Re: RGB_D camera + octomap_server + rtabmap

Posted by ahmadkh1995 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RGB-D-camera-octomap-server-rtabmap-tp7537p7540.html

Thanks for your reply , I can visualize RTabmap output but I want visuilize also output of octomap_server (the idea is to investigate and compare produced octomap in both case(RTabnap's octomap output and also octomap_server output) on the same dataset.

This is error of launching octomap_server ;


and this the log of Debug for octomap_server;


[ INFO] [1614479710.367599425]: Using RGB color registration (if information available)
[ INFO] [1614479710.372157328]: Publishing latched (single publish will take longer, all topics are prepared)
[DEBUG] [1614479741.032376537]: MessageFilter [target=/map ]: Removed oldest message because buffer is full, count now 5 (frame_id=camera_rgb_optical_frame, stamp=1614168934.887957)
[DEBUG] [1614479741.032463667]: MessageFilter [target=/map ]: Added message in frame camera_rgb_optical_frame at time 1614168935.057, count now 5
[DEBUG] [1614479741.095177594]: MessageFilter [target=/map ]: Removed oldest message because buffer is full, count now 5 (frame_id=camera_rgb_optical_frame, stamp=1614168934.924031)
[DEBUG] [1614479741.095265584]: MessageFilter [target=/map ]: Added message in frame camera_rgb_optical_frame at time 1614168935.089, count now 5
[DEBUG] [1614479741.133174963]: MessageFilter [target=/map ]: Removed oldest message because buffer is full, count now 5 (frame_id=camera_rgb_optical_frame, stamp=1614168934.957006)
[DEBUG] [1614479741.133306858]: MessageFilter [target=/map ]: Added message in frame camera_rgb_optical_frame at time 1614168935.124, count now 5
[DEBUG] [1614479741.178926381]: MessageFilter [target=/map ]: Removed oldest message because buffer is full, count now 5 (frame_id=camera_rgb_optical_frame, stamp=1614168934.988682)
[DEBUG] [1614479741.179071806]: MessageFilter [target=/map ]: Added message in frame camera_rgb_optical_frame at time 1614168935.156, count now 5
[DEBUG] [1614479741.241546980]: MessageFilter [target=/map ]: Removed oldest message because buffer is full, count now 5 (frame_id=camera_rgb_optical_frame, stamp=1614168935.024630)




I attached my roslaunch files both for RTabmap and also for octomap_server in this post

test_octomap.launch

test_rtabmap.launch

this is launch files that I run ;

        $ roscore
        $ rosbag play mybag.bag
        $ roslaunch rtabmap_test test_rtabmap.launch      (rtabmap launch file)
        $ roslaunch octomap_project test_octomap.launch      (octomap_server launch file)


These are my topics in rosbag file;

/camera/depth_registered/image
/camera/depth_registered/image_raw
/camera/depth_registered/points
/camera/rgb/camera_info
/camera/rgb/image_color
/camera/rgb/image_raw
/camera/rgb/image_rect_color
/clock
/rosout
/rosout_agg
/tf