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introlab / rtabmap_ros

RTAB-Map's ROS package.
http://wiki.ros.org/rtabmap_ros
BSD 3-Clause "New" or "Revised" License
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No map generating in rviz #64

Closed pamico closed 7 years ago

pamico commented 8 years ago

I have my fixed and reference frame set to odom and PointCloud2 topic set to /voxel_cloud and I do not see any output in rviz even though I am seeing a map being created in the rtabmap application. Any idea what I'm doing wrong? The only way I see any output from the kinect2 I'm using is when I switch my PointCloud2 topic to either kinect2/qhd/points or one of the other quality point clouds however when I do this it does not create a saved map.

Edit: So after a while of running it seems that I am getting a small amount of map data and that it requires a very long time to register and record points in the rtab map and only those few points are what it sends to rviz

matlabbe commented 8 years ago

Can you show your launch file or which ones are used? rtabmap binaries or built from source? In examples, voxel_cloud is an output and it is used only for visualization.

You said "requires a very long time to register", can you show the terminal output of rtabmap to see processing time used by rtabmap node?

matlabbe commented 7 years ago

closed for inactivity