Posted by
suk1 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Remote-mapping-Kinect2-tp2980.html
Hi Matthieu,
I'm having trouble with remote mapping with the Kinect v2. Let me tell you what I have done so far :)
I am running Kinetic ROS on Ubuntu 16.04.
What I am trying to do is to start mapping and localizing on our 'robot'. For now it is just a Kinect2 on a rolling platform hooked on a Jetson TX1. In the future it will be installed in our moving robot with external odometry, but for now we use the visual odometry.
When I run the
roslaunch kinect2_bridge kinect2_bridge.launch publish_tf:=true
command followed by
roslaunch rtabmap_ros rgbd_mapping_kinect2.launch resolution:=qhd
, RTAB boots up and I get my visuals "okay-ish", might be the environment, and the odometry gives an ouput value of 170+ frequently, so I am happy with that. However, when I start to move around the platform, the odometry fails pretty quickly and often. Also the warning
MainWindow.cpp:1432::processStats() Processing time (1.070361s) is over detection rate (1.000000s), real-time problem!
pops up often as well.
My guess is the processor of the Jetson TX1 can't handle the load of everything.
So my plan was to move the visualization and stuff to a remote laptop.
I first set up the
ROS_MASTER_URI
and
ROS_IP
and then I ran the kinect2_bridge launch on the Jetson TX1 and then running the rgbd_mapping_kinect2 launch on my laptop. However It keeps pushing out the error for both visual_odometry and rtabmap
Did not receive data since 5 seconds!
while the topics are being published okay and I can reach them with
rostopic echo
I also tried to use the data_throttle.
In the freenect_throttle.launch I replaced the freenect.launch include with kinect2_bridge. Then I changed the mapping values accordingly for the kinect2, e.g:
remap from="rgb/image_in" to="/kinect2/qhd/image_color_rect"
Then on the laptop I would run
roslaunch rtabmap_ros rtabmap.launch rgb_topic:=/camera/data_throttled_image depth_topic:=/camera/data_throttled_image_depth camera_info_topic:=/camera/data_throttled_camera_info compressed:=true rtabmap_args:="--delete_db_on_start"
. But gives the same warning that it did not receive messages in 5 seconds.
When I view the tf frames, I notice that the "map" and "odom" frames are missing.
It's kinda difficult for me to convert all the documentation for the kinect2 as there is little for that version xD. Can you help me out?
In the future we would like to introduce a navigation aspect to the whole. I looked into that Turtlebot navigation a bit to see ahead what would be needed. Is it possible to use the navigation package with a Kinect2 alone?
Thanks!
Sincerely,
Kareem