Re: rgbd_odometry does not pose anythintg

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rgbd-odometry-does-not-pose-anythintg-tp1239p1240.html

Hi,

When rgbd_odometry is started, you should see topics to which it is subscribed. Make sure that all input topics are published (e.g., you can use "$ rostopic hz my_topic" to verify). It you set output as screen, you should see messages appearing on the terminal (even if the odometry cannot be computed):

<node pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen">
  <param name="frame_id"        type="string" value="camera_link"/>
  <param name="subscribe_depth" type="bool"   value="true"/>
  <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>

You may see warnings on the terminal if something is wrong (e.g., TF problems or images not compatible).

cheers