Re: rosbag rtabmap_ros

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rosbag-rtabmap-ros-tp248p265.html

I can get odometry messages, but the camera is lost early while playing this dataset (camera is moving too fast). Don't forget to decompress the rosbag.

What I did:

$ wget http://vision.in.tum.de/rgbd/dataset/freiburg1/rgbd_dataset_freiburg1_360.bag
$ rosbag decompress rgbd_dataset_freiburg1_360.bag

$ roslaunch rtabmap_ros rgbdslam_datasets.launch rtabmapviz:=true
$ rosbag play --clock -r 0.2 rgbd_dataset_freiburg1_360.bag

By adding "Odom/MinInliers" to 10 and reducing the publish rate (0.2) of the rosbag (the mapping starts after 3 seconds), I can almost map the whole room without having odometry lost. The /rtabmap/odom topic is published.
 
Cheers