(ros)bagging topics and later using it to construct the 3d map

Posted by rakshak on
URL: http://official-rtab-map-forum.206.s1.nabble.com/ros-bagging-topics-and-later-using-it-to-construct-the-3d-map-tp5419.html

I would like to use rosbag to record the required compressed topics and then later use them to create the 3d map.

I am using this command to record the compressed data:

rosbag record -O subset /camera/aligned_depth_to_color/image_raw/compressed /camera/color/image_raw/compressed /camera/color/camera_info /rtabmap/odom /rtabmap/odom_info

And then, when I play the recorded bag, I use the following the get the uncompressed data

rosrun image_transport republish compressed in:=/camera/color/image_raw/compressed raw out:=/camera/color/image_raw

rosrun image_transport republish compressed in:=/camera/aligned_depth_to_color/image_raw/compressed raw out:=/camera/aligned_depth_to_color/image_raw  

And then I use this launch file the try to create the map:
roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/camera/aligned_depth_to_color/image_raw rgb_topic:=/camera/color/image_raw camera_info_topic:=/camera/color/camera_info

But when I run the rtabmap.launch file, I get a message saying there is nothing published on the subscribed topic for 5 sec.

My question: How would I go about collecting compressed data and using it to create a 3D map using rtabmap