Re: rosbag rtabmap_ros

Posted by Micke on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rosbag-rtabmap-ros-tp248p253.html

Hello Mathieu,

tf view_frames looks this way when I just run my rosbag:



And when I run my rosbag with rgbdslam_datasets.launch (modified as you just told me):



I got this error from the console:

[ WARN] [1426199432.617938416, 1426027325.530611165]: Input depth type is 32FC1, please use type 16UC1 for depth. The depth images will be processed anyway but with a conversion. This warning is only be printed once...
[ WARN] [1426199433.619656476, 1426027326.537271214]: Could not get transform from world to camera_link after 1 second!

Current launch file:

<launch>
   <param name="use_sim_time" type="bool" value="true"/>
   <arg name="strategy" default="0" />
   <arg name="feature" default="6" />
   <arg name="nn" default="3" />
   <arg name="local_map" default="1000" />
   
   <!-- Choose visualization -->
   <arg name="rviz" default="true" />
   <arg name="rtabmapviz" default="false" /> 
 
  <!-- TF FRAMES -->
  <node pkg="tf" type="static_transform_publisher" name="world_to_map" 
    args="0.0 0.0 0.0 0.0 0.0 0.0 /world /map 100" />
    
      
  <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="Odom/Strategy" type="string" value="$(arg strategy)"/> 
      <param name="Odom/FeatureType" type="string" value="$(arg feature)"/>            
      <param name="OdomBow/NNType" type="string" value="$(arg nn)"/>
      <param name="OdomBow/LocalHistorySize" type="string" value="$(arg local_map)"/>
      <param name="Odom/FillInfoData" type="string" value="$(arg rtabmapviz)"/> 
      
      <param name="frame_id" type="string" value="camera_link"/>
      <param name="publish_tf" type="bool" value="true"/>
      <param name="queue_size" type="int" value="30"/>
      <param name="wait_for_transform" type="bool" value="true"/>
    </node>
    
    <!-- Visual SLAM -->
    <!-- args: "delete_db_on_start" and "udebug" -->
    <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"/>

      <param name="queue_size" type="int" value="30"/>
    </node>
    
    <!-- Visualisation  -->
    <node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
      <param name="subscribe_depth" type="bool" value="true"/>
      <param name="queue_size" type="int" value="30"/>
      
      <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"/>
    </node>
        
  </group>
  
  <node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/rgbdslam_datasets.rviz"/>
  <node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb">
    <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="cloud"           to="voxel_cloud" />
    
    <param name="queue_size" type="int" value="10"/>
    <param name="decimation" type="double" value="4"/>
  </node>

</launch>

So I can't get in RVIZ tf and voxel_cloud.

What TFs do you record? What are minimal topics to get rtabmap_ros working from a rosbag file ?


Thanks in advance,
Micke