I have two questions.
First, in octomap_server,the published topics octomap_binary and octomap_full are the topics for navigation which likes like grid_map and proj_map.Yes or No. And why.
Secondly, can 2-DOF robot(Turtlebot2) directly use the map above. I means it doesn't need downprojected 2D occupancy map from the 3D map.
[wiki.ros.org/octomap_server](http://)
[wiki.ros.org/rtabmap_ros](http://)
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Can Turtlebot2 directly use Octomap to navigate?
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Rtabmap transform error with kinect
So I want to use rtabmap in order to map my environment.
I am using Freenect to extract the data from the kinect using `roslaunch freenect_launch freenect-registered-xyzrgb.launch`
Then i want to run `roslaunch rtabmap_ros kinectlaser.launch` where kinectlaser consists of the following link : [kinectlaser.launch](http://wiki.ros.org/rtabmap_ros/Tutorials/SetupOnYourRobot#Kinect_.2B-_Odometry_.2B-_Fake_2D_laser_from_Kinect)
Unfortunately I am encountering an TF error which says
> [ WARN] [1477558055.097346892]: rtabmap: Could not get transform from base_link to camera_rgb_optical_frame after 0.200000 seconds (for stamp=1477558054.541588)!>[ERROR] [1477558055.097900220]: TF of received depth image 0 at time 1477558054.541588s is not set, aborting rtabmap update.>[ WARN] [1477558056.855120061]: rtabmap: Could not get transform from base_link to camera_rgb_optical_frame after 0.200000 seconds (for stamp=1477558056.609746)!>[ERROR] [1477558056.855669588]: TF of received depth image 0 at time 1477558056.609746s is not set, aborting rtabmap update.
Also when looking into my tf_view I can only see odom, base_footprint, base_link and specific topics for my roomba.
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Messagefilter dropped 100% of messages
When launching the navigation stack (gmapping and movebase) I will frequently receive the following message:
[ WARN] [1477990695.164889638]: MessageFilter [target=odom ]: Dropped 100.00% of messages so far. Please turn the [ros.costmap_2d.message_notifier] rosconsole logger to DEBUG for more information.
[ WARN] [1477990695.175311684]: MessageFilter [target=map ]: Dropped 100.00% of messages so far. Please turn the [ros.costmap_2d.message_notifier] rosconsole logger to DEBUG for more information.
When looking at my tf tree i see the following information.
I will update this post with rosconsole logger to debug information soon.
The following message is given:
[DEBUG] [1299740216.768663556, 1299651571.155978846]: MessageFilter [target=/odom ]: Removed oldest message because buffer is full, count now 5 (frame_id=camera_depth_frame, stamp=1299651570.618031)
[DEBUG] [1299740216.768820286, 1299651571.155978846]: MessageFilter [target=/odom ]: Added message in frame laser at time 1299651571.154, count now 5
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Rtabmap won't start use frames
For some reason rtabmap won't use frames anymore.
After the line:
> rtabmap 0.11.8 started...
Nothing more follows. I am using freenect_launch freenect-registered-xyzrgb.launch but also freenect_launch freenect.launch will not work currently.
For the launch file of rtabmap I am using the following:
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Rtabmap on different PC
Hello,
I am trying to run rtabmap on a different PC.
I have the kinect connected to my raspberry PI and am following this tutorial:
[RemoteMapping](http://wiki.ros.org/rtabmap_ros/Tutorials/RemoteMapping)
There is only one problem when using the ROS_IP and ROS_MASTER_URI I can use rostopic list and see the topics.
But when I want to run:
roslaunch rtabmap_ros rtabmap.launch rgb_topic:=/camera/data_throttled_image depth_topic:=/camera/data_throttled_image_depth camera_info_topic:=/camera/data_throttled_camera_info compressed:=true rtabmap_args:="--delete_db_on_start"
I receive the following error:
Unable to contact my own server at [http://10.0.5.229:41491/].
This usually means that the network is not configured properly.
