Re: Read bag file using rtabmap_ros issue

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Read-bag-file-using-rtabmap-ros-issue-tp3995p4010.html

Ah ok, you were not using the same bag, so yes we should remap the topics. I cannot test your bag but it could be similar to this:

$ roslaunch rtabmap_ros data_recorder.launch \
subscribe_depth:=true \
frame_id:=base_link \
rgb_topic:=/device_0/sensor_1/Color_0/image/data \
rgb_info_topic:=/device_0/sensor_1/Color_0/info/camera_info \
depth_topic:=/device_0/sensor_0/Depth_0/image/data

You may have to adjust the frame_id parameter to root of the TF tree in your bag. Note also that depth image should be registered to color camera to be used for mapping afterward.