How to use rtabmap_ros/data_throttle for Realsense camera?

Posted by khlau on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-use-rtabmap-ros-data-throttle-for-Realsense-camera-tp5198.html

I am using D415 on raspi 3 B and I trying to run rtabmap on my PC.  The tutorial in http://wiki.ros.org/rtabmap_ros/Tutorials/RemoteMapping and the last .launch file in http://wiki.ros.org/rtabmap_ros/Tutorials/SetupOnYourRobot are both not work.

From rqt_graph, I can see that there is no connection between _in and _out ( e.g color/image_raw and data_throttled_image_relay)
I think I have to implement something but I dont know what are they. Can someone advise me the solution?

This is the .launch file I used on robot<launch>

<include file="$(find realsense2_camera)/launch/rs_camera.launch">
     <arg name="align_depth" value="True" />
  </include>

  <arg name="rate"  default="5"/>
  <arg name="decimation"  default="1"/> <!-- Reduce the image size, e.g., 2 means "width/2 x height/2". -->
  <arg name="approx_sync" default="true" />

  <!-- Use same nodelet used by realsense2 -->
  <group ns="camera">
    <node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle realsense2_camera_manager" output="screen">

      <param name="rate" type="double" value="$(arg rate)"/>
      <param name="decimation" type="int" value="$(arg decimation)"/>
      <param name="approx_sync" type="bool" value="$(arg approx_sync)"/>

      <remap from="rgb/image_in"       to="color/image_raw"/>
      <remap from="depth/image_in"     to="aligned_depth_to_color/image_raw"/>
      <remap from="rgb/camera_info_in" to="color/camera_info"/>

      <remap from="rgb/image_out"       to="/data_throttled_image_relay"/>
      <remap from="depth/image_out"     to="/depth_registered/image_raw_relay"/>
      <remap from="rgb/camera_info_out" to="/data_throttled_camera_info"/>

    </node>
  </group>
</launch>