RTABMAP on a robot with client side visualization

Posted by mwolf on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTABMAP-on-a-robot-with-client-side-visualization-tp3843.html

Hi again and thanks for having such a great forum!

Using a ZED stereo camera, a laserscan and the odometry from my robot I want to use rtabmap to create 3d maps.

I followed this tutorial (used the launch file in chapter 2.1) and remapped my topics. Rtabmap does run perfectly on my robot. I can get the 2D map via:

 rosrun pcl_ros pointcloud_to_pcd input:=/rtabmap/cloud_map
 pcl_pcd2ply input.pcd output.ply

However if i want to do the same with the topic /rtabmap/mapGraph or /rtabmap/mapData I do get a version error like below:

[ERROR] [1510072162.355703627]: Client [/pointcloud_to_pcd_1510072172118202762] wants topic /rtabmap/mapGraph to have datatype/md5sum [sensor_msgs/PointCloud2/1158d486dd51d683ce2f1be655c3c181], but our version has [rtabmap_ros/MapGraph/903c2e44ed7e275e08ef323188cb38ee]. Dropping connection.

The same error appears if I start the rtabmapviz node on my client via this launchfile:

<launch>
  <!-- Visualisation (client side) -->
  <group ns="rtabmap">
    <node 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="queue_size" type="int" value="50"/>
      <param name="frame_id" type="string" value="base_link"/>

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

          <remap from="rgb/image" to="/zed/rgb/image_rect_color"/>
          <remap from="depth/image" to="/zed/depth_registered/image_raw"/>
          <remap from="rgb/camera_info" to="/zed/rgb/camera_info"/>


      <param name="rgb/image_transport" type="string" value="compressed"/>
      <param name="depth/image_transport" type="string" value="compressedDepth"/>
    </node>
  </group>
</launch>

BTW if I start both rtabmap and rtabmapviz on the client it does work, but as my network is not that fast it takes forever to display the 3dmap.

Do you have any idea what is causing this problem?

Thanks for reading this! Have a great day,

Moritz