Open AlexandreBruliau opened 4 years ago
matlabbe
commented
4 years ago Make sure to have latest rtabmap library version installed. Uninstall binary version to make sure rtabmap_ros is not including headers from two different rtabmap versions during compilation (the error above maybe because it included Rtabmap.h from binary version instead of the one built from source):
$ sudo apt remove ros-melodic-rtabmapcheers, Mathieu
AlexandreBruliau
commented
4 years ago Thanks you very much but I encoutered an other problem.
I am simulating the robot in gazebo <with a Kinect camera and a laser from the package depth_image to laser-scan and i would like to get an accurate 2d occupancy grid.
The algorithm is contructing well the map when the robot goes in the linear direction.
However , the map is getting awful when I give an angular velocity the robot.
I first thought to change the parameter landmark_angular_variance but it doesn't solve actually the problem.
matlabbe
commented
4 years ago The rotation error you are seeing is from odometry. Look at the code you are using that is providing odometry, maybe some optimizations have to be done there. Can you provide your launch file (copy paste into a code area, not a screenshot)?
Can you add a simulated lidar instead of using fake scan from depth image, you will get a lot better results as you could enable icp refinements like in this setup to correct your odometry. Otherwise, look at this setup.
cheers, Mathieu
AlexandreBruliau
commented
4 years ago Hello , as i will have to test it on a real camera on a robot , I cant use a simple lidar. Even with the setup that you advice me to use , the map get disorted each time the robot turns on himself.
About the camera Im using in gazebo is the 'libgazebo_ros_openni_kinect' that is defined like this in gazebo :
<gazebo reference="camera">
<sensor name="camera" type="depth">
<update_rate>100</update_rate>
<camera>
<horizontal_fov>2</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.05</near>
<far>30</far>
</clip>
</camera>
<plugin name="camera_controller" filename="libgazebo_ros_openni_kinect.so">
<baseline>0.2</baseline>
<alwaysOn>true</alwaysOn>
<updateRate>100</updateRate>
<cameraName>camera</cameraName>
<imageTopicName>/camera/color/image_raw</imageTopicName>
<cameraInfoTopicName>/camera/color/camera_info</cameraInfoTopicName>
<depthImageTopicName>/camera/depth/image_raw</depthImageTopicName>
<depthImageInfoTopicName>/camera/depth/camera_info</depthImageInfoTopicName>
<pointCloudTopicName>/camera/depth/points</pointCloudTopicName>
<frameName>camera</frameName>
<pointCloudCutoff>0.1</pointCloudCutoff>
<pointCloudCutoffMax>30</pointCloudCutoffMax>
<distortionK1>0.00000001</distortionK1>
<distortionK2>0.00000001</distortionK2>
<distortionK3>0.00000001</distortionK3>
<distortionT1>0.00000001</distortionT1>
<distortionT2>0.00000001</distortionT2>
<CxPrime>0</CxPrime>
<Cx>0</Cx>
<Cy>0</Cy>
<focalLength>0</focalLength>
<hackBaseline>0</hackBaseline>
</plugin>
</sensor>
</gazebo>here is the launch file I was using and the node i use for odometry is not the problem because it follows accurrately the real trajectory.
<launch>
<!-- Convenience launch file to launch odometry, rtabmap and rtabmapviz nodes at once -->
<!-- For stereo:=false
Your RGB-D sensor should be already started with "depth_registration:=true".
Examples:
$ roslaunch freenect_launch freenect.launch depth_registration:=true
$ roslaunch openni2_launch openni2.launch depth_registration:=true -->
<!-- For stereo:=true
Your camera should be calibrated and publishing rectified left and right
images + corresponding camera_info msgs. You can use stereo_image_proc for image rectification.
