Indoor Navigation using Realsense D455

Posted by danyal2075 on Jan 03, 2024; 5:16pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/Indoor-Navigation-using-Realsense-D455-tp9893.html

i am new using rtabmap, i have been trying for two month to create indoor map but i could not do it. i am going to share terminal screenshot, RVIZ, Rtabmap, lanuch file.
i am using ros1 neotic package and rtabmap to create map to avoid no go-areas.
i also donot get any data in database i mean map.




******* THis is my lanuch file ******

<launch>
   
    <arg name="device_type_camera1"     default="t265"/>
    <arg name="device_type_camera2"     default="d4.5"/>       
    <arg name="serial_no_camera1"     default=""/>
    <arg name="serial_no_camera2"     default=""/>
    <arg name="camera1"               default="t265"/>               
    <arg name="camera2"               default="d455"/>               
    <arg name="clip_distance"             default="-2"/>
    <arg name="use_rviz"                  default="true"/>
    <arg name="use_rtabmapviz"            default="true"/>
   

    <include file="$(find realsense2_camera)/launch/rs_d400_and_t265.launch">
            <arg name="device_type_camera1"             value="$(arg device_type_camera1)"/>
            <arg name="device_type_camera2"             value="$(arg device_type_camera2)"/>
            <arg name="serial_no_camera1"               value="$(arg serial_no_camera1)"/>
            <arg name="serial_no_camera2"               value="$(arg serial_no_camera2)"/>
            <arg name="camera1"                         value="$(arg camera1)"/>
            <arg name="camera2"                         value="$(arg camera2)"/>
            <arg name="clip_distance"                   value="$(arg clip_distance)"/>
           
    </include>

    <include file="$(find rtabmap_ros)/launch/rtabmap.launch">
            <arg name="rtabmap_args"       value="--delete_db_on_start"/>
            <arg name="depth_topic"        value="/$(arg camera2)/aligned_depth_to_color/image_raw"/>
            <arg name="frame_id"           value="$(arg camera2)_link"/>
            <arg name="visual_odometry"    value="true"/>
            <arg name="odom_topic"         value="/$(arg camera1)/odom/sample"/>
            <arg name="rgb_topic"          value="/$(arg camera2)/color/image_raw"/>
            <arg name="camera_info_topic"  value="/$(arg camera2)/color/camera_info"/>
            <arg name="queue_size"         value="200"/>
            <arg name="rviz"               value="$(arg use_rviz)"/>
            <arg name="rtabmapviz"         value="$(arg use_rtabmapviz)"/>
            <arg name="localization"        value="true"/>
    </include>
</launch>