How to simplify the tuning of meshing parameters in rtabmap
I have a result from rtabmap process that is in rtabmap.db The point cloud and the odometer looks good, but I have trouble to create a textured mesh I load the data with rtabmap standalone rtabmap...
View Articlertabmap_ros: Is it possible to continue running SLAM when a sensor is disabled?
Hardware: Turtlebot 2 (Kobuki), Hokuyo URG-04LX, PrimeSense RGB-D Software: ROS Kinetic (ubuntu 16.04), turtlebot_bringup, turtlebot_description, urg_node, openni2_camera, rtabmap_ros Context: I am...
View ArticleRtabmap with Tango ROS streamer; rtabmap 'Did not receive data since 5 seconds!'
Hello, I'm running ROS melodic 1.14.3 on Ubuntu 18.04 64 bit (kernel: 4.15.0-45-generic x86_64 GNU/Linux) (and I'm a total beginner with ROS, don't hesitate to ask for more commands' outputs if...
View ArticleTrouble exporting map from RTAB-Map
I am following [this](https://answers.ros.org/question/217097/export-2d-map-from-rviz-andor-rtab-map/) answer to export a `.pgm` and a `.yaml` from a database file generated using RTAB-map. But when I...
View ArticleWhy such a bad map using a depth camera?
I recently bought D435 (Intel realsense) and used rtabmap package to perfrom SLAM. I simply used this roslaunch: http://wiki.ros.org/rtabmap_ros/Tutorials/HandHeldMapping And the result is this:...
View ArticleRealSense D435 + rtabmap + Pixhawk (IMU) + robot_localization
Hello everyone, I am trying to fuse a visual odometry with Pixhawk IMU. For those who don't know, Pixhawk is an autopilot used for drone in this case. There is ROS integration provided thanks to...
View ArticleRTABMAP using Realsense D435
Hi, I am new to ROS. I am trying to do mapping using an intel realsense D435 camera using ROS. I followed the procedure given in the RTABMAP's hand held mapping page over here :...
View ArticleRTABMAP - how to view or export the disparity images from stereo SGM
RTABMAP - how to view or export the disparity images Hi, I am using RTABMAP as a stand-alone to process a set of stereo image files using stereo BM. Now, I want to test using stereo SGM. To tune the...
View ArticleBad stereo mapping in RTABmap
Hi, I have a stereo camera, Intel T265 and I am getting strange stereo map:  Why is that? I have also recorded the bag:...
View ArticleUse RTAB-Map with ORB_SLAM2 in ROS
Hello everyone, I successfully compiled RTAB-Map with Orb-Slam2, so I can now choose ORB-SLAM2 as an odometry strategy in RTAB-Map standalone app. Now I would like to use it inside ROS. I guess that...
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...
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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 ArticleHow 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...
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