A common cause is that the machine cannot ping itself. Please check
for errors by running:
ping 10.0.5.229
For more tips, please see
http://www.ros.org/wiki/ROS/NetworkSetup
The traceback for the exception was written to the log file
While I am able to ping my machine and also use rostopic list.
Also in the launch file on the page this:
To avoid errors when trying to launch the file.
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6DOF Localization with stereo camera against RGBD dense point cloud
I have a point cloud of an environment generated by a Kinect One using rtabmap. I have a stereo camera, and I'm looking for a ROS package capable of performing full 6DOF localization using the stereo camera against this existing point cloud. Although I have found many solutions for stereo SLAM, I am having a hard time finding anything for localization-only using the stereo camera. What I have found seems to only be depth-based. I'm looking for something that could perform this localization based on the full RGBD cloud, and is compatible with Kinetic. Are there any packages that do this? I would like to produce a pose estimate primarily based on the stereo camera, augmented by IMUs and IR rangefinders, and other monocular cameras. Presumably, once I have a stereo localization, I could pass the other sensors through the robot_localization package to get a fused posed estimate. Any suggestions for a stereo localization package?
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Combine IMU with visual odometry using rtabmap
Hello,
I want to combine a razor 9dof IMU (package [razor_imu_9dof](http://wiki.ros.org/razor_imu_9dof)) with visual odometry from ASUS Xtion Pro live using rtabmap. I used package [robot_localization](http://wiki.ros.org/robot_localization) to combine 2 data sources. I am confusing about the tf. I still use the visual odometry from rtabmap_ros. The package robot_localization takes data from topic /imu and /rtabmap/odom. In theory the tf from odom to camera_link must be published by robot_localization but it is still published by /rtabmap/rgbd_odometry. Can anyone explain me about the tf which is published by rtabmap/rgbd_odometry and the tf which is published by robot_localization and how to fix my problem or show me how to do the combination, please?
Another question is that when rtabmap/rtabmapviz doesn't subcribe any odometry topic, i still receive the map data, the rtabmapviz gui seems to work well. The only unusual thing is that the odometry display in rtabmapviz gui is black. It made me think the odometry is not important or i misunderstand something? Can anyone explain me, please?
I attached here the TFTree and NodeGraph.
Thank you in advance for your attention to this matter.
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Integrating an IMU with rtabmap
My rtabmap is having a very hard time with keeping track of orientation during both localization and mapping. I'm wondering if there is any easy way to feed in IMU data so that the direction of gravity can help orient the images and produce better results. That is, I'm wondering if I can associate orientation data with every frame such that it improves rtabmap's SLAM capabilities.
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rtabmap won't start
I am having problems where my rtabmap won't start using frames:
I am using this launch file.
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rtabmap ignore odometry
Can i set rtabmap_ros to ignore the odometry of the robot?
At this moment the odometry of the robot is not good enough and will start to conflict with rtabmap resulting in a robot not knowing its position.
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Robot position flashing rviz using rtabmap
When using rtabmap somehow my robot position starts to flash. It will flash extremely quick between several positions.
Also this impacts it drive ability.
This could be due to more locations being possible?
I am using an roomba with the create_autonomy package with an kinect on top of it.
It will reach a goal but will take a weird route to do so.
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use rtabmap/grid_map for move_base
I can not get move_base to work with the rtabmap grid_map.
I used this link to try and get some direction http://wiki.ros.org/rtabmap_ros/Tutorials/StereoOutdoorNavigation and changed the openni_points to my laserscan but whenever i send a command the robot will just start to rotate (recovery behaviour?) in place.
I am using an roomba 780 as vehicle with an Kinect mounted on top of it for navigation and 3D mapping.
Even when using the Pointcloud2 variable it will instantly go into recovery mode.
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Online C++ RTAB-Map using ZED on TX1 Mobile Robot
I have a setup of a mobile robot with an NVIDIA Jetson TX1 platform running Ubuntu 14.04 host with ROS Indigo and the ZED SDK 1.0.0. I want to be able to run an online/live RTAB-Map in my already existing c++ project.
