Stereo mapping in ROS using monochrome cameras

[PG_GrantDare]

Hi everyone,

I am using the Nerian SP1 and Karmin 3D camera for my hardware and I am trying to achieve stereo mapping in ROS. I am following the launch from the examples and am finding it hard to get this working. The cameras are monochrome and publish rectified images. I am able to see the sensor in RTABMap, I am able to see the pointcloud published by the algorithm, I am able to see the stereo odometry working.

The problem is that the map just doesn't exist there. It only shows me the current visual pointcloud, not the 3D map? (I can only visualise what I am currently looking at, not what I have looked at. Can anyone direct me to where I am going wrong?

Thanks, Grant :)

[matlabbe]

Hi,

Do you have some warnings on the terminal telling that rtabmap is waiting on some topics? It seems the map is not constructed, like rtabmap is not started. I suggest also to use rtabmap.launch directly (stereo_mapping.launch is still there for backward compatibility) like in those examples:

$ roslaunch rtabmap_ros rtabmap.launch \
   rtabmap_args:="--delete_db_on_start" \
   stereo:=true \
   left_image_topic:=/camera/left/image_rect \
   right_image_topic:=/camera/right/image_rect \
   left_camera_info_topic:=/camera/left/camera_info \
   right_camera_info_topic:=/camera/right/camera_info

cheers,
Mathieu