Re: Problems with launch and mapping

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Problems-with-launch-and-mapping-tp6808p6817.html

Hi,

For the ouster alone, did you see those launch files (depending which ouster gen you have):
https://github.com/introlab/rtabmap_ros/blob/master/launch/tests/test_ouster.launch
https://github.com/introlab/rtabmap_ros/blob/master/launch/tests/test_ouster_gen2.launch
As stated in the header of the launch files, make sure rtabmap is built with libpointmatcher support.

For the synchronization warning:

/rtabmap/rtabmap subscribed to (exact sync):
   /odom \
   /rtabmap/rgbd_image \
   /os1_cloud_node/points

It is likely that /rtabmap/rgbd_image won;t never have the same stamp than /os1_cloud_node/points (from two different sensors). "approx_sync" should be set to true for rtabmap node.

cheers,
Mathieu