Behavior of rtabmap different in ROS2 compared to ROS1

Posted by akc on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Behavior-of-rtabmap-different-in-ROS2-compared-to-ROS1-tp9213.html

Hello ,

I have tested out the ROS2 branch of RtabMap and I am facing some issues.

What I have done

General specs

OS: Ubuntu 20.04

Branches:
 -- introlab/rtabmap : master
 -- introlab/rtabmap_ros : ros2

ROS2 version : Galactic

Details

Modifying the standard launch file rtabmap.py.launch (please find attached the launch file stereo_rtabmap.launch.py)
and launch it with the below cmd:

ros2 launch rtabmap_ros stereo_rtabmap.launch.py stereo:=true

For the dataset,  converted a ROS1 bag to ROS2 using the rosbags-converter tool

playing the bag using the --clock and --qos-profile-overrides-path to match the qos needed for rtabmap

Note stereo proc was run externally (local build) , as stereo proc in galactic seems broken.

What are the issues being faced

The issue I face is that I have the same data ROS1 where I  rtabmap run smoothly but in ROS2 the same dataset  doesn't yield the same results.

The image in the Rtabmap GUI updates very slowly and erratically, I crossed checked it in rviz and the image stream is fine.

Question

is there something that still needs to be done to make it work? and how?


stereo_rtabmap.py

Best regards

Anil Kumar C