In more detail, I would like to initiate my program, have a class that deals with the ZED camera to take in, process, and filter images before sending to the RTAB-Map. I would have a separate odometry source to send position and transform information to broadcast to match up with the images from the ZED. I would like to incrementally build a map with this data while also performing loop closing and allow for the data (map, occupancy grid, etc.) to be used by the robot and viewed by an external laptop.
I've looked at some example tutorials, including the C++ RGBD Mapping and the C++ Loop Closure Detection, but haven't really been able to figure out how to do this properly. I thought I would be able to run this all through ROS so that I would be able to publish data to topics, RTAB-Map would be able to run on its own and use this data to perform the incremental map build and detect for loop closures while also publishing map data back out. (Exactly like the ROS octomap_server).
Is this a possibility? Do I have to run RTAB-Map in my own thread and perform all the individual functions (init, process, etc.)? Will RTAB-Map work like an octomap_server? What steps do I have to go through to get RTAB-Map working in the already existing C++ project without the use of a launch file?
Thanks in advance!
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Will RTAB-MAP work without /tf topic ?
Hi
I have some kinect bags that I'd like to try out with RTAB-MAP but they don't have a " /tf " topic.
Will RTAB-MAP work without " /tf " topic ?
Based on the answer below. I tried to use a launch file to run the `static_transform_publisher` line but I don't seem to be getting a map. The launch file is based on [rgbdslam_datasets.launch](https://github.com/introlab/rtabmap_ros/blob/master/launch/tests/rgbdslam_datasets.launch) and [2.5 Kinect](http://wiki.ros.org/rtabmap_ros/Tutorials/SetupOnYourRobot). The launch file is below:
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RTAB-MAP camera pose
Hi
I am running RTAB-MAP according to the answer [here](http://answers.ros.org/question/249970/will-rtab-map-work-without-tf-topic/) as I don't have `/tf` topic in my bag. It seems to be working fine.
But I am having trouble getting the camera pose. I tried using `File->Export poses` RGBD-SLAM format, on RTABMAPVIZ. But I get this
1473175676,151992 0,000000 0,000000 0,000000 0,000000 0,707107 -0,707107 0,000000
1473175677,171096 -0,125588 -0,005437 -0,007817 0,014805 -0,706043 0,707805 -0,017195
Assuming this in `time, x, y, z, qx, qy, qz, qr` format, I don't seem to be getting the correct quaternion value. Shouldn't `qr` be close to 1 ?
Also tried `rostopic echo -p /rtabmap/mapGraph/poses > poses.txt` from [here](http://official-rtab-map-forum.67519.x6.nabble.com/Get-points-of-camera-path-td2276.html#a2367) but I get this in terminal
WARNING: no messages received and simulated time is active.
Is /clock being published?
