Re: how rtabmap receive image via nodelet?

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/how-rtabmap-receive-image-via-nodelet-tp1920p1923.html

Hi,

rtabmap and rtabmapviz cannot be used like a nodelet. However, rgbd_odometry is (and other odometry nodelets):

    <node pkg="nodelet" type="nodelet" name="rgbd_odometry" args="load rtabmap_ros/rgbd_odometry camera_nodelet_manager">
      <remap from="depth/image"       to="depth_registered/image_raw"/>
      <remap from="rgb/camera_info"   to="rgb/camera_info"/>
      <remap from="rgb/image"         to="rgb/image_rect_mono"/>
	  
      <param name="frame_id"        type="string" value="camera_link"/>   
    </node>

This example assumes that a nodelet manager called "camera_nodelet_manager" already exist (generarly started from openni or freenect launch files). This way, there will be not message serialization/deserialization between openni/freenect camera and rgbd_odometry.

cheers