Re: RTABMAP in Desktop Station doesn't display point clouds

Posted by PAlfaro on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTABMAP-in-Desktop-Station-doesn-t-display-point-clouds-tp676p758.html

Hi Mathieu

I've been trying to use rgbd_mapping.launch and a demo for kinect and laser, I don't know how to setup odometry for roomba wheels, so I've decided to use the setup mentioned in the tutorial Set Up In Your Robot 3.3 Kinect+2D laser and using hector_mapping, but there are many configurations and parameters that I don't know if I have to change, and also I think I have problems with the TF, because when rgbd_mapping.launch is working many point clouds become to appear everywhere.

This is mi launch file for devices:

<launch>

   <!--Initializes all devices-->

   <!--Roomba-->
   <node pkg="roomba_500_series" type="roomba500_light_node" name="roomba500" output="screen"/>

   <!--Laser-->
   <!--node pkg="urg_node" type="urg_node" name="mapping_urg"/-->
   <node pkg="hokuyo_node" type="hokuyo_node" name="hokuyo_scan"/>
   <!--param name="serial_port" value="/dev/ttyACM0"/>
   </node-->

   <!--Camera-->
   <include file="$(find ros_cam_node)/launch/ros_cam_node.launch"/>

   <!--TF-->
   <node pkg="tf" type="static_transform_publisher" name="base_to_laser" args="0.14 0.0 0.12 0 0 0 base_link laser 100"/>

   <node pkg="tf" type="static_transform_publisher" name="base_to_camera" args="-0.15 0.0 0.59 0 0 0 base_link camera_link 100"/>

   <node pkg="roomba_tf" type="test_listener_tf" name="laser_tf" output="screen"/>

   <node pkg="roomba_tf" type="camtest_listener_tf" name="cam_tf" output="screen"/>

   <!--AMCL-->
   <node pkg="amcl" type="amcl" name="amcl"/>

</launch>

 
And this is for 2D mapping

<launch>

  <arg name="base_frame" default="base_link"/>
  <arg name="odom_frame" default="base_link"/>
  <arg name="pub_map_odom_transform" default="true"/>
  <arg name="scan_subscriber_queue_size" default="5"/>
  <arg name="scan_topic" default="scan"/>
  <arg name="map_size" default="2048"/>
  
  <node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">
    
    <!-- Frame names -->
    <param name="map_frame" value="map" />
    <param name="base_frame" value="$(arg base_frame)" />
    <param name="odom_frame" value="$(arg odom_frame)" />
    
    <!-- Tf use -->
    <param name="pub_map_odom_transform" value="$(arg pub_map_odom_transform)"/>
    </node>
    
  <node pkg="tf" type="static_transform_publisher" name="map_nav_broadcaster" args="0 0 0 0 0 0 base_link laser 100"/>
  <node pkg="rviz" type="rviz" name="map_rviz"/>

</launch>

How can I use this together with rtabmap and what params I have to change in the demo_hector_mapping.launch file or create a new launch file?

Also I attach the image of rviz with the point clouds.