Re: Using Realsense r200 camera for mapping

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Using-Realsense-r200-camera-for-mapping-tp3332p3345.html

Hi,

You can subscribe to rosbag topics directly instead of using data_recorder.launch. For example (not tested) from tutorial on ros wiki:

Record the bag:

$ roslaunch realsense_camera r200_nodelet_rgbd.launch

$ rosbag record -O trial \
   /camera/rgb/image_rect_color \
   /camera/rgb/camera_info \
   /camera/depth_registered/sw_registered/image_rect_raw \
   /tf_static 

EDIT replaced /tf by /tf_static

Replay the bag:

$ roscore

$ rosparam use_sim_time true

$ roslaunch rtabmap_ros rtabmap.launch \
   rtabmap_args:="--delete_db_on_start" \
   frame_id:=camera_link \
   depth_topic:=/camera/depth_registered/sw_registered/image_rect_raw

$ rosbag play --clock trial.bag

The minimal topics are RGB image, registered depth image, rgb camera info and /tf between frame of the camera (e.g., camera_link) and the optical frames.

cheers,
Mathieu