Re: How do I create a rosbag for multiple camera?

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-do-I-create-a-rosbag-for-multiple-camera-tp8004p8072.html

I don't see a problem with the bag.

Based on your code above (setting nodelet as standalone because the camera nodelets don't exist with the rosbag):

<group ns="camera1">
    <node pkg="nodelet" type="nodelet" name="rgbd_sync" args="standalone rtabmap_ros/rgbd_sync">
      <remap from="rgb/image"         to="rgb/image_rect_color"/>
      <remap from="depth/image"       to="depth_registered/image_raw"/>
      <remap from="rgb/camera_info"   to="rgb/camera_info"/>
     
    </node>
   </group>
   <group ns="camera2">
    <node pkg="nodelet" type="nodelet" name="rgbd_sync" args="standalone rtabmap_ros/rgbd_sync">
      <remap from="rgb/image"         to="rgb/image_rect_color"/>
      <remap from="depth/image"       to="depth_registered/image_raw"/>
      <remap from="rgb/camera_info"   to="rgb/camera_info"/>

    </node>
   </group>

the /camera1/rgbd_image and /camera2/rgbd_image should be published. The other thing is that if the stamps in header of the topics are not synchronized, that could block rgbd_sync to synchronize the input topics.