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shiva16 / rtabmap

Automatically exported from code.google.com/p/rtabmap
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RViz MapCloud plugin does not download existing db #13

Closed GoogleCodeExporter closed 9 years ago

GoogleCodeExporter commented 9 years ago 
Thanks for creating this amazing package.  The one problem I have found is as 
follows:

1. I have a differential drive robot using a Kinect and a fake laser 
(depthcloud_to_laser from the Kinect cloud).  I can create a map very nicely 
using rtabmap and the MapCloud data shows up in RViz as I create the map.

2. Now I shut down rtabmap and RViz then bring up rtabmap again but without the 
"--delete_db_on_start" argument so I am reusing my existing database.  (The 
terminal messages verify that I am loading 281 nodes from my previous mapping 
session.) I then bring up RViz and click on the "Download map" checkbox under 
the MapCloud display but only 1 node is downloaded and that is the current view 
of the robot.  I expected all 281 clouds to be downloaded and viewable in RViz.

3. If I then bring up rtabmapviz, I can view all 281 nodes fine and I can see 
the entire 3D map.

Is there a bug in the RViz MapCloud plugin that prevents if from loading 
existing mapdata?

I am using the latest revision (1672) under ROS Hydro and Ubuntu 12.04.

Thank you.

Original issue reported on code.google.com by PiRobotProductions@gmail.com on 8 Sep 2014 at 12:08

GoogleCodeExporter commented 9 years ago 

2. Yes it is normal if there is not yet a loop closure found between the new 
map (because rtabmap was shutdown) and the old one. 

3. Yes it will download all nodes, but it should only show all nodes if all 
maps are linked together, otherwise only the last node like in RVIZ is shown.

It is not really a bug, though nodes downloaded not linked (directly or 
indirectly) to the current map were not created/buffered in the MapCloud plugin 
as they are in rtabmapviz. I added this buffering in the MapCloud plugin 
(r1673). So when a global loop closure happens with an old map, no need to 
re-trigger DownloadMap in RVIZ.

Original comment by matla...@gmail.com on 8 Sep 2014 at 9:04

GoogleCodeExporter commented 9 years ago 
Many thanks for the explanation and the update.  Works nicely now in RViz.

--patrick

Original comment by PiRobotProductions@gmail.com on 9 Sep 2014 at 12:06

GoogleCodeExporter commented 9 years ago 
Your welcome!

Original comment by matla...@gmail.com on 9 Sep 2014 at 12:31