Re: RTAB-Map rgbd_launch error Map received with code error 1!

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-Map-rgbd-launch-error-Map-received-with-code-error-1-tp1379p1391.html

Hi Gabriel,

RTAB-Map can be launched on the robot or a remote computer. There is indeed more steps when launching form a remote computer to get the data with low bandwidth. Depending on your WIFI reliability and speed (and if you want to do visual odometry on the remote computer), you may increase "rate" below to 10. I recommend though to use odometry from your robot if it has it already (see section Advanced in the tutorial).

Try to launch the nodelet in its own standalone nodelet manager (not sure if camera_nodelet_manager exists on your robot):

<launch>
  <arg name="rate"  default="5"/>
  <arg name="decimation"  default="1"/> <!-- Reduce the image size, e.g., 2 means "width/2 x height/2".

  <group ns="camera">
    <node pkg="nodelet" type="nodelet" name="data_throttle" args="standalone rtabmap_ros/data_throttle" output="screen">
      <param name="rate" type="double" value="$(arg rate)"/>
      <param name="decimation" type="int" value="$(arg decimation)"/>

      <remap from="rgb/image_in"       to="rgb/image_rect_color"/>
      <remap from="depth/image_in"     to="depth_registered/image_raw"/>
      <remap from="rgb/camera_info_in" to="rgb/camera_info"/>

      <remap from="rgb/image_out"       to="data_throttled_image"/>
      <remap from="depth/image_out"     to="data_throttled_image_depth"/>
      <remap from="rgb/camera_info_out" to="data_throttled_camera_info"/>
    </node>
  </group>      
</launch>

You can then verify that throttled topics are published using this:

$ rostopic hz /camera/data_throttled_image
$ rostopic hz /camera/data_throttled_image_depth
$ rostopic hz /camera/data_throttled_camera_info

cheers