Re: Real-Time Multi Robot Map Combination

Posted by Jacobmo on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Real-Time-Multi-Robot-Map-Combination-tp5992p5999.html

I applied those changes, thank you, there were a few more changes that I added in that loop.

for(std::list<rtabmap::Signature>::iterator iter=nodesMap1.begin(); iter!=nodesMap1.end();++iter)
    {
       rtabmap::SensorData data = iter->sensorData();
       data.uncompressData();
       rtabmap.process(data, iter->getPose(), odomLinearVariance, odomAngularVariance);
    }

the data->uncomrpressData() and iter->getPose() is what I had to change. I assume those are the functions that your code was supposed to call.

also the line
Rtabmap rtabmap(parameters...);

is giving me an error saying that pack expansion does not contain any unexpanded parameter packs.

I think it needs to initialized with. If i do the following, it seems to work.
Rtabmap rtabmap;
rtabmap.init(parameters,"home/jacob/.ros/combomap.db");

then the mapsManager also needs to be initialized with
mapsManager.init(nh_,nh_private_,"map_merginator",true);

I got it subscribed and running and it seems like it is outputing a pointcloud2 message type called /scan_map that I can subscribe to and it has data in it, but I cant get it to show up in RVIZ. I am not super familiar with how pointcloud2 messages work, so it could just be something I am not doing right.

is there a way to get that to output to a rtabmap/mapCloud message instead?  

Thanks,
Jacob