rgbd-slam dataset

[Yuli]

Dear Mathieu ,
Thanks for the reply on my last question. Now I turned to try rgbd-slam dataset in TUM.
I used rgbdslam_datasets.launch on rgbd_dataset_freiburg1_360.bag
and it could generate and display map on rviz. But since I need to save trajectory
,so I needed(?) to use rtabmapviz to save rtabmap.db and it wouldn't work.
rtabmapviz didn't display anything.
Actually no matter using rviz or rtabmapviz, I didn't see any
"Odom: quality ....." message show on the screen asusual and found that
the program "stuck on"
Transform OdometryROS::getTransform();
it seemed to try to
get transform from kinect to /openni_rgb_optical_frame (stamp=1305031791.145096) after 0.100000 seconds ("wait_for_transform_duration"=0.100000)!
, but neither waitForTransform complain anything or any transform is generated.

I wonder if you can help me out, thanks a lot!

Ming

[matlabbe]

Can you show the TF tree when you run the bag?

$ rosrun tf view_frames
$ evince frames.pdf

[Yuli]

thanx!

[Yuli]

Dear Mathieu ,
Hope I didn't waste too much of your time!
I just got "Odom: quality=" messages show, though rtabmapviz still hasn't displayed anything.
I didn't know we have to decompress baf file first!


Thanx a lot!


Ming

[matlabbe]

Do you have warnings coming from rtabmapviz?

You may try first the example shown in rgbdslam_datasets.launch:

 $ wget http://vision.in.tum.de/rgbd/dataset/freiburg3/rgbd_dataset_freiburg3_long_office_household.bag
 $ rosbag decompress rgbd_dataset_freiburg3_long_office_household.bag
 $ roslaunch rtabmap_ros rgbdslam_datasets.launch feature=6
 $ rosbag play -.-clock rgbd_dataset_freiburg3_long_office_household.bag

You are using the rosbag with the robot, in which odometry is also provided. IF you try this launch file on this, there will be conflict in TF about the odom frame. You would have to remove rgbd_odometry node from the launch file and set the appropriate odom_frame_id to rtabmap and rtabmapviz nodes.

cheers,
Mathieu