Octomap in RTAB-Map

[dhagash]

Can you tell me the detailed procedure to create a Octomap from RGBD Vision TUM dataset in RTAB-Map and I have also doubt in how to create a map using RGBD datasets. Sorry I am not able to follow the previous answers. All I do is remap the topic to the bag file still its of no use the topics arent getting remapped

This is the thing I do to create a simple map in the GUI. Please tell me where am I wrong:

roslaunch rtabmap_ros  rtabmap.launch odom:=/pose rgb/image:=/camera/rgb/image_color depth/image:=/camera/depth/image _frame_id:=/kinect

This is the code I use for creating map with the RGBD dataset. Please tell me my error and also if you can tell me how to create a Octomap using the same rtabmap.launch it would be helpful.

[matlabbe]

Hi,

Assuming you are on ROS Kinetic, to just create an octomap from TUM's ground truth poses:

$ roscore
$ rosparam set use_sim_time true
$ roslaunch rtabmap_ros rtabmap.launch visual_odometry:=false odom_frame_id:=world frame_id:=kinect rgb_topic:=/camera/rgb/image_color \
depth_topic:=/camera/depth/image rtabmap_args:="--delete_db_on_start --Kp/MaxFeatures -1" rtabmapviz:=false rviz:=true
$ rosbag play --clock --pause rgbd_dataset_freiburg3_long_office_household.bag

Visual odometry and loop closure detection are disabled. You may have to build octomap_rviz_plugins from source to get ColorOccupancyGrid plugin working with rtabmap's octomap outputs:





cheers,
Mathieu

[dhagash]

Thank for the help the octomap is building in Rviz. I need one more help how to save the octomap.

Also I am getting not much in the octomap for rgbd_dataset_freiburg2_pioneer_360 this data set what I am sharing what I got can you tell me how to increase the accuracy of octomap with robot while I record my data. I am attaching the map I got. Basically I need to visualize obstacles for my project. And cuurently there is pretty rough map. I also decompressed the dataset.

[matlabbe]

You may add "--Grid/GroundIsObstacle true" in rtabmap_args to get the ground:


To save the octomap (you need ros-kinetic-octomap-server package):

$ rosrun octomap_server octomap_saver -f octomap.ot octomap_full:=/rtabmap/octomap_full
$ octovis octomap.ot

cheers,
Mathieu

[dhagash]

Thank you Mathieu this worked and again thanks for helping me out.

[dhagash]

Sorry, to disturb you again I want to visualise the obstacles in the octomap but the one with Hand-Held style is getting me clear obstacles but when I do it with P3Dx its not upto mark. So can you tell me how to improve the accuracy of the map by changing which parameters. Also which topics do your prefer should I record with kinect for good map currently I am doing same as the TUM datasets.  

[matlabbe]

The example above was using the VICON as "odometry". Some questions about what you are trying to do... What is your setup with your P3Dx? Are you using odometry from the robot? What is TF tree? Did you try the with hand-held tutorial just to see if you can get satisfactory octomap live before going on the robot?

cheers,
Mathieu

[Mosquito]

Hello,Mathieu~~~I
I add this : <arg name="ground_is_obstacle"   value="true"/> in rtabmap.launch.
But it didn't add the ground in octomap~~

[matlabbe]

Hi,

Try with "octomap_ground_is_obstacle".

cheers