Re: rosbag rtabmap_ros

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rosbag-rtabmap-ros-tp248p252.html

Hello Micke,

I assume that you are based on the rgbdslam_datasets.launch file used in this post. This launch file is configured with the frame names included in the /tf recorded in the dataset bags:


The goal of this launch file is to be able to compare /world->/kinect (ground truth) and /world->/kinect_est (rtabmap) transformations. Example:


In your case, if you have recorded only images/tf from openni_launch, you may have something like this in your bag:


Inspired from rgbdslam_datasets.launch without the "ground_truth_frame_id" parameter set (your world to camera_link error), "frame_id"="camera_link" and "publish_tf"="true":

<group ns="rtabmap">

    <!-- Odometry -->
    <node pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen">
      <remap from="rgb/image"       to="/camera/rgb/image_color"/>
      <remap from="depth/image"     to="/camera/depth/image"/>
      <remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
     
      <param name="frame_id" type="string" value="camera_link"/>
      <param name="publish_tf" type="bool" value="true"/>
      <param name="wait_for_transform" type="bool" value="true"/>
    </node>

    <!-- Visual SLAM -->
    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
      <param name="subscribe_depth" type="bool" value="true"/>
      
      <param name="frame_id" type="string" value="camera_link"/>
	
      <remap from="rgb/image" to="/camera/rgb/image_color"/>
      <remap from="depth/image" to="/camera/depth/image"/>
      <remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
      <remap from="odom" to="odom"/>
      
      <param name="LccBow/MinInliers" type="string" value="10"/>
      <param name="LccBow/InlierDistance" type="string" value="0.05"/>
    </node>

</group>