Re: playing .bag bag files in RTAB problem, rtabmap does not start with data_recorder.launch

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/playing-bag-bag-files-in-RTAB-problem-rtabmap-does-not-start-with-data-recorder-launch-tp1442p1445.html

Hi,

When replaying a bag with TF inside, don't forget to set "use_sim_time" to true after roscore is started and use "--clock" argument when playing the bag:

$ roscore
$ rosparam set use_sim_time true
$ roslaunch rtabmap_ros data_recorder.launch subscribe_odometry:=true odom_topic:=/odometry/filtered
$ rosbag play --clock my_bag.bag

cheers