Re: Behavior of rtabmap different in ROS2 compared to ROS1

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Behavior-of-rtabmap-different-in-ROS2-compared-to-ROS1-tp9213p9231.html

Hi,

The recorded images are not rectified. In your ros1 launch file, you feed correctly the output of stereo_image_proc in rtabmap. For ros2, it was more complicated to test your launch file. To go around stereo_image_proc and use only rtabmap.launch or rtabmap.launch.py, we can use Rtabmap/ImagesAlreadyRectified parameter to tell rtabmap to rectify the images for convenience. One issue with your bag is that the camera_info doesn't include a frame_id. I did a patch in this commit (also merged to ros2 branch) as a workaround as the calibration contains the baseline.

ROS1:

roslaunch rtabmap_ros rtabmap.launch \
    stereo_namespace:=/stereo \
    left_image_topic:=/stereo/left/image_raw \
    right_image_topic:=/stereo/right/image_raw \
    stereo:=true \
    frame_id:=camera_link \
    use_sim_time:=true \
    args:="-d --Rtabmap/ImagesAlreadyRectified false"

rosbag play --clock --pause sample_ros1.bag

ROS2:

ros2 launch rtabmap_ros rtabmap.launch.py \
    stereo_namespace:=/stereo \
    left_image_topic:=/stereo/left/image_raw \
    right_image_topic:=/stereo/right/image_raw \
    stereo:=true \
    frame_id:=camera_link \
    use_sim_time:=true \
    args:="-d --Rtabmap/ImagesAlreadyRectified false"

ros2 bag play  sample_ros2.db3  --clock

The paths are pretty similar: