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2018-06-01 02:56:41 -0500 | commented answer | How can I stop Rtabmap from publishing transform data on /tf topic? Hello Mathieu
Thanks a lot, This is just what I needed!
Can i ask some questions out of curiosity? Like 1]what does rtab |
2018-06-01 02:53:23 -0500 | marked best answer | How can I stop Rtabmap from publishing transform data on /tf topic? Hello,
I am trying to implement slam on a mobile robot. I have created my own frames and linked them and I am publishing them on /tf
I do not want rtabmap to publish its own transforms on this topic (I am using rtabmap only for visual odometry)
I have a launch file as follows: <launch>
<!-- Convenience launch file to launch odometry, rtabmap and rtabmapviz nodes at once -->
<!-- For stereo:=false
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 -->
<!-- For stereo:=true
Your camera should be calibrated and publishing rectified left and right
images + corresponding camera_info msgs. You can use stereo_image_proc for image rectification.
Example:
$ roslaunch rtabmap_ros bumblebee.launch -->
<!-- Choose between RGB-D and stereo -->
<arg name="stereo" default="false"/>
<!-- Choose visualization -->
<arg name="rtabmapviz" default="false" />
<arg name="rviz" default="false" />
<!-- Localization-only mode -->
<arg name="localization" default="false"/>
<!-- Corresponding config files -->
<arg name="cfg" default="" /> <!-- To change RTAB-Map's parameters, set the path of config file (*.ini) generated by the standalone app -->
<arg name="gui_cfg" default="~/.ros/rtabmap_gui.ini" />
<arg name="rviz_cfg" default="$(find rtabmap_ros)/launch/config/rgbd.rviz" />
<arg name="frame_id" default="camera_link"/> <!-- Fixed frame id, you may set "base_link" or "base_footprint" if they are published -->
<arg name="namespace" default="rtabmap"/>
<arg name="database_path" default="~/.ros/rtabmap.db"/>
<arg name="queue_size" default="10"/>
<arg name="wait_for_transform" default="0.2"/>
<arg name="rtabmap_args" default=""/> <!-- delete_db_on_start, udebug -->
<arg name="launch_prefix" default=""/> <!-- for debugging purpose, it fills launch-prefix tag of the nodes -->
<!-- if timestamps of the input topics are synchronized using approximate or exact time policy-->
<arg if="$(arg stereo)" name="approx_sync" default="false"/>
<arg unless="$(arg stereo)" name="approx_sync" default="true"/>
<!-- RGB-D related topics -->
<arg name="rgb_topic" default="/camera/rgb/image_rect_color" />
<arg name="depth_topic" default="/camera/depth_registered/image_raw" />
<arg name="camera_info_topic" default="/camera/rgb/camera_info" />
<!-- stereo related topics -->
<arg name="stereo_namespace" default="/stereo_camera"/>
<arg name="left_image_topic" default="$(arg stereo_namespace)/left/image_rect_color" />
<arg name="right_image_topic" default="$(arg stereo_namespace)/right/image_rect" /> <!-- using grayscale image for efficiency -->
<arg name="left_camera_info_topic" default="$(arg stereo_namespace)/left/camera_info" />
<arg name="right_camera_info_topic" default="$(arg stereo_namespace)/right/camera_info" />
<arg name="compressed" default="false"/> <!-- If you want to subscribe to compressed image topics -->
<arg name="rgb_image_transport" default="compressed"/> <!-- Common types: compressed, theora (see "rosrun image_transport list_transports") -->
<arg name="depth_image_transport" default="compressedDepth"/> <!-- Common types: compressed, theora (see "rosrun image_transport list_transports") -->
<arg name="subscribe_scan" default="false"/>
<arg name="scan_topic" default="/scan"/>
<arg name="subscribe_scan_cloud" default="false"/>
<arg name="scan_cloud_topic" default="/scan_cloud"/>
<arg name="visual_odometry" default="true"/> <!-- Launch rtabmap visual odometry node -->
<arg name="odom_topic" default="/odom"/> <!-- Odometry topic used if visual_odometry is false -->
<arg name="odom_frame_id" default=""/> <!-- If set, TF is used to get odometry instead of the topic -->
<arg name="odom_args" default="$(arg rtabmap_args)"/>
<!-- These arguments should not be modified directly, see referred topics without "_relay" suffix above -->
<arg if="$(arg compressed)" name="rgb_topic_relay" default="$(arg rgb_topic)_relay"/>
<arg unless="$(arg compressed)" name="rgb_topic_relay" default="$(arg rgb_topic)"/>
<arg if="$(arg compressed)" name="depth_topic_relay" default="$(arg depth_topic ... (more) |
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2018-05-31 08:33:38 -0500 | edited question | How can I stop Rtabmap from publishing transform data on /tf topic? How can I stop Rtabmap from publishing transform data on /tf topic?
Hello,
I am trying to implement slam on a mobile ro |
2018-05-31 08:16:41 -0500 | asked a question | How to increase fovis_ros sampling rate How to increase fovis_ros sampling rate
hello,
I want to use Mono-depth-odometer in fovis for Visual odometry, However I |
2018-05-31 08:09:45 -0500 | asked a question | How can I stop Rtabmap from publishing transform data on /tf topic? How can I stop Rtabmap from publishing transform data on /tf topic?
Hello,
I am trying to implement slam on a mobile ro |
2018-03-12 04:57:25 -0500 | commented answer | Using OpenCV4Tegra in ROS hi, Thanks a lot for the solution. we encountered the same problem and followed your instruction accordingly. For the la |