Re: RGB-D SLAM example on ROS and Raspberry Pi 3

Posted by David on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RGB-D-SLAM-example-on-ROS-and-Raspberry-Pi-3-tp1250p3752.html

Hi there,

Try to ping to test connectivity.

I think that you're using a docker container network, so I don't know if you can access those directly (see this issue: https://github.com/docker/for-win/issues/221).

Are you running roscore ?

Otherwise, with connectivity checked, these commands worked well for me (do an export ROS_IP on every terminal tab):

On the RPi3:
On the Pi tab 1:
$ export ROS_IP=172.17.01
$ roscore

On the Pi tab 2:
$ export ROS_IP=172.17.01
$ roslaunch freenect_launch freenect.launch depth_registration:=true data_skip:=2

On the Pi tab 3:
$ export ROS_IP=172.17.01
$ roslaunch rtabmap_ros rgbd_mapping.launch rtabmap_args:="--delete_db_on_start --Vis/MaxFeatures 500 --Mem/ImagePreDecimation 2 --Mem/ImagePostDecimation 2 --Kp/DetectorStrategy 6 --OdomF2M/MaxSize 1000 --Odom/ImageDecimation 2" rtabmapviz:=false

On the client PC:
$ export ROS_MASTER_URI=http://172.17.01:11311
$ export ROS_IP=192.168.1.2
$ ROS_NAMESPACE=rtabmap rosrun rtabmap_ros rtabmapviz _subscribe_odom_info:=false _frame_id:=camera_link

Cheers