Re: Build octomap with rtabmap?

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Build-octomap-with-rtabmap-tp68p124.html

You can use the data_player node to play a database (.db) over ROS at a specified rate. This node has services to pause/resume the source. Please update rtabmap_ros to latest version as I just fixed a bug in this experimental node:

$ roscd rtabmap_ros
$ git pull origin master
$ cd ../..
$ catkin_make

Here is an example with the database above:

$ roscore
$ rosrun rtabmap_ros rtabmap --delete_db_on_start _SURF/HessianThreshold:="60" _LccBow/Force2D:="true" _LccBow/InlierDistance:="0.05" _Kp/RoiRatios:="0 0 0 0.3" _LccBow/MinInliers:="3" _Kp/MaxDepth:=4
$ rosrun rtabmap_ros map_assembler _cloud_voxel_size:=0.05
$ rosrun octomap_server octomap_server_node cloud_in:=assembled_clouds
$ rosrun rviz rviz /rtabmap/get_map:=/get_map
$ rosrun rtabmap_ros data_player _database:=IROS14-kinect-challenge.db depth_registered/image:=depth/image _rate:=2

Setup RVIZ as the post above. The parameters for rtabmap node are those from the IROS Kinect challenge page. There is no documentation about the data_player node yet, you should see the source for information.

To pause/resume:

$ rosservice call /data_player/pause
$ rosservice call /data_player/resume