Re: Rtabmap error in process rtabmap/rgbd_odometry-1 - ubuntu on raspberry pi

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Rtabmap-error-in-process-rtabmap-rgbd-odometry-1-ubuntu-on-raspberry-pi-tp444p488.html

If you are planning on using rtabmap on an autonomous robot, I highly recommend to use the rtabmap_ros package. It is too bad that they are not working on your Raspberry Pi. Some people had some linking difficulties with costmap_2d, you could remove the optional dependencies when building rtabmap_ros. You can comment these lines in "rtabmap_ros/CMakeLists.txt".

To use the standalone without the GUI, you may want to check at the RGB-D C++ tutorial. This example is already built (rtabmap/examples/RGBDMapping) when building rtabmap ("rtabmap-rgbd_mapping"). You could remove the GUI stuff from the MapBuilder and add some printfs in the odometry callback to show odometry quality. To have a database saved when closing this example, you should set a database path in "rtabmap->init()":

rtabmap->init("", "rtabmap.db");

cheers,
Mathieu