Re: odom frame flickers when playing rtabmap with rosbag

Posted by alexr on
URL: http://official-rtab-map-forum.206.s1.nabble.com/odom-frame-flickers-when-playing-rtabmap-with-rosbag-tp228p518.html

Hi Matheiu,

When recording bag file, the rtabmap node is running. Since I am generating the odometry from the robot the required tf are published from the robot_state_publisher and the urdf.  Also, i am recording the tf , odom and scan with the throttled image messages.

The bag file runs perfectly when using the rtabmapviz using the sample demo_robot_mapping.launch file in the rtabmap_ros package , the main problem is using the rviz.

I used the rosbag filter to remove the map topic, but the result is same. I am not sure what am I doing wrong?

This is what  I am doing -
1) launch the rtabmap launch (including the robot, hokuyo scan, rviz )
2) launch the data throttle
3) record rosbag with data throttled topics, scan, tf and odom
4) play the recorded bag file

Are you saying, I should not be recording the odom and tf when recording the bag with rtabmap running??

Thanks
Alex