Multiple Kinects on Multiple Raspberry Pi's Stream to one CloudMap

[EE409]

I've been looking at http://official-rtab-map-forum.206.s1.nabble.com/Two-kinects-connect-to-two-Raspberry-Pi-3-both-streaming-to-a-computer-RTABMAP-RVIZ-td4295.html#a4297 it's similar to what we need except they're using demo_two_kinects.launch and we want to use test_two_kinects_one_map.launch from https://github.com/introlab/rtabmap_ros/blob/master/launch/tests/test_two_kinects_one_map.launch.

We are able to create namespaces for the freenect.launch file on each raspberry pi i.e. camera1 and camera2, but we are unsure how to go about to create a namesapce for rtabmap.launch file for each raspberry pi and unsure what to launch on the master computer where both raspberry pi's will be streaming to.

Would we launch the test_two_kinects_one_map.launch from https://github.com/introlab/rtabmap_ros/blob/master/launch/tests/test_two_kinects_one_map.launch on the master computer?

Thanks!

[matlabbe]

Hi,

Yes, you could launch test_two_kinects_one_map.launch on the master (removing freenect stuff from that file). You may also add

<arg name="compressed" value="true" /> 

to rtabmap.launch includes so that compressed images are streamed from the RPIs.

Not sure what you want to do, but be aware that test_two_kinects_one_map.launch is an example of two independent camera/rtabmap localizing to a shared database previously built.

cheers,
Mathieu