Posted by
matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-Error-tp4596p4605.html
Hi,
when subscribing to compressed topics, the name of the topic should be the normal ones (raw), but image_transport parameter should be set to compressed. For depth image, image_transport should be set to compressedDepth to avoid compression artifacts and that the depth image keeps the right format (16 or 32 bits). Make sure
compressed_depth_image_transport plugin is installed on all computers.
When using
rtabmap.launch, image_transport value is automatically set to compressed or compressedDepth when compressed argument is set to true (so you don't have to manage this yourself). Relays are also automatically created to make sure the image topics are subscribed only once by the remote computer.
On the computer running the camera, see if the default topics used by rtabmap are actually published:
$ rostopic hz /camera/rgb/image_rect_color
$ rostopic hz /camera/rgb/camera_info
$ rostopic hz /camera/depth_registration/image_raw
If "rostopic hz /camera/depth_registration/image_raw" doesn't publish anything, did you start the camera node with "depth_registration:=true"?
Example, launch on robot:
$ roslaunch astra_launch astra.launch depth_registration:=true
On remote computer, set the
ROS_MASTER_URI to robot's IP, then launch this:
$ roslaunch rtabmap_ros rtabmap.launch compressed:=true
What do you see? If nothing, are there warnings/errors on the terminal?
cheers,
Mathieu