Hi,
I am trying to use RTAB-MAP with an AGV with a kinnects (Xtion asus pro live) added on top. The system have two computers: 1- (roscore) AGV computer (publishing the odometry, laser scanner, etc..). 2- (where I am running RTAB-map) Computer with kinect.
However, when I launch rtabmap (kinect+odometry), nothing appears. (launching only the kinect works fine).
This is my roslaunch file (including static_tf from base_link to camera_link which is not provided by the AGV): [kinect+odometry.launch](https://drive.google.com/a/blue-ocean-robotics.com/file/d/0BzAUFfsXg4ETanJDTnJXVlBzOU0/view?usp=sharing)
I suspect that the problem is on the TF tree due to publishing transforms from 2 different computers. The tf tree (without running RTABMAP) can be seen here: [agv+static_pub+rtabmap](https://drive.google.com/a/blue-ocean-robotics.com/file/d/0BzAUFfsXg4ETaW9aWE9CYUdHaTQ/view?usp=sharing).
Also, the output from roswtf is: [roswtf_output](https://drive.google.com/a/blue-ocean-robotics.com/file/d/0BzAUFfsXg4ETZnp3eXJzbkpDSWs/view?usp=sharing)
Is it possible that the problem is due to this huge TF delays from the AGV related transforms? What could I do to solve it?
(p.d: this is the [output](https://drive.google.com/a/blue-ocean-robotics.com/file/d/0BzAUFfsXg4ETbVUxNE1QSVdlTUE/view?usp=sharing) from RTABMAP)
Thanks a lot.
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