Re: RGBD + Lidar for SLAM and autonomous navigation

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RGBD-Lidar-for-SLAM-and-autonomous-navigation-tp3511p3567.html

Hi,

Yes, use_sim_time=true should only be used with a ros bag (for which we should use the clock in it).

rtabmap and rtabmap_ros binaries have not the same version on Indigo and Kinetic, so output topics may differ. Not sure yet if I will update Indigo binaries yet, to not break systems/robots still on Indigo. However, it is possible to build latest code from source on Hydro/Indigo/Jade/Kinetic (Lunar not tested yet) so that rtabmap works exactly the same on all platforms. For your test on Kinetic, the lack of TF published by the robot_state_publisher is a problem maybe with the URDF not compatible both at the same time with Indigo and Kinetic. It is not rtabmap related, there a is related migration instructions on this page for Kinetic about that.

The map (grid_map) is created with laser scans if parameter "Grid/FromDepth" is false. For convenience, when subscribing to a laser scan, if Grid/FromDepth is not set, it is automatically set to false, you should see this warning:

[ WARN] [1501592218.499590190]: Setting "Grid/FromDepth" parameter to false (default true) as 
"subscribe_scan" or "subscribe_scan_cloud" is true. The occupancy grid map will be constructed from laser 
scans. To get occupancy grid map from cloud projection, set "Grid/FromDepth" to true. To suppress this 
warning, add <param name="Grid/FromDepth" type="string" value="false"/>

On Indigo binaries, there were two output topics: "proj_map" and "grid_map", the second was created from laser scans.

For the "Creating 1 swatches", don't know what it is. You can use rqt_console to see which node is printing this.

cheers,
Mathieu