I want to make a map of a corridor using P3DX and kinect what should be the tf tree?

[dhagash]

I am new to ROS and in my project I have to create a map of the corridor and then the robot must move from one place to another autonomously. I have created a code for navigation purpose which will use the x,y coordinates of the map in order to move from one place to another. The task I am left is to create a map I am using RosAria package so what should be the tf and how to proceed for autonomous navigation and how I can incorporate navigation stack with rtab map. Also I am unable to create map in rviz with rtab map how to solve that error.

[dhagash]

Anybody please can you help me?

[matlabbe]

Hi,

If you look at this example, a 2D occupancy grid map can be created by feeding fake laser scan form kinect to rtabmap. For TF, I don't know the ROSAria package, you may have access to a TF tree of the robot, then you just need to add a static transform between /base_link to camera link. See also this page for TF. RosAria outputs "pose" as odometry topic that can be remapped in the example linked above to odom input topic of rtabmap. RosAria subscribes to "cmd_vel" that would be received from move_base.

If you look at the diagram of move_base here, here what rtabmap integration looks like with move_base:




As you see, when you can create a 2d occupancy grid map from rtabmap, you can already integrate it with move_base.

cheers,
Mathieu

[dhagash]

Thank you for helping me. Sorry but yet I am stuck in one more situation I am getting this error I am chosing frame_id as /camera_link for rgbdmapping.launch. I have inserted the tf tree
<nabble_embed>[ WARN] [1510652199.943423972]: odometry: Could not get transform from /camera_link to camera_rgb_optical_frame (stamp=1510648798.442069) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: source_frame camera_rgb_optical_frame does not exist..</nabble_embed>
First I am just trying to record map with bag with this topics is there anything missing in it.
This is my bag file info. Please reply soon I am stuck from 2 days.

[dhagash]

Another problem I am facing is that I am not able to do online mapping. I have p3dx kinect is getting power from it that usb cable is connected to my laptop and I am the master. I am first starting openni_launch in another terminal and then trying to open rtabmap but still, there is error why so, What to do to rectify the error? The error is still not receiving data on the topics inspite of launching openni.
<nabble_embed>[ WARN] [1510658564.995820567]: /rtabmap/rtabmapviz: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10). /rtabmap/rtabmapviz subscribed to (approx sync): /rtabmap/odom, /camera/rgb/image_rect_color, /camera/depth_registered/image_raw, /camera/rgb/camera_info, /rtabmap/odom_info </nabble_embed>