Re: RTABMAP ROS with bag files

Posted by Sebb on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTABMAP-ROS-with-bag-files-tp3556p3562.html

Launching roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start"

[ INFO] [1501663008.310429875]: Starting node...
[ INFO] [1501663008.345287636]: Initializing nodelet with 4 worker threads.
[ INFO] [1501663008.390998098]: Starting node...
[ INFO] [1501663008.465248688]: rtabmap: frame_id = camera_link
[ INFO] [1501663008.465409337]: rtabmap: map_frame_id = map
[ INFO] [1501663008.465502919]: rtabmap: queue_size = 10
[ INFO] [1501663008.465576198]: rtabmap: tf_delay = 0.050000
[ INFO] [1501663008.465647652]: rtabmap: tf_tolerance = 0.100000
[ INFO] [1501663008.465754126]: rtabmap: depth_cameras = 1
[ INFO] [1501663008.466066293]: rtabmap: approx_sync = true
[ INFO] [1501663008.509335058]: rtabmapviz: Using configuration from "/home/seb/.ros/rtabmap_gui.ini"
[ INFO] [1501663008.695222537]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1501663008.696146149]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[ INFO] [1501663009.268528128]:
/rtabmap/rgbd_odometry subscribed to (approx sync):
   /camera/rgb/image_rect_color,
   /camera/depth_registered/image_raw,
   /camera/rgb/camera_info
[ INFO] [1501663009.379513564]: Reading parameters from the ROS server...
[ INFO] [1501663009.637571147]: Parameters read = 0
[ INFO] [1501663009.859867296]:
/rtabmap/rtabmapviz subscribed to:
   /camera/rgb/image_rect_color,
   /camera/depth_registered/image_raw,
   /camera/rgb/camera_info,
   /rtabmap/odom,
   /rtabmap/odom_info
[ INFO] [1501663009.894525328]: rtabmapviz started.
[ INFO] [1501663009.896824844]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1501663009.896932663]: rtabmap: Deleted database "/home/seb/.ros/rtabmap.db" (--delete_db_on_start is set).
[ INFO] [1501663009.896955086]: rtabmap: Using database from "/home/seb/.ros/rtabmap.db".
[ INFO] [1501663011.744281999]: rtabmap: Database version = "0.11.8".
[ INFO] [1501663011.891361626]:
/rtabmap/rtabmap subscribed to (approx sync):
   /camera/rgb/image_rect_color,
   /camera/depth_registered/image_raw,
   /camera/rgb/camera_info,
   /rtabmap/odom
[ INFO] [1501663011.891450569]: rtabmap 0.11.8 started...

rostopic list gives:

/camera/depth_registered/image_raw
/camera/depth_registered/points
/camera/rgb/camera_info
/camera/rgb/image_rect_color
/clock
/rosout
/rosout_agg
/rtabmap/cloud_map
/rtabmap/global_path
/rtabmap/goal
/rtabmap/goal_node
/rtabmap/goal_out
/rtabmap/goal_reached
/rtabmap/grid_map
/rtabmap/info
/rtabmap/labels
/rtabmap/local_path
/rtabmap/mapData
/rtabmap/mapGraph
/rtabmap/move_base/cancel
/rtabmap/move_base/feedback
/rtabmap/move_base/goal
/rtabmap/move_base/result
/rtabmap/move_base/status
/rtabmap/octomap_binary
/rtabmap/octomap_cloud
/rtabmap/octomap_empty_space
/rtabmap/octomap_full
/rtabmap/octomap_proj
/rtabmap/odom
/rtabmap/odom_info
/rtabmap/odom_last_frame
/rtabmap/odom_local_map
/rtabmap/proj_map
/rtabmap/scan_map
/tf
/tf_static