Re: Unable to run rgdb with OpenLoris Scene Dataset

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Unable-to-run-rgdb-with-OpenLoris-Scene-Dataset-tp7752p8617.html

Here is an example using the 2D scan and wheel odometry:

2D scan and wheel odometry

roslaunch rtabmap_ros rtabmap.launch \
   rtabmapviz:=true \
   approx_sync:=true \
   use_sim_time:=true \
   frame_id:=base_link \
   camera_info_topic:=/d400/color/camera_info \
   rgb_topic:=/d400/color/image_raw \
   depth_topic:=/d400/aligned_depth_to_color/image_raw \
   rgbd_sync:=true \
   approx_rgbd_sync:=true \
   subscribe_scan:=true \
   visual_odometry:=false \
   odom_topic:=/odom \
   scan_topic:=/scan \
   queue_size:=10  \
   args:="-d  \
      --Reg/Strategy 1 \
      --Reg/Force3DoF true \
      --RGBD/NeighborLinkRefining true"
      
python republish_camera_info.py camera_info:=/d400/color/camera_info image:=/d400/color/image_raw

rosrun rtabmap_ros odom_msg_to_tf 

# launch with --pause to make sure tf_static topic is received by all nodes (to avoid some tf not defined errors)
rosbag play --clock --pause cafe1-1.bag

# wait till first trajectory is done, then trigger a new session
rosservice call /rtabmap/trigger_new_map

# start next trajectory
rosbag play --clock --pause cafe1-2.bag

2D scan ICP Odometry using wheel odometry as guess

# For best results, use rtabmap built from source with libpointmatcher support
roslaunch rtabmap_ros rtabmap.launch \
   rtabmapviz:=true \
   approx_sync:=true \
   use_sim_time:=true \
   frame_id:=base_link \
   camera_info_topic:=/d400/color/camera_info \
   rgb_topic:=/d400/color/image_raw \
   depth_topic:=/d400/aligned_depth_to_color/image_raw \
   rgbd_sync:=true \
   approx_rgbd_sync:=true \
   subscribe_scan:=true \
   visual_odometry:=false \
   icp_odometry:=true \
   odom_guess_frame_id:="base_odom" \
   scan_topic:=/scan \
   queue_size:=10  \
   args:="-d  \
      --Reg/Strategy 1 \
      --Reg/Force3DoF true"
      
python republish_camera_info.py camera_info:=/d400/color/camera_info image:=/d400/color/image_raw

rosrun rtabmap_ros odom_msg_to_tf 

# launch with --pause to make sure tf_static topic is received by all nodes (to avoid some tf not defined errors)
rosbag play --clock --pause cafe1-1.bag

# wait till first trajectory is done, then trigger a new session
rosservice call /rtabmap/trigger_new_map

# start next trajectory
rosbag play --clock --pause cafe1-2.bag