Record in bag file and processing in rtabmap

[Muthupandi]

Hi,
          It's very urgent sir, we store the camera data in the bag file. our camera is intel realsense D435 and T265, using this command
         rosbag record  /d435/color/image_raw/compressed /d435/aligned_depth_to_color/image_raw/compressed /t265/odom/sample /d435/color/camera_info /tf /realsense_scan
          But tf does not contain all frame ids and tf have on t265 odometry frame id, so view_frame is only odom->robot_pose.



LAUNCH FILE:
         <launch>

 
 
 

 
  <arg name="rviz" default="false" />
  <arg name="rtabmapviz" default="true" /> 
 
 
 
 
  <arg name="localization"      default="false"/>
  <arg     if="$(arg localization)" name="rtabmap_args"  default=""/>
  <arg unless="$(arg localization)" name="rtabmap_args"  default="--delete_db_on_start"/>

  <group ns="rtabmap">
   
   
    <node pkg="rtabmap_ros" type="rgbd_odometry" name="visual_odometry" output="screen">
    <remap from="rgb/image"       to="/d435/color/image_raw"/>
    <remap from="depth/image"     to="/d435/aligned_depth_to_color/image_raw"/>
    <remap from="rgb/camera_info" to="/d435/color/camera_info"/>
   
   
   
     
   
   
  </node>

    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
         
         
         
         
         
         
   
   
        <remap from="rgb/image"       to="/d435/color/image_raw"/>
        <remap from="depth/image"     to="/d435/aligned_depth_to_color/image_raw"/>
        <remap from="rgb/camera_info" to="/d435/color/camera_info"/>
        <remap from="odom"            to="/t265/odom/sample"/>
        <remap from="scan"             to="/realsense_scan"/>
         
         
       
         
           
           
           
           
               
             
           
                     
           
           
             
               
             
         
         
         
         
         
   </node>
   
   
    <node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz"  output="screen"> 
   
     
     
     
     
        <remap from="rgb/image"       to="/d435/color/image_raw"/>
        <remap from="depth/image"     to="/d435/aligned_depth_to_color/image_raw"/>
        <remap from="rgb/camera_info" to="/d435/color/camera_info"/>
        <remap from="odom"            to="/t265/odom/sample"/>
        <remap from="scan"             to="/realsense_scan"/>

     
     
    </node>
    <node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb">
     <remap from="rgb/image"         to="/d435/color/image_raw"/>
     <remap from="depth/image"       to="/d435/aligned_depth_to_color/image_raw"/>
     <remap from="rgb/camera_info"   to="/d435/color/camera_info"/>
     <remap from="cloud"             to="voxel_cloud" />

     
     
     
   </node>
  </group>
 




 
 

</launch>

this our rtabmap launch file

our view frames are



In rtabmap window, axis are correct path everything is correct,


we scanned the wall but the wall will construct on top,

Screenshot using camera and bag file.

This image is source from camera,it is  working fine



This is source from bag file, but that triangular thing facing up, is there any problem with transformations?,



using bag file that map is getting created on top.

please, reply as soon as possible.
                                          Thank you
                     

[matlabbe]

Hi,

The launch file may not be displayed completely, the frame_id parameter is missing. Click on More->Raw text in the forum message menu.

You may have to record the static frames too (tf_static):
$ rosbag record  \
   /d435/color/image_raw/compressed \
   /d435/aligned_depth_to_color/image_raw/compressed \
   /t265/odom/sample \
   /d435/color/camera_info \
   /tf \
   /realsense_scan \
   /tf_static

In general, if the camera is looking up, it is because there is an optical rotation missing somewhere. Can you share a sample of this rosbag (with tf_static above)?

cheers,
Mathieu

[Muthupandi]

Hi,
       The bag file(capture.bag) link is https://drive.google.com/open?id=1nW_wjL6VYhZWOCSNwPktd90oXgRUXICk   

[matlabbe]

Hi,

I cannot use your launch file, there are some stuff missing (can you edit your post and put the launch stuff between raw tags?).

Anyway, I tried the following and it seems to work fine on my side:

$ roslaunch rtabmap_ros rtabmap.launch \
   args:="-d" \
   visual_odometry:=false \
   rgb_topic:=/d435/color/image_raw \
   depth_topic:=/d435/aligned_depth_to_color/image_raw \
   camera_info_topic:=/d435/color/camera_info \
   odom_topic:=/t265/odom/sample \
   frame_id:="robot_pose" \
   use_sim_time:=true

$ rosbag play --clock --pause capture.bag

The bag:

rosbag info capture.bag 
path:        capture.bag
version:     2.0
duration:    15.6s
start:       Oct 03 2019 06:25:16.60 (1570098316.60)
end:         Oct 03 2019 06:25:32.22 (1570098332.22)
size:        530.3 MB
messages:    7085
compression: none [510/510 chunks]
types:       nav_msgs/Odometry      [cd5e73d190d741a2f92e81eda573aca7]
             sensor_msgs/CameraInfo [c9a58c1b0b154e0e6da7578cb991d214]
             sensor_msgs/Image      [060021388200f6f0f447d0fcd9c64743]
             tf2_msgs/TFMessage     [94810edda583a504dfda3829e70d7eec]
topics:      /d435/aligned_depth_to_color/image_raw    169 msgs    : sensor_msgs/Image     
             /d435/color/camera_info                   340 msgs    : sensor_msgs/CameraInfo
             /d435/color/image_raw                     340 msgs    : sensor_msgs/Image     
             /t265/odom/sample                        3114 msgs    : nav_msgs/Odometry     
             /tf                                      3119 msgs    : tf2_msgs/TFMessage    
             /tf_static                                  3 msgs    : tf2_msgs/TFMessage

[Muthupandi]

Thank You,
      I will try this.