Open uchuuengineer opened 3 years ago
Check which topics are not published:
rostopic hz /odom \
/rtabmap/rgbd_image \
/scan \
/camera/rgb/image_raw \
/camera/depth/image_raw \
/camera/rgb/camera_info
/rtabmap/rgbd_image depends on /camera/rgb/image_raw, /camera/depth/image_raw, /camera/rgb/camera_info.
Make sure rgbd_sync topics are remapped correctly to your camera topics.
If you use turtlebot3 "waffle", there is an example launching with the RGB-D camera: http://wiki.ros.org/rtabmap_ros/Tutorials/MappingAndNavigationOnTurtlebot#Turtlebot3_On_Melodic
My project involves localizing to a specific point on a map based on image data, but building the map with LIDAR or a laser scan.
To that end, I modified the model of a turtlebot 3 burger robot by affixing a Kinect depth camera to it. I did this by modifying the turtlebot3_burger.gazebo.xacro and turtlebot3_burger.urdf.xacro files. I then modified the demo_turtlebot3_navigation.launch file to subscribe to rgbd (subscribe_rgbd) data as well as the default subscribe_scan, but RViz developed a lot of errors caused by "Fixed Frame [map] does not exist".
Is it possible to use RTABMap to subscribe to rgbd and laser scan data at the same time? Below is the output I get from terminal (after this, the same part of the final message repeats):
Thank you very much for your help.