Running rosbag with rtabmap_ros

Posted by matteo.scucchia on Apr 27, 2021; 8:12am
URL: http://official-rtab-map-forum.206.s1.nabble.com/Running-rosbag-with-rtabmap-ros-tp7843.html

Hi,
I have a rosbag recorded with a robot with a rotation lidar, an intel realsense D435 and wheel odometry. I want to run it with rtabmap_ros.
The topics published by rosbag are many, the ones I want to use are:
/camera/color/image_raw
/camera/depth/image_rect_raw
/camera/color/camera_info
/scan
/odom

The robot publish also the tf tree
/odom
  /base_link
    /laser_frame
    /camera_frame
      /camera_color
      /camera_depth

I tried to launch the application with the command
roslaunch rtabmap_ros rtabmap.launch use_sim_time:=true
but it doesn't work.
Should i remap the topics giving them a different name?

Thanks in advance for the attention