Re: Demo RTAB-Map on Turtlebot

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Demo-RTAB-Map-on-Turtlebot-tp439p470.html

Hello,
Are you launching on turtlebot? The /odom -> /base_footprint TF should be already published when launching turtlebot_bringup/minimal.launch. If not, the mapping cannot work.

If you don't have the robot and you just want to see what it could look like if you have one, you can still generate an odometry like this (with rgbd_odometry:=true):

$ roslaunch turtlebot_bringup minimal.launch
$ roslaunch rtabmap_ros demo_turtlebot_mapping.launch rgbd_odometry:=true args:="--delete_db_on_start"
$ roslaunch rtabmap_ros demo_turtlebot_rviz.launch

When rtabmap is actually mapping, you should see this message shown on the console at 1Hz:

[ INFO] [1432823397.685455468]: rtabmap 0.9.0 started...
[ INFO] [1432823402.653807786]: rtabmap: Rate=1.00s, Limit=0.700s, RTAB-Map=0.3038s, Pub=0.0045s (local map=1, WM=1)
[ INFO] [1432823403.666776194]: rtabmap: Rate=1.00s, Limit=0.700s, RTAB-Map=0.3164s, Pub=0.0025s (local map=1, WM=1)
...