Usyd with monocular camera

[matteo.scucchia]

Hi Mathieu,
I'm trying to run rtabmap_ros with usyd dataset using the launcher in rtabmap_example. I want to use only the front camera (/gmls/A0), with a depth generated from scan, but i cannot achieve the desired result. With two or three cameras it works well, but with one camera it doesn't work.

Can you create an example of launch file with only one rgb camera and laser scan?

Thanks in advance.

Cheers,
Matteo

[matlabbe]

Hi Matteo,

What did you try?

I would change namespace here to "/gmsl/A0", then set rgbd_cameras to 1 for rtabmap node with:

<remap from="rgbd_image" to="/gmsl/A0/rgbd_image"/>

cheers,
Mathieu

[matteo.scucchia]

Thanks Mathieu,
I've forgotten the remap!

Always the best!

Cheers,
Matteo