Re: 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-tp2583p2612.html

Thank you for explanation.
Now everything is working fine since I throttled the R200 camera input from 30fps to 10 hz:

<node pkg="nodelet" type="nodelet" name="data_throttle" args="standalone rtabmap_ros/data_throttle" output="screen">
      <param name="rate" type="double" value="10"/>
      <param name="decimation" type="int" value="1"/>

      <remap from="rgb/image_in"       to="/camera/rgb/image_rect_color"/>
      <remap from="depth/image_in"     to="/camera/depth_registered/sw_registered/image_rect_raw"/>
      <remap from="rgb/camera_info_in" to="/camera/rgb/camera_info"/>

      <remap from="rgb/image_out"       to="data_throttled_image"/>
      <remap from="depth/image_out"     to="data_throttled_image_depth"/>
      <remap from="rgb/camera_info_out" to="data_throttled_camera_info"/>
    </node> 

I also decimated a little bit the point cloud needed by obstacle detection

<node pkg="nodelet" type="nodelet" name="pcl_manager" args="manager" output="screen" />
    <node pkg="nodelet" type="nodelet" name="points_xyz_planner" args="load rtabmap_ros/point_cloud_xyz pcl_manager">
      <remap from="depth/image"            to="/rtabmap/data_throttled_image_depth"/>
      <remap from="depth/camera_info"      to="/rtabmap/data_throttled_camera_info"/>
      <remap from="cloud"                  to="cloudXYZ" />
      <param name="decimation" type="int" value="2"/>
      <param name="max_depth"  type="double" value="4.0"/>
      <param name="voxel_size" type="double" value="0.02"/>
    </node>

<node pkg="nodelet" type="nodelet" name="pcl_manager_b" args="manager" output="screen" />
    <node pkg="nodelet" type="nodelet" name="obstacles_detection" args="load rtabmap_ros/obstacles_detection pcl_manager_b">
      <remap from="cloud"     to="cloudXYZ"/> -->
      <remap from="obstacles" to="/obstacles_cloud"/>
      <remap from="ground"    to="/ground_cloud"/>

      <param name="frame_id"             type="string" value="base_footprint"/>		
      <param name="map_frame_id"         type="string" value="map"/>
      <param name="wait_for_transform"   type="bool" value="true"/>
      <param name="ground_normal_angle"  type="double" value="0.785"/>
      <param name="min_cluster_size"     type="int" value="50"/>
      <param name="max_obstacles_height" type="double" value="2.2"/>
      <param name="queue_size"           type="int" value="100"/>
    </node>

I applied data reduction because I noticed that my pc is the bottleneck. When data is too much global costmap and local costmap stuck (even camera depth driver stuck and I have to re-enable the depth camera).

Running htop I noticed that there are two rgbd_odometry processes. Does it is supposed to be correct?