Example:
$ roslaunch rtabmap_ros bumblebee.launch -->
<!-- Choose between depth and stereo, set both to false to do only scan -->
<arg name="stereo" default="false"/>
<arg if="$(arg stereo)" name="depth" default="false"/>
<arg unless="$(arg stereo)" name="depth" default="true"/>
<!-- Choose visualization -->
<arg name="rtabmapviz" default="false" />
<arg name="rviz" default="true" />
<!-- Localization-only mode -->
<arg name="localization" default="false"/>
<!-- sim time for convenience, if playing a rosbag -->
<arg name="use_sim_time" default="false"/>
<param if="$(arg use_sim_time)" name="use_sim_time" value="true"/>
<!-- Corresponding config files -->
<arg name="cfg" default="" /> <!-- To change RTAB-Map's parameters, set the path of config file (*.ini) generated by the standalone app -->
<arg name="gui_cfg" default="~/.ros/rtabmap_gui.ini" />
<arg name="rviz_cfg" default="$(find rtabmap_ros)/launch/config/rgbd.rviz" />
<arg name="frame_id" default="base_link"/> <!-- Fixed frame id, you may set "base_link" or "base_footprint" if they are published -->
<arg name="odom_frame_id" default="odom"/> <!-- If set, TF is used to get odometry instead of the topic -->
<arg name="map_frame_id" default="map"/>
<arg name="ground_truth_frame_id" default=""/> <!-- e.g., "world" -->
<arg name="ground_truth_base_frame_id" default=""/> <!-- e.g., "tracker", a fake frame matching the frame "frame_id" (but on different TF tree) -->
<arg name="namespace" default="rtabmap"/>
<arg name="database_path" default="~/.ros/rtabmap.db"/>
<arg name="queue_size" default="10"/>
<arg name="wait_for_transform" default="0.2"/>
<arg name="args" default=""/> <!-- delete_db_on_start, udebug -->
<arg name="rtabmap_args" default="$(arg args)"/> <!-- deprecated, use "args" argument -->
<arg name="launch_prefix" default=""/> <!-- for debugging purpose, it fills launch-prefix tag of the nodes -->
<arg name="output" default="screen"/> <!-- Control node output (screen or log) -->
<arg name="publish_tf_map" default="true"/>
<!-- if timestamps of the input topics are synchronized using approximate or exact time policy-->
<arg if="$(arg stereo)" name="approx_sync" default="false"/>
<arg unless="$(arg stereo)" name="approx_sync" default="$(arg depth)"/>
<!-- RGB-D related topics -->
<arg name="rgb_topic" default="/camera/color/image_raw" />
<arg name="depth_topic" default="/camera/depth/image_raw" />
<arg name="camera_info_topic" default="/camera/color/camera_info" />
<arg name="depth_camera_info_topic" default="$(arg camera_info_topic)" />
<!-- stereo related topics -->
<arg name="stereo_namespace" default="/stereo_camera"/>
<arg name="left_image_topic" default="$(arg stereo_namespace)/left/image_rect_color" />
<arg name="right_image_topic" default="$(arg stereo_namespace)/right/image_rect" /> <!-- using grayscale image for efficiency -->
<arg name="left_camera_info_topic" default="$(arg stereo_namespace)/left/camera_info" />
<arg name="right_camera_info_topic" default="$(arg stereo_namespace)/right/camera_info" />
<!-- Already synchronized RGB-D related topic, with rtabmap_ros/rgbd_sync nodelet -->
<arg name="rgbd_sync" default="false"/> <!-- pre-sync rgb_topic, depth_topic, camera_info_topic -->
<arg name="approx_rgbd_sync" default="true"/> <!-- false=exact synchronization -->
<arg name="subscribe_rgbd" default="$(arg rgbd_sync)"/>
<arg name="rgbd_topic" default="rgbd_image" />
<arg name="depth_scale" default="1.0" />
<arg name="compressed" default="false"/> <!-- If you want to subscribe to compressed image topics -->
<arg name="rgb_image_transport" default="compressed"/> <!-- Common types: compressed, theora (see "rosrun image_transport list_transports") -->
<arg name="depth_image_transport" default="compressedDepth"/> <!-- Depth compatible types: compressedDepth (see "rosrun image_transport list_transports") -->
