rosbag rtabmap_ros

Posted by Micke on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rosbag-rtabmap-ros-tp248.html

Well, I'm working with TUM Benchmark, I followed this topic http://official-rtab-map-forum.206.s1.nabble.com/comparison-of-odometry-SIFT-SURF-td168.html

I'm able to run the TUM demos with both: rtabmap_ros and RGBDSLAMv2.
So I recorded my own bag file from kinect 1473 with openni_launch (as freenect didn't work).

When I run: rosbag info rosbag/stage1_10march2015.bag (my bag file recorded) I got:

...
output omitted
...

types:       sensor_msgs/CameraInfo [c9a58c1b0b154e0e6da7578cb991d214]
             sensor_msgs/Image      [060021388200f6f0f447d0fcd9c64743]
             tf2_msgs/TFMessage     [94810edda583a504dfda3829e70d7eec]
topics:      /camera/depth/camera_info   497 msgs    : sensor_msgs/CameraInfo
             /camera/depth/image         497 msgs    : sensor_msgs/Image    
             /camera/rgb/camera_info     497 msgs    : sensor_msgs/CameraInfo
             /camera/rgb/image_color     497 msgs    : sensor_msgs/Image    
             /tf                         684 msgs    : tf2_msgs/TFMessage     (4 connections)

When I run: rosbag info rosbag/rgbd_dataset_freiburg1_xyz.bag (TUM's bag file) I got:

...
output omitted
...

types:        sensor_msgs/CameraInfo         [c9a58c1b0b154e0e6da7578cb991d214]
              sensor_msgs/Image              [060021388200f6f0f447d0fcd9c64743]
              sensor_msgs/Imu                [6a62c6daae103f4ff57a132d6f95cec2]
              tf/tfMessage                   [94810edda583a504dfda3829e70d7eec]
              visualization_msgs/MarkerArray [f10fe193d6fac1bf68fad5d31da421a7]
topics:       /camera/depth/camera_info     798 msgs    : sensor_msgs/CameraInfo        
              /camera/depth/image           798 msgs    : sensor_msgs/Image            
              /camera/rgb/camera_info       798 msgs    : sensor_msgs/CameraInfo        
              /camera/rgb/image_color       798 msgs    : sensor_msgs/Image            
              /cortex_marker_array         3034 msgs    : visualization_msgs/MarkerArray
              /imu                        15158 msgs    : sensor_msgs/Imu              
              /tf                          4242 msgs    : tf/tfMessage

The main difference is /tf types mine has: tf2_msgs/TFMessage and TUM's bag has:  tf/tfMessage

I recorded the bag as follows:

rosbag record -O stage1_10march2015 /tf /camera/rgb/image_color /camera/rgb/camera_info /camera/depth/image /camera/depth/camera_info

I'm able to play my recorded bag with rgbdslamv2, but with rtabmap_ros I can't.