Re: RGB-D SLAM example on ROS and Raspberry Pi 3

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RGB-D-SLAM-example-on-ROS-and-Raspberry-Pi-3-tp1250p1336.html

Hi,

1. The "–-Vis/MaxFeatures" error means that you may not have the 0.11 version (latest) of rtabmap. How did you install rtabmap?

2. In your graph, rtabmap node is not here. It may have not started, look for errors on the terminal.

3. For rtabmapviz, it will not show anything by default, except the map if rtabmap node is running (which looks not in your graph). For transform warning, you can check if odometry is actually published (and not null):

$ rostopic hz /rtabmap/odom

4. Keep in mind that on RPi, rtabmap works at max 4-5 Hz. Adding navigaiton in 3D (you may need an octomap), this would may not be possible on a single RPi. Another design could be to stream the data from the quadcopter to a workstation, on which mapping and navigation are working, sending back the commands.

cheers