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-tp676p692.html

Hi,

I suggest that you do the all the mapping/navigation stuff on the robot (i.e., the laptop), to avoid network delays. To monitor what is going on the the robot from a workstation over the network, you can open RVIZ on that computer (while setting ROS_MASTER_URI to laptop IP) and use "rviz/Map" display to show 2D map or "rtabmap_ros/MapCloud" display to show 3D map.

Note that rtabmap can do 2D and 3D mapping. I would refer to this page to know which configuration would fit the best for your application. For the autonomous navigation part, see move_base package.

For image compression, it is done through image_transport. I suggest to use image_transport/republish node for convenience on a remote computer. Example in a launch file:

 <node name="republish_rgb" type="republish" pkg="image_transport" args="theora in:=/camera/rgb/image_rect_color raw out:=/camera/rgb/image_rect_color_remote" />
 <node name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=/camera/depth_registered/image_raw raw out:=/camera/depth_registered/image_raw_remote" />

cheers