Re: rosbag rtabmap_ros

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rosbag-rtabmap-ros-tp248p254.html

Hello Micke,

I recorded a small rosbag as you did, but I should subscribe to /camera/depth_registered/image_raw instead of /camera/depth_registered/image. In your launch file above, I just changed /camera/depth/image to /camera/depth_registered/image_raw and it works.

Recording the bag:

$ roslaunch openni_launch openni.launch depth_registration:=true
$ rosbag record -O test /tf /camera/rgb/image_color /camera/rgb/camera_info /camera/depth_registered/image_raw

(...kill rosbag)

$ rosbag info test.bag 
path:        test.bag
version:     2.0
duration:    8.9s
start:       Mar 13 2015 11:39:26.64 (1426261166.64)
end:         Mar 13 2015 11:39:35.52 (1426261175.52)
size:        230.2 MB
messages:    827
compression: none [158/158 chunks]
types:       sensor_msgs/CameraInfo [c9a58c1b0b154e0e6da7578cb991d214]
             sensor_msgs/Image      [060021388200f6f0f447d0fcd9c64743]
             tf2_msgs/TFMessage     [94810edda583a504dfda3829e70d7eec]
topics:      /camera/depth_registered/image_raw   157 msgs    : sensor_msgs/Image     
             /camera/rgb/camera_info              157 msgs    : sensor_msgs/CameraInfo
             /camera/rgb/image_color              157 msgs    : sensor_msgs/Image     
             /tf                                  356 msgs    : tf2_msgs/TFMessage     (4 connections)

Playing the bag with your launch file "test.launch" (modified for "/camera/depth_registered/image_raw"):

$ roslaunch test.launch
$ rosbag play --clock test.bag

RVIZ (I should zoom out a little to see the cloud):


Cheers,
Mathieu