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-tp3956p3974.html

Hi Wezza,

You may not want to use "standalone rtabmap_ros/point_cloud_xyzrgb" on client side, as it should connect to rgb/depth/camera_info topics, thus generating bandwidth. Unless you need to see live point cloud from the kinect, you may drop this node. Tips: if you have on the client side multiple nodes connecting to same topics, use relays to avoid duplicating connection between robot and client (e.g. retransmitting only once the RGB image on network instead of multiple times it has more than one nodes subscribing to it on client).

The /rtabmap/map_cloud topic is a general Pointcloud2 topic, it is the 3D map created from rtabmap. It is however less efficient than /rtabmap/mapData for visualization and resolution is limited to grid cell used by rtabmap (default 5 cm). Your error about mapData is indeed because the message defintion is different between the robot and the client, caused by different rtabmap versions installed between the computers.

cheers,
Mathieu