Hello everybody,
I have a problem with the rtabmap. I am able to see "parts" of the map created in Rviz on mapData topic. Actually, I have a stereo camera and I can see the result of rtabmap. But I move the camera the previous results is not staying visible.
To launch rtabmap node, I am using the parameters which are in the rtabmap_ros/launch/demo/demo_stereo_outdoor.launch and I am also using the following configuration file for rviz rtabmap_ros/launch/config/demo_stereo_outdoor.rviz. These two files works whe I use them to open a bag file like in the stereo_outdoor_mapping tutorial (http://wiki.ros.org/rtabmap_ros/Tutorials/StereoOutdoorMapping).
But when I am using rosrtabmap-databaseViewer on the database created, I can see all the images taken during the last execution of Rviz.
Question : Is there any call to make to some rtabmap services (like publish_map) or is there another option to add in an other file ?
ps : i have a warning on the TF_OLD_DATA again even if I am using the following line in the rtabmap node :
<param name="wait_for_transform" type="bool" value="true"/>
I have also tried to use a map_assembler node without success :
<!-- Grid map assembler for rviz -->
<node pkg="rtabmap_ros" type="map_assembler" name="map_assembler">
<param name="occupancy_grid" type="bool" value="true"/>
<remap from="mapData" to="mapData_optimized"/>
<remap from="grid_projection_map" to="/map"/>
</node>
Thanks in advance.
Originally posted by F.Brosseau on ROS Answers with karma: 379 on 2015-05-21
Post score: 0