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-tp1250p1366.html

Hi,

You can increase the billboard size in PointCloud display in RVIZ. By default, the /rtabmap/cloud_map topic is voxelized to 0.05 m, so the billlboard could be 0.05 m. To get a more dense cloud, you can reduce the "cloud_voxel_size" parameter:

<node pkg="rtabmap_ros" type="rtabmap" name="rtabmap">
   <param name="cloud_voxel_size" value="0.01"/> <!-- default 0.05 -->
   ...
</node>

Note that a more dense cloud increases computation load. The parameters are not recognized because you may have version 0.10, parameters parsing on arguments is introduced in 0.11. Note that Indigo has been released again 3 days ago with rtabmap 0.11. You can update your packages:

$ sudo apt-get update
$ sudo apt-get upgrade

Not sure why rtabmapviz is not working, but with RVIZ you can have almost the same information. In RVIZ, use rtabmap_ros/MapCloud display to show more efficiently the point cloud.

cheers