Launchfile for rgbdicp_odometry

[olofmat]

Hi, I've gotten rgbdicp_odometry working by starting each process in a different terminal. For launching rtabmap itself I've used:

 roslaunch rtabmap_ros rtabmap.launch     rgbdicp_odometry:=true     scan_cloud_topic:=/cloud     subscribe_scan_cloud:=true     depth_topic:=/camera/aligned_depth_to_color/image_raw     rgb_topic:=/camera/color/image_raw     camera_info_topic:=/camera/color/camera_info     approx_sync:=false     wait_imu_to_init:=true     imu_topic:=/rtabmap/imu rtabmapviz:=false  rtabmap_args:="--delete_db_on_start" cfg:=~/Documents/RTAB-Map/foricp.ini

But now that I've tried doing a launchfile to launch everything at once i get this error:

RLException: unused args [rgbdicp_odometry] for include of [/opt/ros/melodic/share/rtabmap_ros/launch/rtabmap.launch]
The traceback for the exception was written to the log file

I use this launch file for ros-melodic:

<launch>
  <rosparam>
      /camera/motion_module/global_time_enabled: true
      /camera/l500_depth_sensor/global_time_enabled: true
      /camera/rgb_camera/global_time_enabled: true
  </rosparam>

  <include file="$(find realsense2_camera)/launch/rs_camera.launch">
     <arg name="align_depth" value="true"/>
     <arg name="unite_imu_method" value="linear_interpolation"/>
     <arg name="enable_gyro" value="true"/>
     <arg name="enable_accel" value="true"/>
  </include>

  <node pkg="imu_filter_madgwick" type="imu_filter_node" name="ImuFilter">
      <param name="use_mag" type="bool" value="false" />
      <param name="publish_tf" type="bool" value="false" />
      <param name="world_frame" type="string" value="enu" />
      <remap from="/imu/data_raw" to="/camera/imu"/>
      <remap from="/imu/data" to="/rtabmap/imu"/>
  </node>

  <node pkg="nodelet" type="nodelet" name="rtabmap_ros_point_cloud_xyz" args="standalone rtabmap_ros/point_cloud_xyz">
      <remap from="depth/image"         to="/camera/depth/image_rect_raw"/>
      <remap from="depth/camera_info"   to="/camera/depth/info"/>
      <param name="approx_sync"         value="false"/>
      <param name="_decimation"         value="4"/>
  </node>

  <include file="$(find rtabmap_ros)/launch/rtabmap.launch">
      <arg name="cfg" value="~/Documents/RTAB-Map/foricp.ini" />
      <arg name="depth_topic" value="/camera/aligned_depth_to_color/image_raw" />
      <arg name="scan_cloud_topic" value="/cloud" />
      <arg name="subscribe_scan_cloud" value="true" />
      <arg name="rgb_topic" value="/camera/color/image_raw" />
      <arg name="camera_info_topic" value="/camera/color/camera_info" />
      <arg name="approx_sync" value="false" />
      <arg name="wait_imu_to_init" value="true" />
      <arg name="imu_topic" value="/rtabmap/imu" />
      <arg name="rviz" value="false" />
      <arg name="rtabmapviz" value="false" />
      <arg name="rgbdicp_odometry" value="true" />

  </include>

</launch>

Thanks in advance!

[olofmat]

Hi again,

I looked closer into it and the icprgbd_odometry node isn't created in the first case either.

EDIT: And looking at the rgbd_odometry node it is not subscribing to "/cloud" so it seems I've misunderstood more than I thought.

Olof

[matlabbe]

Hi,

rtabmap.launch doesn't have rgbdicp_odometry option. However, rgbdicp_odometry is quite a specific approach (I never used it on a real system). What are you trying to achieve?

cheers,
Mathieu

[olofmat]

Hi,

I see. I am using the l515 in an environment where I'm sometimes able to not extract enough features for rgbd-odometry to work and sometimes there is too much light coming from windows so that the lidar more or less isn't functioning at all. I would therefore like to be able to use whichever gives the best result at that time.

Computationally it also seems to be doing fine right now so doing more calculations for a more robust system would be a well worth trade off right now.

Thanks for answer!

Olof

[matlabbe]

Without depth info, rtabmap's visual odometry won't work either.