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introlab / rtabmap

RTAB-Map library and standalone application
https://introlab.github.io/rtabmap
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Is it possibe to send the position data from rtab map to other programs ? #881

Open TheBricktop opened 2 years ago

TheBricktop commented 2 years ago

Id like to retrieve positional data from rtabmap using some sort of udp or osc protocol for my interactive installation. Is it currently possible? What should be done to achieve it?

sumitsarkar1 commented 2 years ago

you can use a QUdpSocket class to achieve this...or create a class inheriting from UEventsHandler , register to UEventsHandler and listen to OdometryEvent like here

matlabbe commented 2 years ago

If you want to do it without ROS, you will have to implement and approach like @sumitsarkar1 .

Otherwise, if you use ROS, everything is published on topics.

TheBricktop commented 2 years ago

So basically id need to build rtabmap with additional feature, or You are suggesting using rtabmap as a library?

camasmie commented 1 year ago

Hi @TheBricktop did you find a solution to get pose information from rtabmap in realtime? We need the same functionality with rtabmap standalone version(non-ROS) and wonder if you used any of @sumitsarkar1 suggestions or something else. More details would be appreciated.

sumitsarkar1 commented 1 year ago

this is a hack https://github.com/sumitsarkar1/rtabmap check the guilib folder....better to register to events and do it for Non ROS

matlabbe commented 1 year ago

So basically id need to build rtabmap with additional feature, or You are suggesting using rtabmap as a library?

That feature is ROS or ROS2 :) Otherwise, you can look at the threaded C++ example here where the data is shared using events. The idea is when you make a class inheriting from UEventsHandler, you can see all rtabmap events published.