  type="string" value="2"/> <!-- ICP 2D -->
      <param name="LccIcp2/CorrespondenceRatio"  type="string" value="0.1"/> 

      <!-- localization mode -->
      <param     if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
      <param unless="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="true"/>
      <param name="Mem/InitWMWithAllNodes" type="string" value="$(arg localization)"/> 
    </node>
  </group>

  <!-- ******* Navigation - Move Base ******* -->
  <include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml"/>


  <!-- ******* Visualization of the Turtlebot on Rviz ******* -->
  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find turtlebot_rviz_launchers)/rviz/navigation.rviz"/>

</launch>

when launched my launch file the massage was: Requesting the map... but map was not loaded

2019-03-01 12:43:31 -0600 marked best answer rtabmap error:[ERROR] [1517006470.211027541]: Skipping XML Document "/opt/ros/indigo/share/gmapping/nodelet_plugins.xml" which had no Root Element. This likely means the XML is malformed or missing.

hi when i run rtabmap this error is occure and in localization mood map is not load: my ubuntu is 14.04 LTS and ros indigo.

2019-03-01 12:38:45 -0600 marked best answer demo_turtlebot_mapping.launch+rtabmap

hi, i want create map with turtlebot in Gazebo with rtabmap. i used this link link text and step 6. but when run turtlebot in gazebo map is not create and this message is created in terminal:

[ INFO] [1517748831.917902497, 269.000000000]: rtabmap 0.11.8 started...
[ INFO] [1517748832.029270004, 269.110000000]: Using plugin "static_layer"
[ INFO] [1517748832.037229982, 269.120000000]: Requesting the map...
2019-03-01 12:34:17 -0600 marked best answer sudo apt-get install ros-indigo-desktop-full (E: Unable to correct problems, you have held broken packages.)

hi, i installed ros-indigo in Ubuntu 14.04. i removed ros-indigo. i decide reinstall this agian , but when run this command (sudo apt-get install ros-indigo-desktop-full) in terminal, this error is created:

Reading package lists... Done
Building dependency tree       
Reading state information... Done
Some packages could not be installed. This may mean that you have
requested an impossible situation or if you are using the unstable
distribution that some required packages have not yet been created
or been moved out of Incoming.
The following information may help to resolve the situation:

The following packages have unmet dependencies:
 ros-indigo-desktop-full : Depends: ros-indigo-desktop but it is not going to be installed
                           Depends: ros-indigo-simulators but it is not going to be installed
                           Depends: ros-indigo-urdf-tutorial but it is not going to be installed
E: Unable to correct problems, you have held broken packages.
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2018-09-14 17:26:58 -0600 marked best answer rtabmap+Turtlebot+stereo images

hi, i am new in rtabmap and have a question . can i use the demo_turtlebot_mapping.launch for turtlebot in simulation (Gazebo) by use of stereo images?


Edit: hi matlabbe i change launch file according to your answer but the launch file have two error

<launch>

<!--For turtlebot in simulation (Gazebo):
         $ roslaunch turtlebot_gazebo turtlebot_world.launch
         -->

  <arg name="database_path"     default="rtabmap.db"/>
  <arg name="rgbd_odometry"     default="false"/>
  <arg name="rtabmapviz"        default="false"/>
  <arg name="localization"      default="false"/>
  <arg     if="$(arg localization)" name="args"  default=""/>
  <arg unless="$(arg localization)" name="args"  default="--delete_db_on_start"/>
  <arg name="wait_for_transform"  default="0.2"/> 



   <!-- stereo_20Hz directory -->

   <arg name="dir"        default="$(env HOME)/Downloads/stereo_20Hz" />

   <!-- Choose visualization -->

   <arg name="rate"       default="20" />

    <!-- Run stereo_sequence_publisher to publish synchronized images -->
   <node name="stereo_pub" pkg="bag_tools" type="stereo_sequence_publisher.py" output="screen">
      <param name="image_dir_left"         value="$(arg dir)/left"/>
      <param name="image_dir_right"        value="$(arg dir)/right"/>
      <param name="file_pattern"           value="*.jpg"/>
      <param name="camera_info_file_left"  value="$(arg dir)/stereo_20Hz_ros_left.yaml"/>
      <param name="camera_info_file_right" value="$(arg dir)/stereo_20Hz_ros_right.yaml"/>
      <param name="frequency"              value="$(arg rate)"/>
      <remap from="/stereo_camera/left/image_color"  to="/stereo_camera/left/image_raw" />
      <remap from="/stereo_camera/right/image_color" to="/stereo_camera/right/image_raw" />
      <remap from="/stereo_camera/left/camera_info"  to="/stereo_camera/left/camera_info" />
      <remap from="/stereo_camera/right/camera_info" to="/stereo_camera/right/camera_info" />
   </node>

