rtabmap-reprocess tool

Posted by aliena on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtabmap-reprocess-tool-tp7438.html

Hi! I'm quite a newbie with rtabmap and ROS, so I really need your help ^^"

I want to do some field tests with 3 robots (they have all the same hardware and software, and they're equipped with a Realsense camera from which they retrieve their position and build their map). Once the rtabmap.launch file is closed (I'm using a variation of it but the functionality is the same) the databases are saved in a defined directory on each robot with a different name as I set:

<arg name="database_path"           default="/my/path/to/file/rtabmap_'date + %s'.db"/>

I want then to merge the databases coming from the 3 robots using rtabmap-reprocess. The first time would be simply:

rtabmap-reprocess "input1.db;input2.db;input3.db" "output.db"

Then the 3 robots start to move again and continue the mapping (i.e. without --delete_db_on_start).
So, second time they stop and I want to merge the maps I would like to do that not by merging the entire database but by starting from the second session initial node (I hope this is clear!).

Now, I see that there is a -start # option to start from a specific node ID and my question is:

1. how can I retrieve the last node ID from the session which is previous to the current one?

And also:

2. is there a way to utilise the code of rtabmap-reprocess inside a node to do the merging by launching for example a launch file instead of typing it in the command line?

I hope I have been clear enough even if I'm a little bit confused in my mind ^^"
Hope you can give me an help with this...

Thank you
Alice