Re: RTABMAP on a robot with client side visualization

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTABMAP-on-a-robot-with-client-side-visualization-tp3843p3844.html

Hi,

/rtabmap/mapGraph and /rtabmap/mapData are not sensor_msgs/PointCloud2 msgs, so you cannot connect them to pointcloud_to_pcd. Note that /rtabmap/cloud_map is a sensor_msgs/PointCloud2 and it is the same as reconstructing the cloud from /rtabmap/mapData with a voxel size of 5 cm (default).

When using rtabmapviz on a remote computer, don't subscribe to high frame rate data like images or laser scans. Let it just subscribe to /rtabmap/mapData and odometry like below:

<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="frame_id" type="string" value="base_link"/>

          <remap from="mapData" to="mapData"/>
          <remap from="odom" to="/odometry/filtered"/>
    </node>
  </group>
</launch>

The network bandwidth required will be minimal (see this section about remote visualization), then use parameters in Preferences-­>3D Rendering panel to adjust the density of the cloud generated in rtabmapviz. To get the final assembled cloud, pause rtabmapviz then do File->Export 3D clouds...

cheers, Mathieu