Hi Mathieu,
I am trying to incorporate in a launch file the rgbdicp_odometry node. So far this is my launch file. <launch> <arg name="rtabmapviz" default="true"/> <arg name="frame_id" default="imu_link"/> <arg name="scan_cloud_max_points" default="131072"/> <param name="use_sim_time" value="true"/> <arg name="common_params" value="--RGBD/CreateOccupancyGrid false \ --Rtabmap/DetectionRate 2 \ --Odom/ScanKeyFrameThr 0.9 \ --OdomF2M/ScanMaxSize 25000 \ --OdomF2M/ScanSubtractRadius 0.5 \ --Icp/PM true \ --Icp/VoxelSize 0.5 \ --Icp/MaxTranslation 5 \ --Icp/MaxCorrespondenceDistance 1.5 \ --Icp/PMOutlierRatio 0.8 \ --Icp/Iterations 10 \ --Icp/PointToPlane true \ --Icp/PMMatcherKnn 3 \ --Icp/PMMatcherEpsilon 0 \ --Icp/Epsilon 0.0001 \ --Icp/PointToPlaneK 10 \ --Icp/PointToPlaneRadius 0 \ --Icp/CorrespondenceRatio 0.01 \ --Odom/GuessSmoothingDelay 1"/> <node pkg="tf2_ros" type="static_transform_publisher" name="odom_to_guess" args="0 0 0 0 0 0 1 odom odom_guess"/> <node pkg="tf2_ros" type="static_transform_publisher" name="imu_to_camera" args="-0.01 0.028 0 0.9999598 -0.0033599 -0.0021211 -0.0080401 imu_link camera_link"/> <node pkg="tf2_ros" type="static_transform_publisher" name="imu_to_velodyne" args="0 0.15 0.075 0 0 0 1 imu_link velodyne"/> <group ns = "rtabmap"> <node pkg="rtabmap_ros" type="rgbdicp_odometry" name="rgbdicp_odometry" output="screen" args=" $(arg common_params)"> <param name="frame_id" type="string" value="$(arg frame_id)"/> <remap from="scan_cloud" to="/velodyne_points"/> <remap from="depth/image" to="/camera/aligned_depth_to_color/image_raw"/> <remap from="rgb/camera_info" to="/camera/color/camera_info"/> <remap from="rgb/image" to="/camera/color/image_raw"/> <param name="scan_normal_k" type="int" value="10"/> <param name="subscribe_scan_cloud" type="bool" value="true"/> <param name="subscribe_depth" type="bool" value="true"/> <param name="approx_sync" type="bool" value="true"/> <param name="Vis/MinInliers" type="string" value="10"/> <param name="Vis/FeatureType" type="string" value="0"/> <param name="Kp/NndrRatio" type="string" value="0.05"/> <param name="Kp/MaxFeatures" type="string" value="500"/> <param name="Vis/CorNNDR" type="string" value="5"/> <param name="RGBD/OptimizeMaxError" type="string" value="5.0"/> </node> <node pkg="rtabmap_ros" type="rtabmap" name="rtabmap" output="screen" args="-d $(arg common_params)"> <param name="frame_id" type="string" value="$(arg frame_id)"/> <param name="subscribe_depth" type="bool" value="false"/> <param name="subscribe_rgb" type="bool" value="false"/> <param name="subscribe_scan_cloud" type="bool" value="true"/> <param name="approx_sync" type="bool" value="true"/> <param name="scan_cloud_max_points" type="int" value="$(arg scan_cloud_max_points)"/> <remap from="scan_cloud" to="/velodyne_points"/> </node> <node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" output="screen"> <param name="frame_id" type="string" value="$(arg frame_id)"/> <param name="odom_frame_id" type="string" value="odom"/> <param name="subscribe_odom_info" type="bool" value="true"/> <param name="subscribe_scan_cloud" type="bool" value="true"/> <param name="approx_sync" type="bool" value="true"/> <remap from="scan_cloud" to="/velodyne_points"/> </node> </group> </launch> By calling rosnode info /rtabmap/odom and visualizing it on rviz it seems that it is working as intended. Here is a screen shot of how the poses are computed. \ ![]() Although this seems fairly reasonably accurate the output at the gui is the following: ![]() And the pointcloud is very messy. ![]() Can you help me understand what's going on ? |
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Hi,
I see that you set use_sim_time to true, I assume this was done on a rosbag? Make sure that your bag doesn't have the same TF published than those recomputed here. rgbdicp_odometry has not been updated for a while, and would have to use rgbd_image interface (instead of approximatly synchronized all individuals topics all together). Is TF odom->odom_guess used somwhere? For the poses, it could be easier to debug with rtabmap-databaseViewer and look at the neighbor links in Constraints View. |
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