<arg name="subscribe_scan" default="true"/>
<arg name="scan_topic" default="/laser/scan"/>
<arg name="subscribe_scan_cloud" default="false"/>
<arg name="scan_cloud_topic" default="/scan_cloud"/>
<arg name="scan_cloud_max_points" default="0"/>
<arg name="scan_cloud_filtered" default="false"/> <!-- use filtered cloud from icp_odometry for mapping -->
<arg name="visual_odometry" default="false"/> <!-- Launch rtabmap visual odometry node -->
<arg name="icp_odometry" default="false"/> <!-- Launch rtabmap icp odometry node -->
<arg name="odom_topic" default="/segway/odom"/> <!-- Odometry topic name -->
<arg name="vo_frame_id" default="$(arg odom_topic)"/> <!-- Visual/Icp odometry frame ID for TF -->
<arg name="publish_tf_odom" default="true"/>
<arg name="odom_tf_angular_variance" default="0"/> <!-- If TF is used to get odometry, this is the default angular variance -->
<arg name="odom_tf_linear_variance" default="0"/> <!-- If TF is used to get odometry, this is the default linear variance -->
<arg name="odom_args" default=""/> <!-- More arguments for odometry (overwrite same parameters in rtabmap_args) -->
<arg name="odom_sensor_sync" default="false"/>
<arg name="odom_guess_frame_id" default=""/>
<arg name="odom_guess_min_translation" default="0"/>
<arg name="odom_guess_min_rotation" default="0"/>
<arg name="imu_topic" default="/imu/data"/> <!-- only used with VIO approaches -->
<arg name="wait_imu_to_init" default="false"/>
<arg name="subscribe_user_data" default="false"/> <!-- user data synchronized subscription -->
<arg name="user_data_topic" default="/user_data"/>
<arg name="user_data_async_topic" default="/user_data_async" /> <!-- user data async subscription (rate should be lower than map update rate) -->
<arg name="gps_topic" default="/gps/fix" /> <!-- gps async subscription -->
<arg name="tag_topic" default="/tag_detections" /> <!-- apriltags async subscription -->
<arg name="tag_linear_variance" default="0.0001" />
<arg name="tag_angular_variance" default="9999" /> <!-- >=9999 means ignore rotation in optimization, when rotation estimation of the tag is not reliable -->
<!-- These arguments should not be modified directly, see referred topics without "_relay" suffix above -->
<arg if="$(arg compressed)" name="rgb_topic_relay" default="$(arg rgb_topic)_relay"/>
<arg unless="$(arg compressed)" name="rgb_topic_relay" default="$(arg rgb_topic)"/>
<arg if="$(arg compressed)" name="depth_topic_relay" default="$(arg depth_topic)_relay"/>
<arg unless="$(arg compressed)" name="depth_topic_relay" default="$(arg depth_topic)"/>
<arg if="$(arg compressed)" name="left_image_topic_relay" default="$(arg left_image_topic)_relay"/>
<arg unless="$(arg compressed)" name="left_image_topic_relay" default="$(arg left_image_topic)"/>
<arg if="$(arg compressed)" name="right_image_topic_relay" default="$(arg right_image_topic)_relay"/>
<arg unless="$(arg compressed)" name="right_image_topic_relay" default="$(arg right_image_topic)"/>
<arg if="$(arg rgbd_sync)" name="rgbd_topic_relay" default="$(arg rgbd_topic)"/>
<arg unless="$(arg rgbd_sync)" name="rgbd_topic_relay" default="$(arg rgbd_topic)_relay"/>
<!-- Nodes -->
<group ns="$(arg namespace)">
<!-- relays -->
<group if="$(arg depth)">
<group unless="$(arg subscribe_rgbd)">
<node if="$(arg compressed)" name="republish_rgb" type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg rgb_topic) raw out:=$(arg rgb_topic_relay)" />
<node if="$(arg compressed)" name="republish_depth" type="republish" pkg="image_transport" args="$(arg depth_image_transport) in:=$(arg depth_topic) raw out:=$(arg depth_topic_relay)" />
</group>
<group if="$(arg rgbd_sync)">
