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-tp6068p6081.html

Hi, so this morning I finally figured it out. I changed the remap of odom to /odometry/filtered which is what robot_localization is outputting. Found this out because I was checking out the separate data_recorder launch file and it did give me the error of some topic isn't receiving data so I did a rostopic echo on the /odom and found out it was empty. I can share the output however for my launch file above, it was not telling me that it wasn't receiving data and it was outputting really good odometry data so it is really strange. It works now though, I'm now attempting to somehow assemble the laser scans into a point cloud.

I do have a separate question also. Is the depth part of rgbd odometry necessary to work with rtabmap? I'm asking because monocular cameras are much cheaper than a realsense and when I tried making and calibrating my own stereo camera it wasn't nearly as decent as a realsense so I want to try multiple cameras orthogonal to each other and see how rgb odometry works if I fuse like 2 or 4 monocular cameras together. This is for wall features inside a concrete pipe so the depth isn't really variable as you travel down it and all I want are the lidar points in the final maps so cameras are purely for odometry.

I really appreciate you taking your time to answer these posts, it is incredibly helpful.