Re: Condition (scan3dMsg.data.size() == scan3dMsg.row_step*scan3dMsg.height) not met!

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Condition-scan3dMsg-data-size-scan3dMsg-row-step-scan3dMsg-height-not-met-tp7852p7855.html

It looks like it should set row_step here: https://github.com/ros-drivers/velodyne/blob/7c2f199f552ecb9f58a3c30734681042b1b99f82/velodyne_pointcloud/include/velodyne_pointcloud/datacontainerbase.h#L70, if init_width and offset are not null.

You may check why velodyne_pointcloud is publishing row_step=0. Another patch could be to comment the assert in rtabmap code if you built from source, though I would prefer fixing the problem upstream.

To recover your rosbag without changing rtabmap code, use the rosbag api like in my example to fix the row_step. The row_step is simply width*point_step (assuming point_step is not null too).

cheers