<node if="$(arg compressed)" name="republish_rgb" type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg rgb_topic) raw out:=$(arg rgb_topic_relay)" />
<node if="$(arg compressed)" name="republish_depth" type="republish" pkg="image_transport" args="$(arg depth_image_transport) in:=$(arg depth_topic) raw out:=$(arg depth_topic_relay)" />
<node pkg="nodelet" type="nodelet" name="rgbd_sync" args="standalone rtabmap_ros/rgbd_sync" output="$(arg output)">
<remap from="rgb/image" to="$(arg rgb_topic_relay)"/>
<remap from="depth/image" to="$(arg depth_topic_relay)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<remap from="rgbd_image" to="$(arg rgbd_topic_relay)"/>
<param name="approx_sync" type="bool" value="$(arg approx_rgbd_sync)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
<param name="depth_scale" type="double" value="$(arg depth_scale)"/>
</node>
</group>
</group>
<group if="$(arg stereo)">
<group unless="$(arg subscribe_rgbd)">
<node if="$(arg compressed)" name="republish_left" type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg left_image_topic) raw out:=$(arg left_image_topic_relay)" />
<node if="$(arg compressed)" name="republish_right" type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg right_image_topic) raw out:=$(arg right_image_topic_relay)" />
</group>
<group if="$(arg rgbd_sync)">
<node if="$(arg compressed)" name="republish_left" type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg left_image_topic) raw out:=$(arg left_image_topic_relay)" />
<node if="$(arg compressed)" name="republish_right" type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg right_image_topic) raw out:=$(arg right_image_topic_relay)" />
<node pkg="nodelet" type="nodelet" name="rgbd_sync" args="standalone rtabmap_ros/stereo_sync" output="$(arg output)">
<remap from="left/image_rect" to="$(arg left_image_topic_relay)"/>
<remap from="right/image_rect" to="$(arg right_image_topic_relay)"/>
<remap from="left/camera_info" to="$(arg left_camera_info_topic)"/>
<remap from="right/camera_info" to="$(arg right_camera_info_topic)"/>
<remap from="rgbd_image" to="$(arg rgbd_topic_relay)"/>
<param name="approx_sync" type="bool" value="$(arg approx_rgbd_sync)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
</node>
</group>
</group>
<group unless="$(arg rgbd_sync)">
<group if="$(arg subscribe_rgbd)">
<node name="republish_rgbd_image" type="rgbd_relay" pkg="rtabmap_ros">
<remap if="$(arg compressed)" from="rgbd_image" to="$(arg rgbd_topic)/compressed"/>
<remap if="$(arg compressed)" from="$(arg rgbd_topic)/compressed_relay" to="$(arg rgbd_topic_relay)"/>
<remap unless="$(arg compressed)" from="rgbd_image" to="$(arg rgbd_topic)"/>
<param if="$(arg compressed)" name="uncompress" value="true"/>
</node>
</group>
</group>
<!-- Visual odometry -->
<group unless="$(arg icp_odometry)">
<group if="$(arg visual_odometry)">
<!-- RGB-D Odometry -->
<node unless="$(arg stereo)" pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="$(arg output)" args="$(arg rtabmap_args) $(arg odom_args)" launch-prefix="$(arg launch_prefix)">
<remap from="rgb/image" to="$(arg rgb_topic_relay)"/>
<remap from="depth/image" to="$(arg depth_topic_relay)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<remap from="rgbd_image" to="$(arg rgbd_topic_relay)"/>
<remap from="odom" to="$(arg odom_topic)"/>
<remap from="imu" to="$(arg imu_topic)"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="odom_frame_id" type="string" value="$(arg vo_frame_id)"/>
<param name="publish_tf" type="bool" value="$(arg publish_tf_odom)"/>
<param name="ground_truth_frame_id" type="string" value="$(arg ground_truth_frame_id)"/>
<param name="ground_truth_base_frame_id" type="string" value="$(arg ground_truth_base_frame_id)"/>
<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
