Re: How to call rtabmap_ros function from rviz

Posted by koba on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-call-rtabmap-ros-function-from-rviz-tp5900p5946.html

Hi,

Thank you for your answer.
I tried to put the process in reference to the sent answer.

I want to generate a ply file at that point when I press the STOP button that I incorporated as an RVIZ plug-in.
I tried to output cloud.ply by calling the following command when I pressed the STOP button.

~ / rtabmap / bin / rtabmap-export rtabmap.db

At that time, the following error was displayed on multiple lines.

[ERROR] (2019-06-12 14: 28: 22.372) VWDictionary.cpp: 672 :: addWordRef () Not found word 8810 (dict size = 0)
[ERROR] (2019-06-12 14: 28: 22.372) VWDictionary.cpp: 672 :: addWordRef () Not found word 8811 (dict size = 0)

Probably, it is because rtabmap.db is not saved as a final form unless rtabmap_ros ends.
In such a case, what kind of correspondence method can be considered?

In another method, I executed the following command on another terminal.
Then the pcd file was output each time the point cloud data was updated.
In this case, is it the process to convert to ply for the newest pcd file (input.pcd) when the STOP button is pressed?

$ rosrun pcl_ros pointcloud_to_pcd input: = / rtabmap / cloud_map
$ pcl_pcd2ply input.pcd output.ply

Many thank you,
koba