Re: Remote Mapping using Intel Realsense R200

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Remote-Mapping-using-Intel-Realsense-R200-tp5356p5357.html

Hi,

Can you try this launch on the drone?
r200_throttle.launch

<launch>
  <!-- 
       Based on those tutorials:
       http://wiki.ros.org/rtabmap_ros/Tutorials/HandHeldMapping
       http://wiki.ros.org/rtabmap_ros/Tutorials/RemoteMapping
  -->

  <include file="$(find realsense_camera)/launch/r200_nodelet_rgbd.launch"/>

  <arg name="rate"  default="10"/>
  <arg name="cloud_to_depth"  default="true"/> <!-- approach 2 from handheld tutorial above for r200 -->

  <!-- Use same nodelet used by realsense -->
  <group ns="camera">
    <node pkg="nodelet" type="nodelet" name="throttling_nodelet_manager" args="manager" output="screen"/>
    <node if="$(arg cloud_to_depth)" pkg="nodelet" type="nodelet" name="pointcloud_to_depthimage" args="load rtabmap_ros/pointcloud_to_depthimage throttling_nodelet_manager" output="screen">
      <remap from="cloud"       to="depth/points"/>
      <remap from="camera_info" to="rgb/camera_info"/>
      <remap from="image_raw"   to="depth/points/image_raw"/>
      <remap from="image"       to="depth/points/image"/>

      <param name="approx"          value="false"/>
      <param name="fill_holes_size" value="2"/>
    </node>

    <node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle throttling_nodelet_manager" output="screen">
      <param name="rate" type="double" value="$(arg rate)"/>
      <param name="approx_sync" type="bool" value="false"/>

      <remap from="rgb/image_in"       to="rgb/image_rect_color"/>
      <remap from="rgb/camera_info_in" to="rgb/camera_info"/>
      <remap     if="$(arg cloud_to_depth)" from="depth/image_in" to="depth/points/image_raw"/>
      <remap unless="$(arg cloud_to_depth)" from="depth/image_in" to="depth_registered/sw_registered/image_rect_raw"/>

      <remap from="rgb/image_out"       to="data_throttled_image"/>
      <remap from="depth/image_out"     to="data_throttled_image_depth"/>
      <remap from="rgb/camera_info_out" to="data_throttled_camera_info"/>
    </node>
  </group>      
</launch>

Verify you are receiving the compressed topics on remote computer with:

$ rostopic hz /camera/data_throttled_image/compressed /camera/data_throttled_image_depth/compressedDepth /camera/data_throttled_camera_info
subscribed to [/camera/data_throttled_image/compressed]
subscribed to [/camera/data_throttled_image_depth/compressedDepth]
subscribed to [/camera/data_throttled_camera_info]
                      topic                           rate   min_delta   max_delta   std_dev   window
=====================================================================================================
/camera/data_throttled_image/compressed              4.755   0.1998      0.2301      0.01398   4     
/camera/data_throttled_image_depth/compressedDepth   4.76    0.1992      0.2262      0.01163   4     
/camera/data_throttled_camera_info                   4.736   0.2002      0.2323      0.01497   4

If topics are received, you should be able to start rtabmap like this:

$ roslaunch rtabmap_ros rtabmap.launch \
   rgb_topic:=/camera/data_throttled_image \
   depth_topic:=/camera/data_throttled_image_depth \
   camera_info_topic:=/camera/data_throttled_camera_info \
   compressed:=true \
   rtabmap_args:="--delete_db_on_start" \
   approx_sync:=false

cheers,
Mathieu