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2019-12-21 21:25:51 -0500 edited answer gazebo radar plugin

ModeCRadarPlugin is a model plugin while you are trying to load it as a sensor plugin. This should work. <gazebo ref

2019-12-21 21:23:44 -0500 answered a question gazebo radar plugin

ModeCRadarPlugin is a model plugin while you are trying to load it as a sensor plugin. This should work. <gazebo ref

2019-11-04 08:03:52 -0500 commented question ROS Package for Continental Radar ARS 4-A

ARS-4-A does have a CAN interface. I have not looked into how similar are both but Project-MANAS/ars_40X has an interfac

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2019-06-19 07:03:50 -0500 answered a question Add an environment variable in ExecuteProcess

Instead of setting env, additional_env can be used. ExecuteProcess(cmd=cmd, additional_env=env, output='screen') I

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2018-05-07 19:47:36 -0500 marked best answer How to localize in a previously created map using ZED, Laser and odom in RTABMap_ros?

I am able to create a rtabmap using zed, laser and odom according to Kinect + Odometry + 2D laser in this tutorial http://wiki.ros.org/rtabmap_ros/Tutor...

But this tutorial does not tell how to localise once we start the run again. This tutorial http://wiki.ros.org/rtabmap_ros/Tutor...

tells how to localise but that way is not working with the previous Kinect + Odom +2D Laser approach. How do I localize?

This is what my launch file launches

 <!-- Localization-only mode -->
     <arg name="localization"      default="false"/>
     <arg     if="$(arg localization)" name="rtabmap_args"  default=""/>
     <arg unless="$(arg localization)" name="rtabmap_args"  default="--delete_db_on_start"/>

<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)">

      <param name="frame_id" type="string" value="base_link"/>
      <param name="subscribe_depth" type="bool" value="true"/>
      <param name="subscribe_scan" type="bool" value="true"/>
      <remap from="rgb/image" to="/zed/left/image_rect_color"/>
      <remap from="depth/image" to="/zed/depth/depth_registered"/>
      <remap from="rgb/camera_info" to="/zed/left/camera_info"/>
      <remap from="/rtabmap/odom" to="/odom"/>
      <remap from="/rtabmap/scan" to="/scan"/>
      <param name="queue_size" type="int" value="1"/>

      <remap from="grid_map" to="map"/>
      <param name="RGBD/NeighborLinkRefining" type="string" value="true"/>
      <param name="RGBD/ProximityBySpace"     type="string" value="true"/>
      <param name="RGBD/AngularUpdate"        type="string" value="0.01"/>
      <param name="RGBD/LinearUpdate"         type="string" value="0.01"/>
      <param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/>
      <param name="Optimizer/Slam2D"          type="string" value="true"/>
      <param name="Reg/Strategy"              type="string" value="1"/> 
      <param name="Reg/Force3DoF"             type="string" value="true"/>
      <param name="Vis/MinInliers"            type="string" value="5"/>
      <param name="Vis/InlierDistance"        type="string" value="0.1"/>
      <param name="Rtabmap/TimeThr"           type="string" value="700"/>
      <param name="Mem/RehearsalSimilarity"   type="string" value="0.45"/>
       <!-- localization mode -->
       <param if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
       <param if="$(arg localization)" name="Mem/InitWMWithAllNodes" type="string" value="true"/>
</node>

This is what I get when I set localization to true.

[ WARN] (2018-05-04 10:58:12.928) Rtabmap.cpp:990::process() Update map correction based on last       localization saved in database! correction = xyz=-39.871330,14.157864,0.835705 rpy=-0.038996,-0.008449,-0.733314, nearest id = 173 of last pose = xyz=-10.255625,18.225515,0.453622 rpy=0.039121,0.003428,2.411816, odom = xyz=19.276752,22.848824,0.346089 rpy=0.000095,-0.004879,-3.137862

[ WARN] (2018-05-04 10:58:13.163) Rtabmap.cpp:1913::process() Rejected loop closure 9 -> 174: Cannot compute transform (converged=false var=1.000000)

[ WARN] [1525411693.255677825, 4.199000000]: Many occupancy grids should be loaded (~167), this may take a while to update the map(s)...

[ WARN] (2018-05-04 10:58:13.800) MapsManager.cpp:497::updateMapCaches() Occupancy grid for location 94 should be added to global map (e..g, a ROS node is subscribed to any occupancy grid output) but it cannot be found in memory. For convenience, the occupancy grid is regenerated. Make sure parameter "RGBD/CreateOccupancyGrid" is true to avoid this warning for the next locations added to map. For older ...
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2018-05-07 19:47:32 -0500 commented answer How to localize in a previously created map using ZED, Laser and odom in RTABMap_ros?

Thank you.. Works for me.. But the result from localization is not that great.. It can hardly localize if the robot is m

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2018-05-04 05:57:45 -0500 asked a question Mark unknown area as free space in gmapping

Mark unknown area as free space in gmapping My gmapping launch is as below <node pkg="gmapping" type="slam_gmapping"

2018-05-04 00:39:08 -0500 edited question How to localize in a previously created map using ZED, Laser and odom in RTABMap_ros?

How to localize in a previously created map using ZED, Laser and odom in RTABMap_ros? I am able to create a rtabmap usin

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2018-05-04 00:02:22 -0500 commented answer How to localize in a previously created map using ZED, Laser and odom in RTABMap_ros?

I edited my file according to your answer. The new launch file is as above. The problem is that when I set it to localiz

2018-05-04 00:00:30 -0500 edited question How to localize in a previously created map using ZED, Laser and odom in RTABMap_ros?

How to localize in a previously created map using ZED, Laser and odom in RTABMap_ros? I am able to create a rtabmap usin

2018-05-03 23:55:32 -0500 edited question How to localize in a previously created map using ZED, Laser and odom in RTABMap_ros?

How to localize in a previously created map using ZED, Laser and odom in RTABMap_ros? I am able to create a rtabmap usin

2018-05-03 23:51:38 -0500 edited question How to localize in a previously created map using ZED, Laser and odom in RTABMap_ros?

How to localize in a previously created map using ZED, Laser and odom in RTABMap_ros? I am able to create a rtabmap usin

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2018-05-03 22:47:51 -0500 commented answer Localise simultaneously in previous and current map

Thank you.. Will try cartographer

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2018-05-03 12:17:52 -0500 edited question Localise simultaneously in previous and current map

Localise simultaneously in previous and current map How can we localise in a real time map (similar to SLAM) as well as

2018-05-03 12:14:58 -0500 asked a question Localise simultaneously in previous and current map

Localise simultaneously in previous and current map How can we localise in a real time map (similar to SLAM) as well as

2018-05-03 12:08:01 -0500 commented question Use existing map and create a new map at the same time using gmapping

Tried looking into the same. Couldnt find an answer but possible NDT localization solves the purpose. But I have never t

2018-05-03 05:13:23 -0500 asked a question How to localize in a previously created map using ZED, Laser and odom in RTABMap_ros?

How to localize in a previously created map using ZED, Laser and odom in RTABMap_ros? I am able to create a rtabmap usin