Re: record kinect v1 topics for offline mapping

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/record-kinect-v1-topics-for-offline-mapping-tp6214p6217.html

Hi,

Record:

$ roslaunch freenect_launch freenect.launch depth_registration:=true
$ rosbag record /tf /tf_static /camera/rgb/camera_rect_color /camera/depth_registered/image_raw /camera/rgb/camera_info

Note that you can use "data_skip" argument to freenect.launch to avoid recording at 30 Hz, the bag will be smaller.

Replay:

$ roslaunch rtabmap_ros rtabmap.launch args:="-d" use_sim_time:=true
$ rosbag play --clock my_recording.bag

The tricky part is that if we don't do visual odometry during the recording, we cannot have a live feedback if the recorded images will be usable to avoid lost odometry.

cheers,
Mathieu