Re: Using RTAB with Manipulator

Posted by KasaIvas on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Using-RTAB-with-Manipulator-tp11147p11183.html

Hi, thanks for the reply.

I changed 'Reg/Strategy' from 1 to 0, but instead of getting the warning "[ WARN] (2025-05-12 17:11:46.634) SensorData.cpp:762::uncompressDataConst() Requested laser scan data, but the sensor data (182) doesn't have laser scan." I get this other "[ WARN] (2025-05-18 10:19:42.983) Memory.cpp:3200::computeTransform() Missing visual features or missing raw data to compute them. Transform cannot be estimated."

rtabmap_slam parameters updated: rtabmap_slam_parameters.txt

However, using a Detection Rate equal to 0.3Hz it seems that the map cannot be built in real time. Let me explain better: when the robot is stopped in pose "A" the environment in front of the camera is well captured and the map is well built, but when I start a planning to take the robot from "A" to "B", the environment captured in the path is not built. Once it has stopped in pose "B" the environment captured by the camera in this position is well built.

If I increase to 1 Hz I get in addition to the error mentioned above also again "[move_group]: Message Filter dropping message: frame 'depth_camera_optical_link' at time 370.825 for reason 'discarding message because the queue is full'"

Finally, since I am creating a controller in the operational space based on the error of the robot's pose estimates and that takes as input the SLAM estimates of the end-effector's poses, if I use TF the error would be zero or almost zero. Is there a way to obtain the SLAM estimate? Or is it not possible in this configuration?


What do you mean with "Can you share the database even if there is a single node, I would like the see the details of processing time to know where it is so slow." Is it the rtabmap.db file that is saved in "home/user/.ros/"?