How to generate maps with same odometry and different parameter values from ubuntu commandline?

[MalarJN]

Hi,

I have used the simulation section of this tutorial to generate a 2D map using a simulated version of turtlebot2 in Gazebo and rtabmap. Now I want to change the rtabmap parameters (like MaxDepth) to see if there are any changes to the map. I realise this can be done using the rtabmap databaseViewer GUI (though I am not sure how), however because I would like to try multiple values  for multiple parameters  and different combinations of these as well. I want to know if there is a way this can be done using the commandline in Ubuntu?  

PS: I am using ROS kinetic on an Ubuntu 16.04 VM.

Thanks,
Malar.

[matlabbe]

Hi,

You can use rtabmap-reprocess tool. Example to try with Vis/MaxDepth set to 10 and 5:

$ rtabmap-reprocess --Vis/MaxDepth 10 input.db output10.db
$ rtabmap-reprocess --Vis/MaxDepth 5 input.db output5.db

For Grid/ parameters, a convenient way is to open the database in DatabaseViewer, open Core Parameters panel, change Grid/ parameters and do Edit->Regenerate local grid maps.

cheers,
Mathieu

[MalarJN]

Thank you very much Mathieu, that worked. However, now when I use the commands I regularly use to generate the map, no matter what database path I specify, the rtabmap.db file in .ros folder is accessed.

rosrun rtabmap_ros rtabmap _database_path:=
rosrun map_server map_saver map:=grid_map
rosservice call /publish_map 1 1 0

Regards,
Malar.

[matlabbe]

Hi,

The database_path is not set on your line. I tried this and it should work:

rosrun rtabmap_ros rtabmap _database_path:=~/my_map.db
[ INFO] [1602085325.622792769]: Starting node...
[ INFO] [1602085325.699695432]: Initializing nodelet with 12 worker threads.
[ INFO] [1602085325.892238053]: /rtabmap(maps): map_filter_radius          = 0.000000
[ INFO] [1602085325.892259843]: /rtabmap(maps): map_filter_angle           = 30.000000
[ INFO] [1602085325.892266272]: /rtabmap(maps): map_cleanup                = true
[ INFO] [1602085325.892271333]: /rtabmap(maps): map_always_update          = false
[ INFO] [1602085325.892276377]: /rtabmap(maps): map_empty_ray_tracing      = true
[ INFO] [1602085325.892311013]: /rtabmap(maps): cloud_output_voxelized     = true
[ INFO] [1602085325.892317257]: /rtabmap(maps): cloud_subtract_filtering   = false
[ INFO] [1602085325.892323984]: /rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1602085325.892696043]: /rtabmap(maps): octomap_tree_depth         = 16
[ INFO] [1602085325.903220779]: rtabmap: frame_id      = base_link
[ INFO] [1602085325.903237288]: rtabmap: map_frame_id  = map
[ INFO] [1602085325.903248295]: rtabmap: use_action_for_goal  = false
[ INFO] [1602085325.903261893]: rtabmap: tf_delay      = 0.050000
[ INFO] [1602085325.903271935]: rtabmap: tf_tolerance  = 0.100000
[ INFO] [1602085325.903281218]: rtabmap: odom_sensor_sync   = false
[ INFO] [1602085326.484243278]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1602085326.484287861]: rtabmap: Using database from "/home/mathieu/my_map.db" (0 MB).
[ INFO] [1602085326.503072458]: rtabmap: Database version = "0.20.5".
[ INFO] [1602085326.514452830]: /rtabmap: subscribe_depth = true
[ INFO] [1602085326.514493190]: /rtabmap: subscribe_rgb = true
[ INFO] [1602085326.514502951]: /rtabmap: subscribe_stereo = false
[ INFO] [1602085326.514515235]: /rtabmap: subscribe_rgbd = false (rgbd_cameras=1)
[ INFO] [1602085326.514524313]: /rtabmap: subscribe_odom_info = false
[ INFO] [1602085326.514533745]: /rtabmap: subscribe_user_data = false
[ INFO] [1602085326.514544560]: /rtabmap: subscribe_scan = false
[ INFO] [1602085326.514554616]: /rtabmap: subscribe_scan_cloud = false
[ INFO] [1602085326.514562814]: /rtabmap: subscribe_scan_descriptor = false
[ INFO] [1602085326.514573485]: /rtabmap: queue_size    = 10
[ INFO] [1602085326.514585414]: /rtabmap: approx_sync   = true
[ INFO] [1602085326.514811634]: Setup depth callback
[ INFO] [1602085326.713710861]: 
/rtabmap subscribed to (approx sync):
   /odom \
   /rgb/image \
   /depth/image \
   /rgb/camera_info
[ INFO] [1602085326.804892999]: rtabmap 0.20.4 started...

