Re: Move_base with rtabmap

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Move-base-with-rtabmap-tp3048p3080.html

Hi Alexia,

map_negative_poses_ignored parameter is not a rtabmap library parameter, it is ros parameter. It is defined here:

pnh.param("map_negative_poses_ignored", negativePosesIgnored_, negativePosesIgnored_);
...
ROS_INFO("%s(maps): map_negative_poses_ignored = %s", name.c_str(), negativePosesIgnored_?"true":"false");

As shown above, you should see a ROS_INFO on terminal "map_negative_poses_ignored = false" on startup when rtabmap node is launched (as well as the modified Grid/** parameters):

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[rtabmap/rgbd_odometry-1]: started with pid [9771]
process[rtabmap/rtabmap-2]: started with pid [9772]
process[rviz-3]: started with pid [9773]
process[points_xyzrgb-4]: started with pid [9774]
[ INFO] [1493997548.551457951]: Starting node...
[ INFO] [1493997548.672561895]: Initializing nodelet with 4 worker threads.
[ INFO] [1493997548.758212312]: Initializing nodelet with 4 worker threads.
[ INFO] [1493997549.557939392]: /rtabmap/rtabmap(maps): map_filter_radius          = 0.000000
[ INFO] [1493997549.558112791]: /rtabmap/rtabmap(maps): map_filter_angle           = 30.000000
[ INFO] [1493997549.558204065]: /rtabmap/rtabmap(maps): map_cleanup                = true
[ INFO] [1493997549.558296971]: /rtabmap/rtabmap(maps): map_negative_poses_ignored = false
[ INFO] [1493997549.558397691]: /rtabmap/rtabmap(maps): map_negative_scan_ray_tracing = true
[ INFO] [1493997549.558498432]: /rtabmap/rtabmap(maps): cloud_output_voxelized     = true
[ INFO] [1493997549.558600183]: /rtabmap/rtabmap(maps): cloud_subtract_filtering   = false
[ INFO] [1493997549.558701069]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1493997549.568427516]: /rtabmap/rtabmap(maps): octomap_tree_depth         = 16
[ INFO] [1493997549.568760110]: /rtabmap/rtabmap(maps): octomap_occupancy_thr      = 0.500000

[ INFO] [1493997551.366694495]: Update RTAB-Map parameter "Grid/MaxGroundHeight"="0.2" from arguments
[ INFO] [1493997551.366801615]: Update RTAB-Map parameter "Grid/MaxObstacleHeight"="2" from arguments
[ INFO] [1493997551.366845682]: Update RTAB-Map parameter "Grid/NoiseFilteringMinNeighbors"="10" from arguments
[ INFO] [1493997551.366884221]: Update RTAB-Map parameter "Grid/NoiseFilteringRadius"="0.1" from arguments
[ INFO] [1493997551.366920299]: Update RTAB-Map parameter "Grid/NormalsSegmentation"="false" from arguments
[ INFO] [1493997552.212241168]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1493997552.217640733]: rtabmap: Deleted database "/home/mathieu/.ros/rtabmap.db" (--delete_db_on_start or -d are set).
[ INFO] [1493997552.217741872]: rtabmap: Using database from "/home/mathieu/.ros/rtabmap.db".

I tried on my side using your parameters and objects are added. Command used:

$ roslaunch freenect_launch freenect.launch depth_registration:=true
$ roslaunch rtabmap_ros rtabmap.launch args:="-d --Grid/MaxGroundHeight 0.2 --Grid/MaxObstacleHeight 2 --Grid/NormalsSegmentation false --Grid/NoiseFilteringRadius 0.1 --Grid/NoiseFilteringMinNeighbors 10" rtabmapviz:=false rviz:=true

Make sure you are using the latest code from source, not latest binaries as I am not sure if the latest data was added when not moving. I don't have a Kinetic machine right now, I'll try later with binaries if it should work too. EDIT it is okay with Kinetic binaries too.

cheers,
Mathieu