Re: rtabmap for kinect v2 on ROS Indigo

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtabmap-for-kinect-v2-on-ROS-Indigo-tp61p275.html

Hi,

Are you using the binaries? I think there was a fix about the datatype error in the trunk (to include more types of images).
In the launch file, I've put the combinations that you can try:

Prefixes:
           sd: rgb_lowres / depth_lowres
           hd: rgb_rect / depth_highres
           ir: ir_rect / depth_rect

Example HD:
$ roslaunch rgbd_mapping_kinect2.launch rgb_prefix:=rgb_rect depth_prefix:=depth_highres max_depth:=10 inlier_distance:=0.1 local_map:=5000

Note that in HD, the odometry is very slow. There is still some parameters tuning to do for the Kinect2... I should check this soon.

The /kinect2_link is published by kinect2_bridge. By default, rtabmap uses "frame_id=/base_link" so I just added a static_transform instead of setting the frame_id for all nodes to /kinect2_link.

cheers