See the "rtabmap: Using database from "/home/mathieu/my_map.db" (0 MB)". line.

cheers,
Mathieu

[MalarJN]

Hi Mathieu,

That is what does not work for me. Take a look at this for example:

rosrun rtabmap_ros rtabmap _database_path=/home/malar/overlay_ws/RoboticsLabRuns/Default/output2.db
[ INFO] [1602098304.918545862]: Starting node...
[ INFO] [1602098305.239313980]: Initializing nodelet with 2 worker threads.
[ INFO] [1602098306.505667985]: /rtabmap(maps): map_filter_radius          = 0.000000
[ INFO] [1602098306.505728860]: /rtabmap(maps): map_filter_angle           = 30.000000
[ INFO] [1602098306.506048451]: /rtabmap(maps): map_cleanup                = true
[ INFO] [1602098306.506121185]: /rtabmap(maps): map_always_update          = false
[ INFO] [1602098306.506567446]: /rtabmap(maps): map_empty_ray_tracing      = true
[ INFO] [1602098306.506628762]: /rtabmap(maps): cloud_output_voxelized     = true
[ INFO] [1602098306.507036725]: /rtabmap(maps): cloud_subtract_filtering   = false
[ INFO] [1602098306.507103294]: /rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1602098306.514108684]: /rtabmap(maps): octomap_tree_depth         = 16
[ INFO] [1602098306.603270831]: rtabmap: frame_id      = base_link
[ INFO] [1602098306.603380585]: rtabmap: map_frame_id  = map
[ INFO] [1602098306.603449202]: rtabmap: use_action_for_goal  = false
[ INFO] [1602098306.603550173]: rtabmap: tf_delay      = 0.050000
[ INFO] [1602098306.603646694]: rtabmap: tf_tolerance  = 0.100000
[ INFO] [1602098306.603713221]: rtabmap: odom_sensor_sync   = false
[ INFO] [1602098308.595015806]: Update RTAB-Map parameter "Grid/FromDepth"="false" from database
[ INFO] [1602098308.595458409]: Update RTAB-Map parameter "Grid/RangeMax"="0" from database
[ INFO] [1602098308.595722938]: Update RTAB-Map parameter "GridGlobal/MinSize"="20" from database
[ INFO] [1602098308.595952044]: Update RTAB-Map parameter "Icp/CorrespondenceRatio"="0.3" from database
[ INFO] [1602098308.596051184]: Update RTAB-Map parameter "Kp/MaxDepth"="4.0" from database
[ INFO] [1602098308.596495360]: Update RTAB-Map parameter "Mem/RehearsalSimilarity"="0.3" from database
[ INFO] [1602098308.596880353]: Update RTAB-Map parameter "Reg/Force3DoF"="true" from database
[ INFO] [1602098308.597311328]: Update RTAB-Map parameter "Vis/MinInliers"="15" from database
[ INFO] [1602098309.033383062]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1602098309.033591847]: rtabmap: Using database from "/home/malar/.ros/rtabmap.db" (0 MB).
[ INFO] [1602098309.094005360]: rtabmap: Database version = "0.19.6".
[ INFO] [1602098309.194967361]: /rtabmap: subscribe_depth = true
[ INFO] [1602098309.195034111]: /rtabmap: subscribe_rgb = true
[ INFO] [1602098309.195063158]: /rtabmap: subscribe_stereo = false
[ INFO] [1602098309.195092908]: /rtabmap: subscribe_rgbd = false (rgbd_cameras=1)
[ INFO] [1602098309.195128032]: /rtabmap: subscribe_odom_info = false
[ INFO] [1602098309.195155276]: /rtabmap: subscribe_user_data = false
[ INFO] [1602098309.195181317]: /rtabmap: subscribe_scan = false
[ INFO] [1602098309.195207133]: /rtabmap: subscribe_scan_cloud = false
[ INFO] [1602098309.195234110]: /rtabmap: queue_size    = 10
[ INFO] [1602098309.195272092]: /rtabmap: approx_sync   = true
[ INFO] [1602098309.195363967]: Setup depth callback
[ INFO] [1602098309.298579640]:
/rtabmap subscribed to (approx sync):
   /odom,
   /rgb/image,
   /depth/image,
   /rgb/camera_info
[ INFO] [1602098309.356909748]: rtabmap 0.19.6 started...

Note where I mention the database path and where in the logs it has been directed to the default rtabmap.db.

Best regards,
Malar.

[MalarJN]

It seems to work with the newer version of RTABMap. Also, I seem to have missed the ':' when specifying the database path.

[matlabbe]

Yeah it should be indeed (colon-equal):
rosrun rtabmap_ros rtabmap _database_path:=/home/malar/overlay_ws/RoboticsLabRuns/Default/output2.db

[MalarJN]

Thank you Mathieu.

I understand that the Kp/MaxDepth parameter is used to filter extracted keypoints by depth. However, I was wondering what happens when I change the Kp/MaxDepth parameter values? For example, what does changing it do to the map generated?

Best regards,
Malar.

[matlabbe]

This will change how loop closures are detected, thus trajectory may be different if loop closures are more or less detected because of this.

[MalarJN]

Thank you very much Mathieu.