Re: Rtabmap mapping with two cameras

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Rtabmap-mapping-with-two-cameras-tp2662p2667.html

Hi Adrian,

If you are using robot odometry: /rb1/mobile_base_controller/odom, you don't need rgbd_odometry node. In the launch file, rtabmap is subscribed to "/rb1/mobile_base_controller/odom" to get odometry, not the output of rgbd_odometry (which would be /rtabmap/odom). If any one of the input topics (rgbd cameras and odom) is not published, rtabmap will not work (/map -> /odom won't be published).

Do you see on the terminal rtabmap status info at 1 Hz? If not, there is a missing input or rtabmap cannot synchronize them (e.g., timestamps are not correctly set in all topics). Can you show TF tree and rqt_graph?

$ rosrun tf view_frames
$ rqt_graph

cheers,
Mathieu