Re: Issue Getting Map from Rtabmap

Posted by Joel_A on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Issue-Getting-Map-from-Rtabmap-tp6068p6076.html

Thanks for the help! It did improve the odom quality and clearly I had some confusion on how I was doing the launch file. I cleaned it up as can be seen below but I still get the same message of 0MB saved. This is also the case with approx_sync set to true. Do you know what else it could be? I used the launch file on 3 different computers.

<launch>


<group ns="camera">

      <node pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen">
	<remap from="depth/image"       to="/camera/aligned_depth_to_color/image_raw"/>
        <remap from="rgb/camera_info"   to="/camera/color/camera_info"/>
        <remap from="rgb/image"         to="/camera/color/image_raw"/>

	  
        <param name="frame_id"        type="string" value="base_link"/>   

        <param name="Odom/GuessMotion"  type="string" value="true"/>
        <param name="Odom/ResetCountdown"  type="string" value="1"/>

	<!-- 0=Frame-to-Map (F2M) 1=Frame-to-Frame (F2F) -->
	<param name="Odom/Strategy" value="0"/>

	<param name="publish_tf" value="false"/>
      </node>

</group>


    <node pkg="nodelet" type="nodelet" name="rgbd_sync" args="standalone rtabmap_ros/rgbd_sync" output="screen">
     	 <remap from="rgb/image"       to="/camera/color/image_raw"/>
     	 <remap from="depth/image"     to="/camera/aligned_depth_to_color/image_raw"/>
     	 <remap from="rgb/camera_info" to="/camera/color/camera_info"/>
     	 <remap from="rgbd_image"      to="rgbd_image"/>

     	 <param name="approx_sync"       value="false"/> 
    </node>

    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
          <param name="frame_id" type="string" value="base_link"/>

          <param name="subscribe_depth" type="bool" value="false"/>
          <param name="subscribe_rgbd" type="bool" value="true"/>
          <param name="subscribe_scan_cloud" type="bool" value="true"/>

          <remap from="odom" to="/odom"/>
          <remap from="scan_cloud" to="/velodyne_points"/>
          <remap from="rgbd_image" to="rgbd_image"/>

          <param name="queue_size" type="int" value="10"/>
          <param name="approx_sync" type="bool" value="true"/>

          <!-- RTAB-Map's parameters -->
          <param name="RGBD/NeighborLinkRefining" type="string" value="true"/>
          <param name="RGBD/ProximityBySpace"     type="string" value="true"/>
          <param name="RGBD/AngularUpdate"        type="string" value="0.01"/>
          <param name="RGBD/LinearUpdate"         type="string" value="0.01"/>
          <param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/>
          <param name="Grid/FromDepth"            type="string" value="false"/> <!-- occupancy grid from lidar -->
          <param name="Reg/Force3DoF"             type="string" value="true"/> <!-- 2D mapping? -->
          <param name="Reg/Strategy"              type="string" value="1"/> <!-- 1=ICP -->
          
          <!-- ICP parameters -->
          <param name="Icp/VoxelSize"                 type="string" value="0.2"/>
          <param name="Icp/MaxCorrespondenceDistance" type="string" value="0.2"/>
    </node>

</launch>