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-tp1239p1247.html

Hi,

Visual odometry and loop closure detection may not work in a simulated environment without enough discriminative visual features.

For this environment and if you have a lidar, you may prefer to use laser-based mapping approaches like gmapping or hector_slam.

With rtabmap, you could use wheel odometry instead of visual odometry. Note that RTAB-Map may not be able to detect loop closures in this environment.

In your launch example, there are some parameters mixed between rgbd_odometry and rtabmap nodes. "Odom/ParticleSize" is also not used by default (only for advanced usage):

<node pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen">
      <remap from="rgb/image"       to="/camera/rgb/image_raw"/>
      <remap from="depth/image"     to="/camera/depth/image_raw"/>
      <remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
      <remap from="odom" to="/rgbd_odom"/>  
      < param name="frame_id" type="string" value="camera_link"/> 
      < param name="subscribe_depth" type="bool"   value="true"/> 
      < param name="Odom/Holonomic" type="bool" value="false" /> 
      < param name="Odom/MaxFeatures" type="int" value="0" /> 
</node>
<node pkg="rtabmap_ros" type="rtabmap" name="rtabmap" output="screen">
      <remap from="rgb/image"       to="/camera/rgb/image_raw"/>
      <remap from="depth/image"     to="/camera/depth/image_raw"/>
      <remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
      <remap from="odom" to="/rgbd_odom"/>  
      <remap from="scan" to="/beebot/laser/scan" />
      < param name="frame_id" type="string" value="camera_link"/> 
      < param name="subscribe_depth" type="bool"   value="true"/> 
      < param name="RGBD/PoseScanMatching" type="string" value="true" /> 
</node>

cheers