How can I correct odometry using rtabmap?
I know that rtabmap uses loop closure to correct the odometry error but did I turn it on, that is the question. What parameter should I turn on to activate the loop closure or is it turned on by...
View ArticleWhat is the pixel disparity of rtabmap? Want to
I want to estimate the depth accuracy of my stereo camera using this formula: https://stackoverflow.com/questions/19421003/how-field-of-view-changes-depth-estimation-in-stereo-vision So if I need to...
View ArticleInconsistent launch and mapping in RViz with Kinect
First is the Kinect using `roslaunch freenect_launch freenect.launch depth_registration:=true`, followed by rtabmap and rviz with `roslaunch rtabmap_ros rgbd_mapping.launch...
View Articleorbbec astra camera run the rtabmap
I used the orbbec camera to run the the new version rtabmap 0.17.6 error! but the older version rtabmap was ok.. is the camera data not met the rtabmap input data??? [ INFO] [1551257273.507102516]:...
View ArticleDealing with robot as obsatcle in octomap
My goal is to be able to point a camera (eye-on-base style) to the pick&place scene and extract the table, and regions where placing is happening (to avoid coding the scene statically via...
View Articlertabmap stops recording images after 7-10 seconds
I am having on ROS Kinetic on Ubuntu 16.04. I am trying to run Kinect 360 on ROS to get regular as well as depth images. I have installed freenect and rtabmap using following commands. sudo apt-get...
View ArticleIs it possible to use rtabmap_ros with only scan data?
I would like to use rtabmap_ros package to map an indoor environment. However, my robot has only odometry and laserscan data. Can I use, rtabmap_ros as a SLAM algorithm for my case? When I check [Setup...
View ArticleIt is possible to create a map with rtabmap using the laser and obtaining 3D...
Hello, I'm using rtabmap in order to carry out rgbd slam using a rgbd camera, odometry and a fake laser scan obtained from the rgbd camera. When I execute rtabmap, the generated grid_map is different...
View ArticleMaking RTABmap to online SLAM
If I do not need to relocalize my robot and I have some external localization data, do I really need to use graph SLAM in RTABmap? Why do I need to keep the path and loop closure if I can get the...
View ArticleRtabmap problem with octomap
Hello, I have a problem when running rtabmap SLAM algorithm in my real turtlebot. Specifically, when I visualize octomap in rviz, the map seems to have a limit at the top of the room. I suppose that it...
View ArticleWhy does RTABmap subscribing to my other TF?
I have noticed some problem. When I launch RTABmap, it subscribes to my noisy_odom TF and also subscribes to filtered_odom TF and I think it makes my map being messy and sometimes I get this warning:...
View ArticleRTABmap breaks my TF
I am doing a remote mapping and I cannot set the TF right. When I set the launch file like this: RTABmap makes a TF from Map to camera_link and if I instead place "base_footprint", which is my fixed...
View ArticleLow FPS when remotely mapping with RTABmap
I am using ZED M camera and followed this tutorial: http://wiki.ros.org/rtabmap_ros/Tutorials/RemoteMapping So I have launched my camera node and using nodelet launched rtabmap_sync and got the...
View ArticleHow to launch nodelet? (RTABmap)
Hi, I came up across remote mapping and RTABmap provides this launch file: What is the camera_nodelet_manager and how can I supply it? For example, if I use ZED camera they supply with the...
View ArticleConfused with the launch file RTABmap
I want to use my remote robot to send depth images to my host PC. In order to do that, I have followed this tutorial: http://wiki.ros.org/rtabmap_ros/Tutorials/RemoteMapping My camera publishes these...
View ArticleWhy doesn't RTABmap use my optical rotation?
When i run RTABmap, the poincloud is located on z axis of my base_footprint frame. My TF tree is quite simple:  I also apply optical transform from...
View ArticleNo data received even though topics are not empty
I am using RTABmap and having a camera on a seperate machine which sends image_rect/compressed over the WiFi to my host PC. My tree looks very standard and non-broken and every topic is not empty,...
View ArticleAll spaces are occupied using RTABmap stereo
Hi, I am trying to map the area using the stereo camera and after looking at produced map, all the cells are black, meaning occupied. I have tried to figure out for 2 days but still struggling to...
View ArticleWhy does pointcloud pointing upwards?
I am using a camera remotely and sending the compressed image frames to host pc. I am using RTABmap to create a 2d MAP. The problem occurs when the PCL is being published and the points are located...
View ArticleWhy RTABmap wants sensor_msgs/Image when I am sending compressed images?
While launching RTABmap I have set the parameter "compressed" to true and even then I get this error: Client [/rtabmap/rtabmapviz] wants topic /duo3d/left/image_rect/compressed to have datatype/md5sum...
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