Re: Build octomap with rtabmap?

Posted by Sovik Chowhdury on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Build-octomap-with-rtabmap-tp68p2686.html

I have been trying to achieve the above created octomap with IROS14-kinect-challenge.db dataset. I have followed exactly the command mentioned above. Also tried to change database path in rtabmap.launch. But everytime RTABMAP throws error:

[ WARN] [1487764930.631162656]: /rtabmap/rtabmap: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10).
/rtabmap/rtabmap subscribed to (approx sync):
   /rtabmap/odom,
   /camera/rgb/image_rect_color,
   /camera/depth_registered/image_raw,
   /camera/rgb/camera_info

 Also tried to on the dataset "Stereo_20Hz.db" and followed the instructions mentioned on " https://github.com/introlab/rtabmap/wiki/Stereo-mapping " (Process a directory of stereo images in ROS). throws error with no visualization in either Rviz and Rtabmapviz:

[ WARN] [1487765471.718534328]: odometry: Could not get transform from base_link to stereo_20Hz_left (stamp=1487765471.498146) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error=". canTransform returned after 0.201731 timeout was 0.2."

Can anyone kindly help me out with this?