Re: How to reocrd ros bag file for rtabmap database

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-reocrd-ros-bag-file-for-rtabmap-database-tp567p568.html

You can use data_recorder.launch. See the launch arguments.

Example from a rosbag of Kinect data:

Record a sample bag:
$ roslaunch freenect_launch freenect.launch depth_registration:=true
$ rosbag record -O kinect /camera/rgb/image_rect_color /camera/rgb/camera_info /camera/depth_registered/image_raw /tf

Convert rosbag to RTAB-Map's database:
$ roslaunch rtabmap_ros data_recorder.launch
$ rosbag play --clock kinect.bag

Example with demo_mapping.bag (recording also odometry + laser scan):

$ rosbag info  demo_mapping.bag 
path:        demo_mapping.bag
version:     2.0
duration:    4:05s (245s)
start:       May 16 2013 14:46:43.35 (1368730003.35)
end:         May 16 2013 14:50:49.29 (1368730249.29)
size:        295.6 MB
messages:    89770
compression: none [383/383 chunks]
types:       nav_msgs/Odometry           [cd5e73d190d741a2f92e81eda573aca7]
             sensor_msgs/CameraInfo      [c9a58c1b0b154e0e6da7578cb991d214]
             sensor_msgs/CompressedImage [8f7a12909da2c9d3332d540a0977563f]
             sensor_msgs/LaserScan       [90c7ef2dc6895d81024acba2ac42f369]
             tf/tfMessage                [94810edda583a504dfda3829e70d7eec]
topics:      /az3/base_controller/odom                    11936 msgs    : nav_msgs/Odometry          
             /jn0/base_scan                                9843 msgs    : sensor_msgs/LaserScan      
             /tf                                          61934 msgs    : tf/tfMessage               
             data_throttled_camera_info                    2019 msgs    : sensor_msgs/CameraInfo     
             data_throttled_image/compressed               2019 msgs    : sensor_msgs/CompressedImage
             data_throttled_image_depth/compressedDepth    2019 msgs    : sensor_msgs/CompressedImage

$ roslaunch rtabmap_ros data_recorder.launch subscribe_depth:=true subscribe_odometry:=true subscribe_laserScan:=true frame_id:=base_link odom_topic:=/az3/base_controller/odom scan_topic:=/jn0/base_scan rgb_topic:=data_throttled_image rgb_info_topic:=data_throttled_camera_info  depth_topic:=data_throttled_image_depth rgb_image_transport:=compressed depth_image_transport:=compressedDepth
$ rosbag play --clock demo_mapping.bag

You can verify that the data are recorded with database viewer:

$ rtabmap-databaseViewer ~/.ros/output.db

You can use the resulting database in the standalone application as source: Preferences->Source->Database...