<param name="wait_imu_to_init" type="bool" value="$(arg wait_imu_to_init)"/>
<param name="approx_sync" type="bool" value="$(arg approx_sync)"/>
<param name="config_path" type="string" value="$(arg cfg)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
<param name="subscribe_rgbd" type="bool" value="$(arg subscribe_rgbd)"/>
<param name="guess_frame_id" type="string" value="$(arg odom_guess_frame_id)"/>
<param name="guess_min_translation" type="double" value="$(arg odom_guess_min_translation)"/>
<param name="guess_min_rotation" type="double" value="$(arg odom_guess_min_rotation)"/>
</node>
<!-- Stereo Odometry -->
<node if="$(arg stereo)" pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="$(arg output)" args="$(arg rtabmap_args) $(arg odom_args)" launch-prefix="$(arg launch_prefix)">
<remap from="left/image_rect" to="$(arg left_image_topic_relay)"/>
<remap from="right/image_rect" to="$(arg right_image_topic_relay)"/>
<remap from="left/camera_info" to="$(arg left_camera_info_topic)"/>
<remap from="right/camera_info" to="$(arg right_camera_info_topic)"/>
<remap from="rgbd_image" to="$(arg rgbd_topic_relay)"/>
<remap from="odom" to="$(arg odom_topic)"/>
<remap from="imu" to="$(arg imu_topic)"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="odom_frame_id" type="string" value="$(arg vo_frame_id)"/>
<param name="publish_tf" type="bool" value="$(arg publish_tf_odom)"/>
<param name="ground_truth_frame_id" type="string" value="$(arg ground_truth_frame_id)"/>
<param name="ground_truth_base_frame_id" type="string" value="$(arg ground_truth_base_frame_id)"/>
<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
<param name="wait_imu_to_init" type="bool" value="$(arg wait_imu_to_init)"/>
<param name="approx_sync" type="bool" value="$(arg approx_sync)"/>
<param name="config_path" type="string" value="$(arg cfg)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
<param name="subscribe_rgbd" type="bool" value="$(arg subscribe_rgbd)"/>
<param name="guess_frame_id" type="string" value="$(arg odom_guess_frame_id)"/>
<param name="guess_min_translation" type="double" value="$(arg odom_guess_min_translation)"/>
<param name="guess_min_rotation" type="double" value="$(arg odom_guess_min_rotation)"/>
</node>
</group>
</group>
<!-- ICP Odometry -->
<node if="$(arg icp_odometry)" pkg="rtabmap_ros" type="icp_odometry" name="icp_odometry" output="$(arg output)" args="$(arg rtabmap_args) $(arg odom_args)" launch-prefix="$(arg launch_prefix)">
<remap from="scan" to="$(arg scan_topic)"/>
<remap from="scan_cloud" to="$(arg scan_cloud_topic)"/>
<remap from="odom" to="$(arg odom_topic)"/>
<remap from="imu" to="$(arg imu_topic)"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="odom_frame_id" type="string" value="$(arg vo_frame_id)"/>
<param name="publish_tf" type="bool" value="$(arg publish_tf_odom)"/>
<param name="ground_truth_frame_id" type="string" value="$(arg ground_truth_frame_id)"/>
<param name="ground_truth_base_frame_id" type="string" value="$(arg ground_truth_base_frame_id)"/>
<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
<param name="wait_imu_to_init" type="bool" value="$(arg wait_imu_to_init)"/>
<param name="config_path" type="string" value="$(arg cfg)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
<param name="guess_frame_id" type="string" value="$(arg odom_guess_frame_id)"/>
<param name="guess_min_translation" type="double" value="$(arg odom_guess_min_translation)"/>
<param name="guess_min_rotation" type="double" value="$(arg odom_guess_min_rotation)"/>
<param name="scan_cloud_max_points" type="int" value="$(arg scan_cloud_max_points)"/>
</node>
<!-- Visual SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="$(arg output)" args="$(arg rtabmap_args)" launch-prefix="$(arg launch_prefix)">
