Re: Setup Festo robot with Kinect2 for navigation

Posted by marius on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Setup-Festo-robot-with-Kinect2-for-navigation-tp2552p2566.html

Ok,
I`ve tried the method without editing the rtabmap.launch. The static tf`s and the roslaunch in single shells.

Last week i have already used this two static tf`s between base_link->kinect2_base_link->kinect2_link but i checked it again.
He is the tf tree: I only run my odometry_node (robotino_node) and the kinect2_node (aia_kinect2) and this two tf`s.


When i roslaunch your command i can visualize my pointclouds and also see my tf`s are moving, but no map will be built!
The tf`s are running in rviz, but there are some strange effects. There is a large delay between the pointclouds (nearly live) and the shown tf`s (delay ~6 seconds). When i dont use the static_tf between base_link and the camera the odom tf`s (base_link and wheel frames ...) moving simultaneously in rviz. But i think that is not the problem the no map appear...

Here is a part of my node graph.



I have already used your roslaunch parameters: only the rtabmap_args i added today.

      <arg name="rtabmap_args"          value="--delete_db_on_start" /> 
      <arg name="rgb_topic"             value="/kinect2/qhd/image_color_rect" /> 
      <arg name="depth_topic"           value="/kinect2/qhd/image_depth_rect" /> 
      <arg name="camera_info_topic"     value="/kinect2/qhd/camera_info" /> 
      <arg name="frame_id"              value="base_link" /> 
      <arg name="visual_odometry"       value="false" /> 
      <arg name="odom_topic"            value="/odom" /> 

My next post is the eddited rtamp.launch i`ve try to use. Maybe u can check this.