Posted by
sophye_turtllebot on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Error-when-trying-to-run-Rtabmap-version-ROS-tp179p367.html
Thank you for this informations,
yes this problem always happens
I use this launch file of rgbd_mapping:
<launch>
<arg name="rviz" default="true" />
<arg name="rtabmapviz" default="true" />
<arg name="strategy" default="0" />
<arg name="feature" default="6" />
<arg name="nn" default="3" />
<arg name="max_depth" default="4.0" />
<arg name="min_inliers" default="20" />
<arg name="inlier_distance" default="0.02" />
<arg name="local_map" default="1000" />
<arg name="odom_info_data" default="true" />
<node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"
args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /camera_link 100" />
<group ns="rtabmap">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen"
args="--delete_db_on_start">
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info"
to="/camera/depth_registered/camera_info"/>
<remap from="scan" to="/scan"/>
<remap from="odom" to="/odom"/>
</node>
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz"
name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini"
output="screen">
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info"
to="/camera/depth_registered/camera_info"/>
<remap from="scan" to="/scan"/>
<remap from="odom" to="/odom"/>
</node>
</group>
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find
rtabmap_ros)/launch/config/rgbd.rviz"/>
<node if="$(arg rviz)" pkg="nodelet" type="nodelet"
name="standalone_nodelet" args="manager" output="screen"/>
<node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="data_odom_sync"
args="load rtabmap_ros/data_odom_sync standalone_nodelet">
<remap from="rgb/image_in" to="/camera/rgb/image_rect_color"/>
<remap from="depth/image_in"
to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info_in"
to="/camera/depth_registered/camera_info"/>
<remap from="odom_in" to="/odom"/>
<remap from="rgb/image_out" to="/camera/rgb/image_rect_color"/>
<remap from="depth/image_out"
to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info_out"
to="/camera/depth_registered/camera_info"/>
<remap from="odom_out" to="/odom"/>
</node>
<node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="points_xyzrgb"
args="load rtabmap_ros/point_cloud_xyzrgb standalone_nodelet">
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info"
to="/camera/depth_registered/camera_info"/>
* <remap from="cloud" to="/camera/depth_registered/points" />*
</node>
</launch>
I have a doubt in the last topic , i d'ont know if what i did in
<remap from="cloud" to="/camera/depth_registered/points" /> is
correct or not?
also
i remap /rgb/image_in" and /gb/image_in" to the same topic
/camera/rgb/image_rect_color
Is this correct?
THanks in advance