|
|
Hello!
I'm experimenting with RTABMap, and I am having this issue now
I cannot see the 2d map in Rviz, the 3d map is fine, but the /octomap_grid topic does not receive any message, and the /grid_prob_map shows an empty map.
Here's the parameters im using:
parameters={
'frame_id':'robot_footprint',
'use_sim_time':use_sim_time,
'log_to_rosout_level': 4,
'subscribe_rgbd': True,
'use_action_for_goal':True,
'Grid/FromDepth':'true',
'Grid/3D':'true',
'Grid/Sensor': '1',
'Grid/RayTracing':'true',
'Grid/RangeMax':'3.0',
'Grid/NormalsSegmentation':'false', # Use passthrough filter to detect obstacles
'Grid/MaxGroundHeight':'0.15', # All points above 5 cm are obstacles
'Grid/MaxObstacleHeight':'1.3', # All points over 1 meter are ignored
'wait_for_transform': 1.0,
'approx_sync': False,
'RGBD/Enabled': 'true',
'RGBD/AngularUpdate': '0.0',
'RGBD/LinearUpdate': '0.0',
'RGBD/CreateOccupancyGrid': 'true',
'Kp/DetectorStrategy': '11',
'Vis/FeatureType': '11',
'Vis/CorGuessWinSize': '0',
'Reg/RepeatOnce': 'false',
'Vis/CorNNType': '6',
'Optimizer/Strategy': '0',
'SuperPoint/ModelPath': '/home/booster/scripts/superpoint_v1.pt',
'PyMatcher/Path': '/home/booster/scripts/SuperGluePretrainedNetwork/rtabmap_superglue.py',
'PyDetector/ModelPath': '/home/booster/scripts/superpoint_v1.pt',
'PyDetector/Path': '/home/booster/scripts/rtabmap_superpoint.py',
}
I get this warning using these parameters:
MapsManager.cpp:1229::publishMaps() Octomap projection map is empty! (poses=25 octomap nodes=0). Make sure you enabled "Grid/3D" and set "Grid/Sensor"=1. See "$ rosrun rtabmap_ros rtabmap --params | grep Grid" for more info.
Thanks in advance!!!
|
Locked
