Re: rtabmap in my robot

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtabmap-in-my-robot-tp1350p1412.html

Hi,

1) If you use a Kinect, use the color image topic sent by openni or freenect instead of uvc_camera. FYI, uvc_camera package is for standard USB cameras/webcams.

2) Do you have a ground truth? If so, it should be published as a TF between /world and base frame_id, then set "ground_truth_frame_id" parameter of rtabmap node to save it in the nodes. rtabmapviz should then detect these values and show them along the estimated trajectory.

3) Do you have a screenshot? If in Preferences->3D Rendering-> "Occupancy from projection..." is unchecked, the occupancy grid you see in rtabmapviz's graph view is the one of the laser scans. You can compare with the map published in RVIZ (/rtabmap/proj_map and /rtabmap/grid_map).

For demo_hector_mapping.launch, I cannot tell if your remapping are correct since I don't know which topics are published on your robot. Remapping /base_footprint to /map seems wrong to me as they do not describe the same thing. "use_sim_time" should be false if you are not using a rosbag. You can remove "rgb/image_transport" and "depth/image_transport" lines to use directly your raw image topics.

RVIZ topic errors when showing a topic are generally that caused by RVIZ cannot transforming the sensor data the fixed frame set in RVIZ general parameters.

cheers