Re: Painting a pointcloud.

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Painting-a-pointcloud-tp8130p8463.html

You don't need relays, the warnings tell you that image and their camera_info cannot be syncrhonized with exact time policy. Make sure for each image published, there is a camera_info with exactly the same time stamp in the header. EDIT check first if they are published: "rostopic hz  /rtabmap/cam/2/rgb/image_rect /rtabmap/cam/2/rgb/camera_info"

Afterwards, for rtabmap node, subscribe_rgbd should be always true. You also need to set rgbd_cameras parameter to tell how many cameras you want to synchronize in rtabmap node (example here). Then, remap rgbd_image0, rgbd_image1... topic of rtabmap node to rgbd_image published by the rgb_sync nodelets (similar to this).

cheers,
Mathieu