Trajectory graph display modification

[Severn]

Hi Mathieu,
    I'm trying to display the trajectory more clearly, as it is covered by the pointcloud partly. Could you teach me how to change the marker size of the trajectory? The only option about the graph display I found is "Display graph" in  Preference-General Settings (GUI)-3D Rendering. It would be great if the edge width and color of the graph also can be changed.
    Thank you in advance!

Sincerely,
Severn

[matlabbe]

Hi,

In rtabmapviz, the options are indeed limited. Workaround is to show the Graph View (Window->Show view...) to see better the path (color of the path can be also changed on right-click). You can also decrease alpha channel (transparency) in Preferences->3D Rendering of the map to see the path. The path color in the 3D Map view is related to mapping session. The second session would show up in pink instead of cyan, the third session in yellow and so on...

You may use RVIZ instead of rtabmapviz to get more rendering options. To show graph in RVIZ, add a rtabmap_ros/MapGraph display and subscribe to /rtabmap/mapGraph. To show 3D map in RVIZ, add rtabmap_ros/MapCloud display and subscribe to /rtabmap/mapData. Make sure the fixed frame in global option is set to /map to properly see the map topics.

cheers,
Mathieu

[Severn]

Thank you so much, Mathieu
How could I load rtabmap.db file to display point cloud in ROS RVIZ? The RTABMAP wiki in github shows the standalone tools.

[matlabbe]

To just visualize in RVIZ without modifying the database:

$ roslaunch rtabmap_ros rtabmap.launch localization:=true database_path:="my_rtabmap.db" rtabmapviz:=false rviz:=true
// wait that everything is started, add MapGraph display in rviz, then
$ rosservice call rtabmap/publish_map 1 1 0

You could also remove the rviz:=true if you prefer starting rviz directly and adding the topics manually. Call publish_map service to make rtabmap publish mapData and mapGraph topics used to fill stuff in RVIZ rtabmap_ros/MapGraph and rtabmap_ros/MapCloud plugins.

cheers,
Mathieu