Create map with the playback from database file or bag file
My goal is to create a map from data that has been recorder beforehand. As far as I understand this can either be done with bag files or with the RTAB-Map data recorder, which records a database file. So far I have hit a roadblock with both of these options.
I am using an Intel Realsense L515. Below are the commands I use to start everything up:
Here is a screenshot of the rqt graph if it helps:
After the recording is finished, a ".db" file can be found in "home/.ros"
If I open this file with RTAB-Map I can import the database, but nothing much after that.
If I open RTAB-Map database viewer, I can play back the database but only the images are shown. The database has no graph or anything else. The map and Odom windows are blank. Am I doing something wrong?
If it helps, here is the command I use to start RTAB-Map normally and do online mapping:
Re: Create map with the playback from database file or bag file
when recording a database like that, only images are recorded, there is no odometry or map created. You should replay it in rtabmap app, by selecting Detection->Select source->More options, then select Database as source type, then under Database group below, click on "..." to select the recorded database. It will ask if you want to use odometry inside the dataabse, say "No" to recompute odometry, then "No" again to process all frames (as we assumed you recorded at 30 Hz).
Otherwise, while the data recorder is useful in some cases, I recommend to use rosbags instead, so you can re-use the same command line you used online (if you record compressedDepth and compressed topics, set compressed:=true so that rtabmap.launch subscribe to compressed topics recorded in the bag).