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

Posted by MalarJN 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-tp6976p6990.html

Hi Mathieu,

That is what does not work for me. Take a look at this for example:

rosrun rtabmap_ros rtabmap _database_path=/home/malar/overlay_ws/RoboticsLabRuns/Default/output2.db
[ INFO] [1602098304.918545862]: Starting node...
[ INFO] [1602098305.239313980]: Initializing nodelet with 2 worker threads.
[ INFO] [1602098306.505667985]: /rtabmap(maps): map_filter_radius          = 0.000000
[ INFO] [1602098306.505728860]: /rtabmap(maps): map_filter_angle           = 30.000000
[ INFO] [1602098306.506048451]: /rtabmap(maps): map_cleanup                = true
[ INFO] [1602098306.506121185]: /rtabmap(maps): map_always_update          = false
[ INFO] [1602098306.506567446]: /rtabmap(maps): map_empty_ray_tracing      = true
[ INFO] [1602098306.506628762]: /rtabmap(maps): cloud_output_voxelized     = true
[ INFO] [1602098306.507036725]: /rtabmap(maps): cloud_subtract_filtering   = false
[ INFO] [1602098306.507103294]: /rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1602098306.514108684]: /rtabmap(maps): octomap_tree_depth         = 16
[ INFO] [1602098306.603270831]: rtabmap: frame_id      = base_link
[ INFO] [1602098306.603380585]: rtabmap: map_frame_id  = map
[ INFO] [1602098306.603449202]: rtabmap: use_action_for_goal  = false
[ INFO] [1602098306.603550173]: rtabmap: tf_delay      = 0.050000
[ INFO] [1602098306.603646694]: rtabmap: tf_tolerance  = 0.100000
[ INFO] [1602098306.603713221]: rtabmap: odom_sensor_sync   = false
[ INFO] [1602098308.595015806]: Update RTAB-Map parameter "Grid/FromDepth"="false" from database
[ INFO] [1602098308.595458409]: Update RTAB-Map parameter "Grid/RangeMax"="0" from database
[ INFO] [1602098308.595722938]: Update RTAB-Map parameter "GridGlobal/MinSize"="20" from database
[ INFO] [1602098308.595952044]: Update RTAB-Map parameter "Icp/CorrespondenceRatio"="0.3" from database
[ INFO] [1602098308.596051184]: Update RTAB-Map parameter "Kp/MaxDepth"="4.0" from database
[ INFO] [1602098308.596495360]: Update RTAB-Map parameter "Mem/RehearsalSimilarity"="0.3" from database
[ INFO] [1602098308.596880353]: Update RTAB-Map parameter "Reg/Force3DoF"="true" from database
[ INFO] [1602098308.597311328]: Update RTAB-Map parameter "Vis/MinInliers"="15" from database
[ INFO] [1602098309.033383062]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1602098309.033591847]: rtabmap: Using database from "/home/malar/.ros/rtabmap.db" (0 MB).
[ INFO] [1602098309.094005360]: rtabmap: Database version = "0.19.6".
[ INFO] [1602098309.194967361]: /rtabmap: subscribe_depth = true
[ INFO] [1602098309.195034111]: /rtabmap: subscribe_rgb = true
[ INFO] [1602098309.195063158]: /rtabmap: subscribe_stereo = false
[ INFO] [1602098309.195092908]: /rtabmap: subscribe_rgbd = false (rgbd_cameras=1)
[ INFO] [1602098309.195128032]: /rtabmap: subscribe_odom_info = false
[ INFO] [1602098309.195155276]: /rtabmap: subscribe_user_data = false
[ INFO] [1602098309.195181317]: /rtabmap: subscribe_scan = false
[ INFO] [1602098309.195207133]: /rtabmap: subscribe_scan_cloud = false
[ INFO] [1602098309.195234110]: /rtabmap: queue_size    = 10
[ INFO] [1602098309.195272092]: /rtabmap: approx_sync   = true
[ INFO] [1602098309.195363967]: Setup depth callback
[ INFO] [1602098309.298579640]:
/rtabmap subscribed to (approx sync):
   /odom,
   /rgb/image,
   /depth/image,
   /rgb/camera_info
[ INFO] [1602098309.356909748]: rtabmap 0.19.6 started...

Note where I mention the database path and where in the logs it has been directed to the default rtabmap.db.

Best regards,
Malar.