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-tp1442p1857.html

Hi,

It is strange that rtabmap_ros is on 0.11.10 and rtabmap is on 0.11.8 (as rtabmap_ros 0.11.10 requires rtabmap 0.11.10 to actually build)!? Master branch of rtabmap at this time is 0.11.10. You may have a "rtabmap" version 0.11.10 built somewhere, see where you installed it (on the "$ make install").

To play a database under ROS, you may use the not documented rtabmap_ros/data_player node:

$ roslaunch rtabmap_ros rtabmap.launch
$ rosrun rtabmap_ros data_player _database:=~/.ros/output.db _frame_id:=/camera_link rgb/image:=/camera/rgb/image_rect_color depth_registered/image:=/camera/depth_registered/image_raw rgb/camera_info:=/camera/rgb/camera_info

Well, if you stay under ROS, you would have more options with a rosbag (format is more general too).

cheers