How to record rosbag for rtabmap by using kinect2

[polarbear]

Hi，
i am trying to use rosbag to record date so that i can just walk around the room one time to do many times test.
Those topic are what i try to record,but it don`t work when i play bag.
Could you give me some suggests？Thanks～
I drive kinetc2 by libfreenect2.And i do 'rosparam set use_sim_time true' too when play bag.

/kinect2/qhd/camera_info
 /kinect2/qhd/image_color_rect
/kinect2/qhd/image_depth_rect
/kinect2/qhd/points
/tf

[matlabbe]

Hi,

following kinect2 instructions from this ros wiki tutorial, here is an example.

Record bag:

$ roslaunch kinect2_bridge kinect2_bridge.launch publish_tf:=true
$ rosrun tf static_transform_publisher 0 0 0 -1.5707963267948966 0 -1.5707963267948966 camera_link kinect2_link 100
$ rosbag record -O kinect2 /tf /kinect2/qhd/image_color_rect /kinect2/qhd/image_depth_rect /kinect2/qhd/camera_info

Play bag:

$ roscore
$ rosparam set use_sim_time true
$ roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" rgb_topic:=/kinect2/qhd/image_color_rect depth_topic:=/kinect2/qhd/image_depth_rect camera_info_topic:=/kinect2/qhd/camera_info
$ rosbag play --clock kinect2.bag

cheers,
Mathieu

[yalan2017]

Hi
Can i use this bag file for localization with autonomous robot? i have already created  a map with kinect v2 , but i wonder whether i can use this map for localization or not, with online mapping i can use for localization but i have problem while my robot rotate fast suddenly i lost my odometry (shows that red page which means odometry lost ) this issue caused my autonomous robot lost . I only use kinect v2 with out any wheel odemerty and imu...
Thank you in advance

[matlabbe]

Yes, the map can be used in localization. The problem here is the visual odometry that gets lost when not seeing enough visual features to track. This is a common problem for indoor robots having limited field of view, they cannot navigate in featureless areas with only visual odometry.

You can try tips from section Odometry Auto-Reset of the parameter tuning tutorial. This will make odometry to restart tracking from where it got lost.

More info about red screens here.

cheers,
Mathieu

[polarbear]

Thanks!
 I’m truly grateful for your help

[yalan2017]

Thank you for your reply.
Cheers