Re: RTABMAP in Desktop Station doesn't display point clouds

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTABMAP-in-Desktop-Station-doesn-t-display-point-clouds-tp676p682.html

Hi,

The problem here is the high network bandwidth used. Is the laptop connected wirelessly? Openni2 publishes rgb and depth images at 30 Hz, if you subscribe to them without compression, there will be a lot of latency on the workstation, making difficult to synchronize input topics for the rtabmap or visual odometry nodes.

Some information about remote mapping issue are discussed here. I would suggest to use roomba's wheel odometry or to do visual odometry on the laptop. As in the remote mapping example, the rtabmap node can then subscribe to rgb-depth-laser-odometry throttled messages at lower rate to save bandwidth.

The /map frame is published only when rtabmap is mapping, which is not the case in your screenshot. The rtabmap's callback is not called because of the topics synchronization is poor (or not all input topics are received).

cheers,
Mathieu