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-tp1442p1838.html

Hi,

I just fixed a small issue with data_recorder.launch. Either download/update to new version, or if you are using 0.11.8 binaries, launch it with "stereo_approx_sync:=true":

$ roslaunch openni2_launch openni2.launch depth_registration:=true
$ roslaunch rtabmap_ros data_recorder.launch stereo_approx_sync:=true

Make sure you see "rtabmap (X): Rate=....." log messages after "rtabmap 0.11.8 started..." indicating that rtabmap is recording:

/data_recorder subscribed to (approx sync):
   /camera/rgb/image_rect_color,
   /camera/depth_registered/image_raw,
   /camera/rgb/camera_info
[ INFO] [1472927279.672705258]: rtabmap 0.11.8 started...
[ INFO] [1472927280.232221818]: rtabmap (1): Rate=0.00s, Limit=0.000s, RTAB-Map=0.0060s, Maps update=0.0001s pub=0.0001s (local map=0, WM=1)
[ INFO] [1472927280.265272217]: rtabmap (2): Rate=0.00s, Limit=0.000s, RTAB-Map=0.0101s, Maps update=0.0001s pub=0.0000s (local map=0, WM=2)
[ INFO] [1472927280.296826358]: rtabmap (3): Rate=0.00s, Limit=0.000s, RTAB-Map=0.0086s, Maps update=0.0001s pub=0.0000s (local map=0, WM=2)
[ INFO] [1472927280.333368809]: rtabmap (4): Rate=0.00s, Limit=0.000s, RTAB-Map=0.0080s, Maps update=0.0001s pub=0.0000s (local map=0, WM=2)
...

 
The calibration message is wrong, it should not be shown if the database is empty. I fixed this too. The warning you will have if the databse is empty is: "No more images... The camera has reached the end of the stream."

cheers,
Mathieu