rtabmap_ros on Odroid XU4

[elgarbe]

Hi, may I use an Odroid XU4 computer just to record kinect (v1) and hokuyo lidara data for offline processing?
if yes, then I need to install binary package or do I need to build from source?
For kinect v1 do I need to install another package?

Thank!

[matlabbe]

You don't need to install rtabmap on Odroid if you are only recording. Just launch kinect driver and lidar driver to publish the messages and record them in a rosbag. For kinect, I usually use freenect_launch package, otherwise openni_launch.

[elgarbe]

It seems that I need some other package?, I git clone https://github.com/ros-drivers/freenect_stack and try to catkin_make and get this error:

In file included from /home/elgarbe/catkin_ws_kinect/src/freenect_stack/freenect_camera/src/nodelets/driver.h:54:0,
                 from /home/elgarbe/catkin_ws_kinect/src/freenect_stack/freenect_camera/src/nodelets/driver.cpp:39:
/home/elgarbe/catkin_ws_kinect/src/freenect_stack/freenect_camera/include/freenect_camera/freenect_driver.hpp:4:37: fatal error: libfreenect/libfreenect.h: No existe el archivo o el directorio
compilation terminated.

thank

[matlabbe]

Hi,

for freenect, you need to install the libfreenect library. If libfreenect/libfreenect.h is still missing, there is many a version issue. You may ask on freenect_stack github issues for help, or on ROS answers.

The camera may also work with openni_launch.

cheers,
Mathieu

[elgarbe]

Ok, it is working ok with openni in my PC.
I will go on in my odroid. May I install rtabmap_ros in odroid in order to test that everything is working ok before start recording data?

Thank!

[matlabbe]

Hi,

You may just record a small rosbag, then copy it on PC with rtabmap_ros installed.

Example recording on Odroid:

$ roslaunch openni_launch openni.launch depth_registration:=true
$ rosbag record -O recorded.bag /tf /camera/rgb/image_rect_color /camera/depth_registered/image_raw /camera/rgb/camera_info

** copy recorded.bag on PC **

On PC, to replay the bag:

$ roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" use_sim_time:=true
$ rosbag play --clock recorded.bag

cheers,
Mathieu