and this in txt file
%time,field0.position.x,field0.position.y,field0.position.z,field0.orientation.x,field0.orientation.y,field0.orientation.z,field0.orientation.w
1473175676706887069,0.0,0.0,0.0,0.0,0.0,0.0,1.0
1473175677270606420,0.0,0.0,0.0,0.0,0.0,0.0,1.0,0.00543722277507,-0.125587925315,-0.00781658384949,0.00168941153349,-0.00124576914274,0.0226275103559,0.999741759335
1473175678288004707,0.0,0.0,0.0,0.0,0.0,0.0,1.0,0.00543722277507,-0.125587925315,-0.00781658384949,0.00168941153349,-0.00124576914274,0.0226275103559,0.999741759335
1473175679327744141,0.0,0.0,0.0,0.0,0.0,0.0,1.0,0.00543722277507,-0.125587925315,-0.00781658384949,0.00168941153349,-0.00124576914274,0.0226275103559,0.999741759335
1473175680324714251,0.0,0.0,0.0,0.0,0.0,0.0,1.0,0.00543722277507,-0.125587925315,-0.00781658384949,0.00168941153349,-0.00124576914274,0.0226275103559,0.999741759335
1473175681351450610,0.0,0.0,0.0,0.0,0.0,0.0,1.0,0.00543722277507,-0.125587925315,-0.00781658384949,0.00168941153349,-0.00124576914274,0.0226275103559,0.999741759335
1473175682368804729,0.0,0.0,0.0,0.0,0.0,0.0,1.0,0.00543722277507,-0.125587925315,-0.00781658384949,0.00168941153349,-0.00124576914274,0.0226275103559,0.999741759335
1473175683376402483,0.0,0.0,0.0,0.0,0.0,0.0,1.0,0.00543722277507,-0.125587925315,-0.00781658384949,0.00168941153349,-0.00124576914274,0.0226275103559,0.999741759335
1473175684393268913,0.0,0.0,0.0,0.0,0.0,0.0,1.0,0.00543722277507,-0.125587925315,-0.00781658384949,0.00168941153349,-0.00124576914274,0.0226275103559,0.999741759335
for the same run. The quaternion value seems OK for the first timestamp. But the output has some extra values (looks like its missing a timestamp after 8 values) in the lines that follow.
Please let me know what I'm doing wrong here.
Thank you
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RTABMAP How to save registered 3D point cloud?
Hi,
I am building a map with a Kinect 360 and a turtlebot using RTABMAP on Ubuntu 14.04 and ROS Indigo.
Everything works fine, I can see the registered 3D point cloud on RTABMAPVIZ or with RVIZ. Now I want to save the 3D Point cloud to .pcd or .ply . I know there is the option in RTABMAPVIZ with File->Export 3D Cloud [descripted here](https://github.com/introlab/rtabmap/wiki/Kinect-mapping#export), but is there any option to do this without using RTABMAPVIZ? Is there any service I can call from the command line or from another node? Or to do this in RVIZ?
Any help would be appreciated!
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RTAB-map double walls
I just keep getting double walls in rtabmap when using it on my robot.
I am using a Kinect to map the building.
Settings:
http://pastebin.com/CDtTe0JV
The result:
EDIT in response to matlabbe:
My odometry source is from the create_autonomy using the roomba 780. I know it has a reasonable drift.
The launchfile I am using is RGBD_mapping.launch
http://pastebin.com/q6B3S6HD
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Tricycle Model Fixed! (mostly)
I've rewritten the tricycle plugin so that it now produces good navigation using rqt commands in Gazebo, with good correspondence to maps produced in rviz using rtabmap. You can download my code to experiment with [here](https://app.box.com/s/v5a9wvnojg1bp87d2q6ivzvj5i3bqt0w) :)
My inspiration came from the Instantaneous Centre of Rotation discussion [here](http://msl.cs.uiuc.edu/mobile/mch2.pdf).
Input is greatly appreciated! Let me know if there are other files you need in order to play around with it.
ONGOING ISSUES:
1) I'm concerned that my sign conventions for x and y seem to be reversed (compared to what I imagined them to be) in the code (see line 357 onward).
- Motion looks good in simulations, but I worry that this is producing the troubles I've experienced reaching 2D nav goals in rviz (aborts goals, tries to "back in" to them).
- It could be a deeper problem with the teb_local_planner not really being designed for Ackerman robots, but I definitely don't see it helping if the robot wants to "back in" to all sent goals.
2) Possibly related is the fact the velocities in odom seem to be given in the global frame. With the differential drive plugin, you only ever see linear x velocity being non-zero (linear y velocity = 0 always).
- Could this be because the odom updates (for the steering wheel location/orientation) are being defined by reference to the "special point" between the rear wheels (see line 401)?
- Also possibly related is an apparent (systematic) mismatch between the twist message in odom and the cmd_vel values? These values match when using the differential drive plugin, but does the difference in kinematics for an Ackerman robot make a mismatch here totally normal?
