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-tp1405p1421.html

matlabbe wrote

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.

Yep, I have those. I'll try and play them in the order that I recorded them and see what happens.
EDIT: Looks like that was the case.

matlabbe wrote

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

I didn't know about that one. Mine does something similar but instead of saving every pointcloud, I have the latest callback saved into memory until I do a service call to save it.

matlabbe wrote

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?

Yeah, I used rgbd_mapping.launch as a base when I wrote my launch file. rqt shows that rtabmapviz is subscribed to /rtabmap/mapData and the topic is publishing. My "3D Map" window shows the current scene with feature highlights and the odometry but not the whole map.

I'm also getting this weird lockup every once in a while when I do a service call to /reset. --udebug doesn't show any details on what's happening. Do you have any ideas on how I can look further into it?