rtabmap with Zed2i camera

[vaibhav_sharma_]

hey Mathieu ,
i am in last step just help me out if you can
i have recorded rosbag , created map , got way points and when i am trying to run Bearing difference is showing motr then -90 which i gues i have not able to get way points correctly
give you commands i have used and all rostopics i have see if you can find any thing to help me out .


//stero mAPPING SIMULATion


roslaunch rtabmap_launch rtabmap.launch    rtabmap_args:="--Vis/CorFlowMaxLevel 5 --Stereo/MaxDisparity 200 --Mem/ImagePreDecimation 2 --Mem/ImagePostDecimation 2 --RGBD/OptimizeMaxError 01.0 --Rtabmap/LoopThr 0.007"   stereo_namespace:=/zed2i/zed_node    right_image_topic:=/zed2i/zed_node/right/image_rect_gray    stereo:=true    visual_odometry:=true    frame_id:=base_link    imu_topic:=/zed2i/zed_node/imu/data    wait_imu_to_init:=true use_sim_time:=true


rosbag play --clock 1.bag



////////////////////////////////////////////////////////////////////////////////////////////////


roslaunch rtabmap_launch rtabmap.launch \
  rtabmap_args:="--Vis/CorFlowMaxLevel 5 --Stereo/MaxDisparity 200
  --Mem/ImagePreDecimation 2 --Mem/ImagePostDecimation 2" \
  stereo_namespace:=/zed2i/zed_node \
  right_image_topic:=/zed2i/zed_node/right/image_rect_gray \
  stereo:=true \
  visual_odometry:=true \
  frame_id:=base_link \
  imu_topic:=/zed2i/zed_node/imu/data \
  wait_imu_to_init:=true \
  localization:=true


rosbag play --clock 1.bag




rostopic echo /rtabmap/localization_pose | tee -a 3db.txt


then from this i am getting x and y


import yaml


file_path = '/media/raj/One Touch/MAAKASAM/last.txt'
with open(file_path, 'r') as file:
    yaml_data = list(yaml.safe_load_all(file))


x_values = []
y_values = []
for data in yaml_data:
    if data is not None and 'header' in data and 'seq' in data['header'] and 'pose' in data and 'pose' in data['pose'] and 'position' in data['pose']['pose']:
        seq = data['header']['seq']
        x = data['pose']['pose']['position']['x']
        y = data['pose']['pose']['position']['y']
        x_values.append(x)
        y_values.append(y)
    else:
        print("Warning: Skipped a document with missing or incorrect structure.")


output_file = 'lastwp.txt'  
with open(output_file, 'w') as out_file:
    for x, y in zip(x_values, y_values):
        out_file.write(f"[{x},{y}],\n")

print("Output has been saved to:", output_file)

let me know if any other thing you need

[matlabbe]

Hi,

Not sure to understand correctly the question:

got way points and when i am trying to run Bearing difference is showing motr then -90 which i gues i have not able to get way points correctly

What "Bearing difference" is actually computing? Which topics? compared to what?