Mapping and Navigation with Intel R200 depth camera

Posted by andreacelani on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Mapping-and-Navigation-with-Intel-R200-depth-camera-tp2583.html

Hi Mathieu,

I'm trying to activate the obstacle_detection nodelet and fed it to the local costmap but I'm not able to map correctly the input/output of the nodelet.
I have an intel R200 depth camera and visual odometry activated.
Everything is fine with visual odometry, so the sensor and other stuff are working great.
I disabled the depthimage_to_laserscan nodelet and now the /map takes rtabmap/proj_map data

I have modified my local costmap params file to include obstacle_detection points:
***
observation_sources: point_cloud_sensor

  # assuming receiving a cloud from rtabmap_ros/obstacles_detection node
  point_cloud_sensor: {
    sensor_frame: base_footprint,
    data_type: PointCloud2,
    topic: /planner_cloud,
    expected_update_rate: 0.5,
    marking: true,
    clearing: true,
    min_obstacle_height: -99999.0,
    max_obstacle_height: 99999.0}
***

Then I activated the nodelet in this way on my main .launch file:
***

      <node pkg="nodelet" type="nodelet" name="obstacles_detection" args="load rtabmap_ros/obstacles_detection nodelet">
         <remap from="cloud" to="rtabmap/cloud_map"/>
         <remap from="obstacles" to="/planner_cloud"/>

         
         
         
         
       </node>
***

But when I start the launch file the obstacle_detection nodelet is disconneted from everything else.

Basically it's a newbie question related to mapping in ROS.
I understand the output mapping, for example:
<remap from="obstacles" to="/planner_cloud"/>  will rename the obstacles stream as /planner_cloud stream.
But it's not clear to me the input remapping like:
<remap from="cloud" to="rtabmap/cloud_map"/> 

I suppose input stream of obstacle_detection called cloud (subscribed topic) is remapped as rtabmap/cloud_map (published topic of rtabmap) or it's the opposite?
I'm missing something.

Moreover I would like to understand the difference between proj_map topic from rtabmap and the obstacles topic from obstacle_detection nodelet.
It's not clear to me they seem very similar in terms of processed data.

Thank you
Andrea