3) Another concern is drift. Errors accumulate when switching between hard clockwise and counterclockwise turns. There may be an issue with how I've handled setting the steering angle to avoid jittering around angle = 0 (see line 288).
- Alternatively, it might be a problem with the friction in my model?
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How to specify costmap_2d layers?
Hi.
I am trying to define an obstacle layer in my costmap_common_params.yaml file. As per the tutorial [here](http://wiki.ros.org/costmap_2d/Tutorials/Configuring%20Layered%20Costmaps), this is what I have for my layers:
static:
map_topic: /map
first_map_only: true
inflation:
inflation_radius: 0.1
obstacles:
observation_sources: rtabmap
rtabmap: {sensor_frame: /kinect_frame_optical, data_type: PointCloud2, topic: /rtabmap/cloud_map, marking: true, clearing: true}
My local_costmap_params.yaml is then
global_frame: odom
rolling_window: true
plugins:
- {name: obstacles, type: "costmap_2d::ObstacleLayer"}
- {name: inflation, type: "costmap_2d::InflationLayer"}
Unfortunately when I start move_base, I get the message
[ INFO] [1483141055.544545392, 135.629000000]: Using plugin "static"
[ INFO] [1483141055.767972141, 135.725000000]: Requesting the map...
[ INFO] [1483141056.074817270, 135.945000000]: Resizing costmap to 2318 X 2368 at 0.005000 m/pix
[ INFO] [1483141056.166230343, 135.976000000]: Shutting down the map subscriber. first_map_only flag is on
[ INFO] [1483141056.248844376, 136.030000000]: Received a 2318 X 2368 map at 0.005000 m/pix
[ INFO] [1483141056.276602131, 136.052000000]: Using plugin "inflation"
[ INFO] [1483140087.785485118, 121.036000000]: Using plugin "obstacles"
[ INFO] [1483140087.988274092, 121.200000000]: Subscribed to Topics: rtabmap
followed some time later by lots of
[ WARN] [1483141579.312730659, 306.346000000]: Request for map failed; trying again...
[ WARN] [1483141581.391496974, 306.847000000]: Request for map failed; trying again...
[ WARN] [1483141583.448695892, 307.347000000]: Request for map failed; trying again...
[ WARN] [1483141584.839228073, 307.848000000]: Request for map failed; trying again...
[ WARN] [1483141586.776772495, 308.348000000]: Request for map failed; trying again...
I assume these errors are due to the obstacles layer, since it has received the static map, and I have first_map_only set to true?
Primarily I cannot understand why move_base is telling me that it is subscribing to topic rtabmap instead of /rtabmap/cloud_map like I specified in my config file. It seems like it is not linking the observation source with its specification, and so is using the default topic (which would be rtabmap according to the [documentation](http://wiki.ros.org/costmap_2d/hydro/obstacles)).
If I change the obstacles layer in my costmap config to
obstacles:
observation_sources: "/rtabmap/cloud_map"
"/rtabmap/cloud_map": {sensor_frame: /kinect_frame_optical, data_type: PointCloud2, topic: /rtabmap/cloud_map, marking: true, clearing: true}
then I do get
[ INFO] [1483140087.785485118, 121.036000000]: Using plugin "obstacles"
[ INFO] [1483140087.988274092, 121.200000000]: Subscribed to Topics: /rtabmap/cloud_map
and rqt_graph shows that rtabmap is publishing /rtabmap/cloud_map to move_base. However, I still get the "Request for map failed; trying again..." errors, and the local_costmap doesn't seem to update in rviz.
If someone could help me with this I'd be very grateful. It's been driving me mad for hours now!
Thanks.
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Building a 3D and 2D map with RealSense and RTABMAP
Hi to all,
I am very new to Ros platform. I'm trying to build a 3d and 2d map with RealSense r200. As far as i know the rtabmap doesn't have a standalone driver for RealSense r200. I tried several things but couldn't managed to make it work.
Could you please explain the steps and provide the commands that can help me to reach my goal?(also maybe launch files)
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