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

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTABMAP-in-Desktop-Station-doesn-t-display-point-clouds-tp676p759.html

Hi,

For a tutorial on how to generate odometry messages, see here. I've found another code related to Roomba here. Maybe your roomba launch already publishes odometry messages?

You can use this to debug TF tree:

$ rosrun tf view_frames
$ evince frames.pdf

I will suggest that you try to make work hector_mapping or rtabmap alone before mixing them. After that, if you want to mix hector_mapping with rtabmap on your specific robot, I would start with a fresh launch file. You can refer to demo_hector_mapping.launch for inspiration.

To test rtabmap alone, here is an example of a minimal setup for rtabmap alone with your roomba (inspired from the Kinect + Odometry + 2D laser example):

<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">

  <!-- Should be a fixed frame on the robot, generally base_link or base_footprint -->
  <param name="frame_id" type="string" value="base_footprint"/>

  <param name="subscribe_depth" type="bool" value="true"/>
  <param name="subscribe_laserScan" type="bool" value="true"/>

  <!-- Input topics, if any of them is not published, rtabmap won't work! -->
  <remap from="odom"            to="/odom"/>
  <remap from="scan"            to="/scan"/>
  <remap from="rgb/image"       to="/camera/rgb/image_rect_color"/>
  <remap from="depth/image"     to="/camera/depth_registered/image_raw"/>
  <remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>

  <!-- Use laser scans to refine loop closure transformations -->
  <param name="LccIcp/Type" type="string" value="2"/>

  <!-- update the map only if the robot move -->
  <param name="RGBD/AngularUpdate" type="string" value="0.01"/>
  <param name="RGBD/LinearUpdate" type="string" value="0.01"/>
</node>

cheers