<!-- rotate camera so z axis is up and x forward. -->
   <arg name="pi/2" value="1.5707963267948966" />
   <node pkg="tf" type="static_transform_publisher" name="camera_base_link" args="0 0 0 -$(arg pi/2) 0 -$(arg pi/2) camera_link stereo_20Hz_left 100" />

   <!-- Run the ROS package stereo_image_proc for image rectification and disparity computation -->
   <group ns="/stereo_camera" >
      <node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc"/>
   <!-- Disparity to depth -->
    <node pkg="nodelet" type="nodelet" name="disparity2depth" args="standalone rtabmap_ros/disparity_to_depth"/>
    <remap from="/disparity"  to="/stereo_camera/disparity" />
   </group>


<!-- Navigation stuff (move_base) -->
    <include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml"/>



<!-- Mapping -->
  <group ns="rtabmap">

    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg args)">
      <param name="database_path"       type="string" value="$(arg database_path)"/>
      <param name="frame_id"            type="string" value="base_footprint"/>
      <param name="odom_frame_id"       type="string" value="odom"/>
      <param name="wait_for_transform_duration"  type="double"   value="$(arg wait_for_transform)"/>
      <param name="subscribe_depth"     type="bool"   value="true"/>
      <param name="subscribe_scan"      type="bool"   value="true"/>

      <!-- inputs -->
      <remap from="scan"            to="/scan"/>
      <remap from="rgb/image"       to="/stereo_camera/left/image_rect"/>
      <remap from="depth/image"     to="/stereo_camera/depth"/>
      <remap from="rgb/camera_info" to="/stereo_camera/left/camera_info"/>

      <!-- output -->
      <remap from="grid_map" to="/map"/>

<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
      <param name="RGBD/ProximityBySpace"        type="string" value="true"/>   <!-- Local loop closure detection (using estimated position) with locations in WM -->
      <param name="RGBD/OptimizeFromGraphEnd"    type="string" value="false"/>  <!-- Set to false to generate map correction between /map and /odom -->
      <param name="Kp/MaxDepth"                  type="string" value="4.0"/>
      <param name="Reg/Strategy"                 type="string" value="0"/>      <!-- Loop closure transformation: 0=Visual, 1=ICP, 2=Visual+ICP -->
      <param name="Icp/CorrespondenceRatio"      type="string" value="0.3"/>
      <param name="Vis/MinInliers"               type="string" value="15"/>      <!-- 3D visual words minimum inliers to accept loop ...
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2018-07-13 00:14:14 -0600 asked a question rtabmap+3d map

rtabmap+3d map hi all, i used rtabmap to created 3d map from environment. i used stereo camera for this. my question is

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2018-06-26 09:37:51 -0600 asked a question rtabmap_ros/obstacles_detection

rtabmap_ros/obstacles_detection hi all i created 3d map from environment with rtabmap and stereo camera. for this purpos

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2018-06-12 17:24:17 -0600 commented question how can path planning in ros without robot?

hello, i have stereo images that take with hand held stereo camera. i decide path planning with this images without appl

2018-06-12 04:32:23 -0600 asked a question how can path planning in ros without robot?

how can path planning in ros without robot? hi all, i have a set of stereo images and i diced path planning with these s

2018-06-11 02:30:02 -0600 asked a question rtabmap+3d map

rtabmap+3d map hi all, i used rtabmap with stereo camera and created 3d map and occupancy grid map from environment. my

2018-06-11 02:29:55 -0600 asked a question rtabmap+3d map

rtabmap+3d map hi all, i used rtabmap with stereo camera and created 3d map and occupancy grid map from environment. my

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2018-03-01 02:24:05 -0600 commented answer [ERROR] [1519888351.478412390]: Cannot identify '/dev/video0': 2, No such file or directory

i run sudo usermod -a -G dialout $USER , but my problem isn't solved!

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2018-03-01 01:56:53 -0600 commented question [ERROR] [1519888351.478412390]: Cannot identify '/dev/video0': 2, No such file or directory

when i run roslaunch usb_cam usb_cam-test.launch video_device:=/dev/video0 this error is created: Cannot open '/dev/vide

2018-03-01 01:54:18 -0600 commented question [ERROR] [1519888351.478412390]: Cannot identify '/dev/video0': 2, No such file or directory

i connected two cameras to laptop usbs!