Using Realsense r200 camera for mapping

Posted by daniyara on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Using-Realsense-r200-camera-for-mapping-tp3332.html

Hello everyone!

I am very new to ROS and RTAB, so please excuse if this question is too simple.

I am using r200 realsense camera only (no extrenal odometry). My aim is to record a bag file and then be able to play the bag file to recreate the map.

I have tried different approaches; however, I am not able to bring up the rtab gui when replaying the bag file. I have followed this post:
http://official-rtab-map-forum.206.s1.nabble.com/How-to-reocrd-ros-bag-file-for-rtabmap-database-td567.html

Here is the sequence of commands I have used:

1. Launch r200 with: roslaunch realsense_camera r200_nodelet_rgbd.launch

2. Record the Bag file: rosbag record -O trial /camera/rgb/image_rect_color /camera/rgb/camera_info /camera/depth_registered/image_war /tf
  - Please let me know if I am recording sufficient amount of topics (and if they are the right ones)?

3. After shutting down the recording and camera:
 - roscore
 - rosparam set use_sim_time true
 - roslaunch rtabmap_ros data_recorder.launch

4. The terminal displays the message that the rtab was launched, although no window pops up.

5. In a separate terminal window: rosbag play --clock trial.bag

After this sequence I can see that the bag time in incrementing; however, nothing is displayed.

Running "rostopic list" shows:
/camera/depth_registered/image_raw
/camera/rgb/camera_info
/camera/rgb/image_rect_color
/clock
/cloud_map
/global_path
/goal
/goal_node
/goal_out
/goal_reached
/grid_map
/info
/labels
/local_path
/mapData
/mapGraph
/move_base/cancel
/move_base/feedback
/move_base/goal
/move_base/result
/move_base/status
/octomap_binary
/octomap_cloud
/octomap_empty_space
/octomap_full
/octomap_proj
/proj_map
/rosout
/rosout_agg
/scan_map
/tf
/tf_static

rostopic echo /camera/depth_registered/image_raw works as it continuously spits out numbers.

Any help is appreciated.

Cheers