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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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Setting subscribe_scan to true makes RTAB Map Visualizer display nothing #81

Closed brianzhan closed 7 years ago

brianzhan commented 8 years ago

I am hoping to set subscribe_scan to true because I am working in a flat environment (so z-axis wouldn't change)

When I try setting the subscribe_scan parameter in the rgbd_mapping.launch file to true, and then run roslaunch rtabmap_ros rgbd_mapping.launch rtabmap_args:="--delete_db_on_start", the RTAB-Map interface only shows the xyz (in red green blue axis) with a black background instead of what the camera sees. The nodes that are subscribed to (/camera/rgb/image_rect_color, /camera/depth_registered/image_raw, /camera/rgb/camera_info, /rtabmap/odom), are still outputting data.

matlabbe commented 8 years ago

Hi,

When you set subscribe_scan to true, rtabmap will subscribe to a laser scan topic. If no laser scans are published, the map will not be updated/published. The messages you see may come from rgbd_odometry node, which doesn't need the laser scan.

If you want to constraint odometry/mapping to 3DoF, use these arguments (assuming you have rtabmap 0.11):

$ roslaunch rtabmap_ros rgbd_mapping.launch rtabmap_args:="--Optimizer/Slam2D true --Reg/Force3DoF true"

cheers