Re: Generating multiple maps with rosbags

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Generating-multiple-maps-with-rosbags-tp1405p1418.html

Hi,

Make sure that just after you start a roscore, you set "$ rosparam set use_sim_time true" and that you run the bags with "--clock" argument. Otherwise, the timestamp in the recorded topics and the one of the TFs published by your static transform publisher won't match together.

I assume that in your bags you are recording /camera/rgb/camera_info too.

I am not sure of this, but you may have some issues to play a bag with timestamps older than the previous bag.

You said you have written a node to save point cloud, did you know about pcl_ros/pointcloud_to_pcd node?

$ rosrun pcl_ros pointcloud_to_pcd input:=/rtabmap/cloud_map

In rtabmapviz, if there is only the active point cloud shown, that means the map is not published (look at the terminal to see if rtabmap is logging info each second) or /rtabmap/mapData topic is not connected to rtabmapviz. Are you using rgbd_mapping.launch directly with your bags?
 

cheers