Re: Running rosbag with rtabmap_ros

Posted by matlabbe on May 04, 2021; 2:11pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/Running-rosbag-with-rtabmap-ros-tp7843p7907.html

Hi,

yes, topics should be remap. Example:

roslaunch rtabmap_ros rtabmap.launch \
   use_sim_time:=true \
   frame_id:=base_link \
   visual_odometry:=false \
   odom_topic:=/odom \
   scan_topic:=/scan \
   subscribe_scan:=true \
   rgbd_sync:=true \
   approx_rgbd_sync:=false \
   rgb_topic:=/camera/color/image_raw \
   depth_topic:=/camera/depth/image_rect_raw \
   camera_info_topic:=/camera/color/camera_info  \
   args:="-d --Reg/Strategy 1"  

If you want to refine wheel odometry with lidar, add "--RGBD/NeighborLinkRefining true" to args.

cheers,
Mathieu