<param if="$(arg stereo)" name="subscribe_depth" type="bool" value="false"/>
<param unless="$(arg stereo)" name="subscribe_depth" type="bool" value="$(arg depth)"/>
<param name="subscribe_rgb" type="bool" value="$(arg depth)"/>
<param name="subscribe_rgbd" type="bool" value="$(arg subscribe_rgbd)"/>
<param name="subscribe_stereo" type="bool" value="$(arg stereo)"/>
<param name="subscribe_scan" type="bool" value="$(arg subscribe_scan)"/>
<param name="subscribe_scan_cloud" type="bool" value="$(arg subscribe_scan_cloud)"/>
<param name="subscribe_user_data" type="bool" value="$(arg subscribe_user_data)"/>
<param if="$(arg visual_odometry)" name="subscribe_odom_info" type="bool" value="true"/>
<param if="$(arg icp_odometry)" name="subscribe_odom_info" type="bool" value="true"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="map_frame_id" type="string" value="$(arg map_frame_id)"/>
<param name="odom_frame_id" type="string" value="$(arg odom_frame_id)"/>
<param name="publish_tf" type="bool" value="$(arg publish_tf_map)"/>
<param name="ground_truth_frame_id" type="string" value="$(arg ground_truth_frame_id)"/>
<param name="ground_truth_base_frame_id" type="string" value="$(arg ground_truth_base_frame_id)"/>
<param name="odom_tf_angular_variance" type="double" value="$(arg odom_tf_angular_variance)"/>
<param name="odom_tf_linear_variance" type="double" value="$(arg odom_tf_linear_variance)"/>
<param name="odom_sensor_sync" type="bool" value="$(arg odom_sensor_sync)"/>
<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
<param name="database_path" type="string" value="$(arg database_path)"/>
<param name="approx_sync" type="bool" value="$(arg approx_sync)"/>
<param name="config_path" type="string" value="$(arg cfg)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
<param name="scan_cloud_max_points" type="int" value="$(arg scan_cloud_max_points)"/>
<param name="landmark_linear_variance" type="double" value="$(arg tag_linear_variance)"/>
<param name="landmark_angular_variance" type="double" value="$(arg tag_angular_variance)"/>
<remap from="rgb/image" to="$(arg rgb_topic_relay)"/>
<remap from="depth/image" to="$(arg depth_topic_relay)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<remap from="rgbd_image" to="$(arg rgbd_topic_relay)"/>
<remap from="left/image_rect" to="$(arg left_image_topic_relay)"/>
<remap from="right/image_rect" to="$(arg right_image_topic_relay)"/>
<remap from="left/camera_info" to="$(arg left_camera_info_topic)"/>
<remap from="right/camera_info" to="$(arg right_camera_info_topic)"/>
<remap from="scan" to="$(arg scan_topic)"/>
<remap if="$(arg scan_cloud_filtered)" from="scan_cloud" to="odom_filtered_input_scan"/>
<remap unless="$(arg scan_cloud_filtered)" from="scan_cloud" to="$(arg scan_cloud_topic)"/>
<remap from="user_data" to="$(arg user_data_topic)"/>
<remap from="user_data_async" to="$(arg user_data_async_topic)"/>
<remap from="gps/fix" to="$(arg gps_topic)"/>
<remap from="tag_detections" to="$(arg tag_topic)"/>
<remap from="odom" to="$(arg odom_topic)"/>
<remap from="imu" to="$(arg imu_topic)"/>
<!-- localization mode -->
<param if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
<param unless="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="true"/>
<param name="Mem/InitWMWithAllNodes" type="string" value="$(arg localization)"/>
</node>
<!-- Visualisation RTAB-Map -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(arg gui_cfg)" output="$(arg output)" launch-prefix="$(arg launch_prefix)">
<param if="$(arg stereo)" name="subscribe_depth" type="bool" value="false"/>
<param unless="$(arg stereo)" name="subscribe_depth" type="bool" value="$(arg depth)"/>
<param name="subscribe_rgbd" type="bool" value="$(arg subscribe_rgbd)"/>
