Re: rtab map does not display anything

Posted by mwolf on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtab-map-does-not-display-anything-tp3541p3564.html

Thank you, that was the problem! It works now!

But it stops updating the map after the first frames even if i start to move the robot around...



To reduce latency I have tried to use the freenect_throttle launch file you provided in the tutorials. This itself works as expected.

Remapping to the throttled topics however does not apper to be sucessfull as rtabmapviz shows in the console that it is still subscribe to the normal camera topics. Rtabmap however does subscribe to the throttled ones and the <remap> is exactly the same...

        
    <!-- RTAB-Map -->
    <group ns="rtabmap">

    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
          <param name="frame_id" type="string" value="base_link"/>

          <param name="subscribe_depth" type="bool" value="true"/>
          <param name="subscribe_scan" type="bool" value="true"/>

          <remap from="odom" to="/odometry/filtered"/>
          <remap from="scan" to="/scan"/>

          <remap from="rgb/image" to="/camera/data_throttled_image"/>
          <remap from="depth/image" to="/camera/data_throttled_image_depth"/>
          <remap from="rgb/camera_info" to="/camera/data_throttled_camera_info"/>

          <param name="queue_size" type="int" value="60"/>

          <!-- RTAB-Map's parameters -->
          <param name="RGBD/NeighborLinkRefining" type="string" value="true"/>
          <param name="RGBD/ProximityBySpace"     type="string" value="true"/>
          <param name="RGBD/AngularUpdate"        type="string" value="0.01"/>
          <param name="RGBD/LinearUpdate"         type="string" value="0.01"/>
          <param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/>
          <param name="Optimizer/Slam2D"          type="string" value="true"/>
          <param name="Reg/Strategy"              type="string" value="1"/> <!-- 1=ICP -->
          <param name="Reg/Force3DoF"             type="string" value="true"/>
          <param name="Vis/MinInliers"            type="string" value="5"/>
          <param name="Vis/InlierDistance"        type="string" value="0.1"/>
          <param name="Rtabmap/TimeThr"           type="string" value="700"/>
          <param name="Mem/RehearsalSimilarity"   type="string" value="0.45"/>
    </node>

        <!-- Visualisation RTAB-Map -->
        <node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
            <param name="subscribe_depth" type="bool" value="true"/>
            <param name="subscribe_scan" type="bool" value="true"/>

            <param name="frame_id" type="string" value="base_link"/>
            <param name="wait_for_transform" type="bool" value="true"/>

          <remap from="odom" to="/odometry/filtered"/>
          <remap from="scan" to="/scan"/>

          <remap from="rgb/image" to="/camera/data_throttled_image"/>
          <remap from="depth/image" to="/camera/data_throttled_image_depth"/>
          <remap from="rgb/camera_info" to="/camera/data_throttled_camera_info"/>

        </node>

    </group>

</launch>

Keep up your good work!
Moritz