Re: Generating multiple maps with rosbags

Posted by Constantine on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Generating-multiple-maps-with-rosbags-tp1405p1416.html

Hi Mat,

Thanks for the reply.

Here's some idea on what I'm trying to do:
I'm trying to create a map of lets say an area. I'll do a rosbag record of the two image topics /camera/depth_registered/image_raw and /camera/rgb/image_rect_color and move in a linear direction (no odometry). Every time I encounter a corner to go around on, I'll close the bag and start one of just going around the corner and close it after I've gone around it. This process repeats 12 times.

So my bags are a series of recordings of going in a straight line and around corners. I've decided to do it this way because we've found that it has trouble going around things while mapping so we'll just assemble the linear parts in some other fashion later to build the full 3D map of the area.

So far my pipeline's like this:
Launch Rtabmap.

For each bag: {
Play rosbags of images with a static tf for the camera.
Save pointcloud generated by /cloud_map (a node I've written as a workaround)
Call /reset, /reset_odom and /trigger_new_map (in that order)
}

Am I on the right track? I don't need the database file, just the stitched together XYZRGB PointCloud.

So far I've encountered a couple of issues:
Like I said, Rtabmapviz doesn't show the full 3D map that its built. It works when I'm using the live handheld mapping but when I'm using the rosbags it only shows the active scene and the feature points (green and yellow dots) but not the whole map it generated.

Also, this is a weird one. The pipeline seems to work when I'm running rosbags for a single area (each area has 12 bags). Once I start processing a new area, /cloud_map seems to stop publishing.

EDIT:
Another issue, the pipeline seems to lock up when it tries to do the /reset service call after a couple of cycles. It happens once in a couple of sets so I'm not sure what causes it.

Cheers,