Re: How to generate maps with same odometry and different parameter values from ubuntu commandline?

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-generate-maps-with-same-odometry-and-different-parameter-values-from-ubuntu-commandline-tp6976p6989.html

Hi,

The database_path is not set on your line. I tried this and it should work:

rosrun rtabmap_ros rtabmap _database_path:=~/my_map.db
[ INFO] [1602085325.622792769]: Starting node...
[ INFO] [1602085325.699695432]: Initializing nodelet with 12 worker threads.
[ INFO] [1602085325.892238053]: /rtabmap(maps): map_filter_radius          = 0.000000
[ INFO] [1602085325.892259843]: /rtabmap(maps): map_filter_angle           = 30.000000
[ INFO] [1602085325.892266272]: /rtabmap(maps): map_cleanup                = true
[ INFO] [1602085325.892271333]: /rtabmap(maps): map_always_update          = false
[ INFO] [1602085325.892276377]: /rtabmap(maps): map_empty_ray_tracing      = true
[ INFO] [1602085325.892311013]: /rtabmap(maps): cloud_output_voxelized     = true
[ INFO] [1602085325.892317257]: /rtabmap(maps): cloud_subtract_filtering   = false
[ INFO] [1602085325.892323984]: /rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1602085325.892696043]: /rtabmap(maps): octomap_tree_depth         = 16
[ INFO] [1602085325.903220779]: rtabmap: frame_id      = base_link
[ INFO] [1602085325.903237288]: rtabmap: map_frame_id  = map
[ INFO] [1602085325.903248295]: rtabmap: use_action_for_goal  = false
[ INFO] [1602085325.903261893]: rtabmap: tf_delay      = 0.050000
[ INFO] [1602085325.903271935]: rtabmap: tf_tolerance  = 0.100000
[ INFO] [1602085325.903281218]: rtabmap: odom_sensor_sync   = false
[ INFO] [1602085326.484243278]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1602085326.484287861]: rtabmap: Using database from "/home/mathieu/my_map.db" (0 MB).
[ INFO] [1602085326.503072458]: rtabmap: Database version = "0.20.5".
[ INFO] [1602085326.514452830]: /rtabmap: subscribe_depth = true
[ INFO] [1602085326.514493190]: /rtabmap: subscribe_rgb = true
[ INFO] [1602085326.514502951]: /rtabmap: subscribe_stereo = false
[ INFO] [1602085326.514515235]: /rtabmap: subscribe_rgbd = false (rgbd_cameras=1)
[ INFO] [1602085326.514524313]: /rtabmap: subscribe_odom_info = false
[ INFO] [1602085326.514533745]: /rtabmap: subscribe_user_data = false
[ INFO] [1602085326.514544560]: /rtabmap: subscribe_scan = false
[ INFO] [1602085326.514554616]: /rtabmap: subscribe_scan_cloud = false
[ INFO] [1602085326.514562814]: /rtabmap: subscribe_scan_descriptor = false
[ INFO] [1602085326.514573485]: /rtabmap: queue_size    = 10
[ INFO] [1602085326.514585414]: /rtabmap: approx_sync   = true
[ INFO] [1602085326.514811634]: Setup depth callback
[ INFO] [1602085326.713710861]: 
/rtabmap subscribed to (approx sync):
   /odom \
   /rgb/image \
   /depth/image \
   /rgb/camera_info
[ INFO] [1602085326.804892999]: rtabmap 0.20.4 started...

See the "rtabmap: Using database from "/home/mathieu/my_map.db" (0 MB)". line.

cheers,
Mathieu