<param name="subscribe_stereo" type="bool" value="$(arg stereo)"/>
<param name="subscribe_scan" type="bool" value="$(arg subscribe_scan)"/>
<param name="subscribe_scan_cloud" type="bool" value="$(arg subscribe_scan_cloud)"/>
<param if="$(arg visual_odometry)" name="subscribe_odom_info" type="bool" value="true"/>
<param if="$(arg icp_odometry)" name="subscribe_odom_info" type="bool" value="true"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="odom_frame_id" type="string" value="$(arg odom_frame_id)"/>
<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
<param name="approx_sync" type="bool" value="$(arg approx_sync)"/>
<remap from="rgb/image" to="$(arg rgb_topic_relay)"/>
<remap from="depth/image" to="$(arg depth_topic_relay)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<remap from="rgbd_image" to="$(arg rgbd_topic_relay)"/>
<remap from="left/image_rect" to="$(arg left_image_topic_relay)"/>
<remap from="right/image_rect" to="$(arg right_image_topic_relay)"/>
<remap from="left/camera_info" to="$(arg left_camera_info_topic)"/>
<remap from="right/camera_info" to="$(arg right_camera_info_topic)"/>
<remap from="scan" to="$(arg scan_topic)"/>
<remap if="$(arg scan_cloud_filtered)" from="scan_cloud" to="odom_filtered_input_scan"/>
<remap unless="$(arg scan_cloud_filtered)" from="scan_cloud" to="$(arg scan_cloud_topic)"/>
<remap from="odom" to="$(arg odom_topic)"/>
</node>
</group>
<!-- Visualization RVIZ -->
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(arg rviz_cfg)"/>
<node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb" output="$(arg output)">
<remap if="$(arg stereo)" from="left/image" to="$(arg left_image_topic_relay)"/>
<remap if="$(arg stereo)" from="right/image" to="$(arg right_image_topic_relay)"/>
<remap if="$(arg stereo)" from="left/camera_info" to="$(arg left_camera_info_topic)"/>
<remap if="$(arg stereo)" from="right/camera_info" to="$(arg right_camera_info_topic)"/>
<remap unless="$(arg subscribe_rgbd)" from="rgb/image" to="$(arg rgb_topic_relay)"/>
<remap unless="$(arg subscribe_rgbd)" from="depth/image" to="$(arg depth_topic_relay)"/>
<remap unless="$(arg subscribe_rgbd)" from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<remap from="rgbd_image" to="$(arg rgbd_topic_relay)"/>
<remap from="cloud" to="voxel_cloud" />
<param name="decimation" type="double" value="4"/>
<param name="voxel_size" type="double" value="0.0"/>
<param name="approx_sync" type="bool" value="$(arg approx_sync)"/>
</node>
</launch>Thanks you for you help
matlabbe
commented
4 years ago Hi, rtabmap.launch is not meant to be edited manually, but used in another launch file like this:
<launch>
<include file="$(find rtabmap_ros)/launch/rtabmap.launch">
<arg name="rtabmapviz" value="false" />
<arg name="rviz" value="true" />
<arg name="rgb_topic" value="/camera/color/image_raw" />
<arg name="depth_topic" value="/camera/depth/image_raw" />
<arg name="camera_info_topic" value="/camera/color/camera_info" />
<arg name="visual_odometry" value="false"/>
<arg name="odom_topic" value="/segway/odom"/>
<arg name="frame_id" value="base_link"/>
<arg name="odom_frame_id" value="odom"/>
<arg name="subscribe_scan" value="true"/>
<arg name="scan_topic" value="/laser/scan"/>
<arg name="appox_sync" value="false"/>
</include>
</launch>So not sure if I can spot all differences you made. The error may be in tf. If you are creating a map, you can share the resulting database (~/.ros/rtabmap.db), or record a rosbag:
$ rosbag record /tf /tf_static /camera/color/image_raw /camera/depth/image_raw /camera/color/camera_info /laser/scan
Hello , Im actually facing an issue when i tried to build the pakage rtabmap_ros . Indeed , I get this error but I dont know where it might comes from .
I also attached what cmake returns :
Can someone help me please ?