Posted by
osmancns on
URL: http://official-rtab-map-forum.206.s1.nabble.com/laser-scan-error-tp1007p1009.html
I have laser scan but I dont use it for rtabmap. ı use just kinect for 3d mapping and odometry for robot_pose_ekf.
subscribe_scan: false but why ı keep get laser error ?
move_base_turtle_rtabmap.launchthis is my launch file (about rtabmap) :
<arg name="subscribe_scan" default="false"/>
<group ns="rtabmap">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<remap from="odom" to="/scanmatch_odom"/>
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
</node>
</group>
<arg name="wait_for_transform" default="0.1"/>
<arg name="strategy" default="0" />
<arg name="feature" default="6" />
<arg name="estimation" default="0" />
<arg name="nn" default="3" />
<arg name="max_depth" default="0" />
<arg name="min_inliers" default="8" />
<arg name="inlier_distance" default="0.1" />
<arg name="local_map" default="5000" />
<arg name="variance_inliers" default="true"/>
<node pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen">
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
<remap from="odom" to="vo"/>
</node>
</node>
</launch>