Re: Mapping performance and hallway problems with Kinect 2

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Mapping-performance-and-hallway-problems-with-Kinect-2-tp3956p3972.html

If you want to do teleop, maybe using RVIZ would be better as you will have more choices of what you want to render. In RVIZ, you get see any image topic directly too.

For rtabmapviz, on a remote computer, I don't really recommend to use subscribe_depth to avoid high bandwidth topic synchronization. For example, the data_throttled_image_depth is 0.5 Hz while the others are 8 Hz. This is a big problem for synchronization on client side. This can be simplified as this:

<launch>
  <!-- Visualisation (client side) -->
  <group ns="rtabmap">
    <node pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" output="screen">
      <param name="frame_id" type="string" value="camera_link"/>
      <remap from="odom" to="odom"/>
    </node>
  </group>
</launch>

Is your robot base frame id really camera_link? Normally, it would be base_link or base_footprint. See ROS REP 105.

In the screenshot you sent, we only see the white odometry line, without the blue graph map. This means that rtabmapviz is not receiving /rtabmap/mapData topic. You can do on client:

$ rostopic hz /rtabmap/mapData

If not receiving at 1 Hz, look for errors/warnings on computer you started rtabmap.

Note that to compare actual frame rate of the topics on the robot and from the outside, compare "rostopic hz" on the robot vs on client computer for the same topic.

If odometry/mapping is done on the robot, you don't need data_throttle node. In RVIZ, you can subscribe to image topic with compression you want directly.

cheers,
Mathieu