Re: rtabmap with octomap and hector slam

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtabmap-with-octomap-and-hector-slam-tp696p699.html

Hi,

You can't use the demo launch file directly, they are very specific to rosbag used for the demo.

When you launch rgbd_mapping.launch, you may have to remap some input topics to those used in your simulator. For example:

# No visualization, delete previous database, remap image topics
$ roslaunch rtabmap_ros rgbd_mapping.launch rtabmapviz:=false rtabmap_args:="--delete_db_on_start" rgb_topic:=/camera/rgb/image_color_rect depth_registered_topic:=/camera/depth_registration/image_raw camera_info_topic:=/camera/rgb/camera_info

You would also see on the terminal the required topics. If one of these topics is not published, rtabmap won't work.

[...]
/rtabmap/rgbd_odometry subscribed to:
   /camera/rgb/image_color_rect,
   /camera/depth_registration/image_raw,
   /camera/rgb/camera_info
[ INFO] [1443097665.201129476]: RTAB-Map rate detection = 1.000000 Hz
[ INFO] [1443097665.203129619]: rtabmap: Deleted database "/home/mathieu/.ros/rtabmap.db" (--delete_db_on_start is set).
[ INFO] [1443097665.203204240]: rtabmap: Using database from "/home/mathieu/.ros/rtabmap.db".
[ INFO] [1443097665.411523036]: rtabmap: Database version = "0.10.6".
[ INFO] [1443097665.724782616]: Registering Depth callback...
[ INFO] [1443097665.727396510]: 
/rtabmap/rtabmap subscribed to:
   /camera/rgb/image_color_rect,
   /camera/depth_registration/image_raw,
   /camera/rgb/camera_info,
   /rtabmap/odom
[...]

cheers