All spaces are occupied using RTABmap stereo

Question

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 understand the reason.

Will it be possibe for someone to have a look at my database? I clearly doing something wrong. Also, as soon as I start RTABmap, the framerate drops to 20 hz from 30 hz and the images lag.

My RTAB database: https://drive.google.com/file/d/1sSgHQdynvplid1pwU9MlEqqmyx8TJFc6/view?usp=sharing

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Originally posted by EdwardNur on ROS Answers with karma: 115 on 2019-03-24

Post score: 0

Answer 1

The camera is looking up. There is a missing optical rotation that could be fixed by rotating the base frame of the camera:

<arg name="pi/2" value="1.5707963267948966" />
<arg name="optical_rotate" value="0 0 0 -$(arg pi/2) 0 -$(arg pi/2)" />
<node pkg="tf" type="static_transform_publisher" name="camera_base_link" args="$(arg optical_rotate) base_link stereo_camera 100" /> 

Then make sure to set frame_id parameter of rtabmap to base_link (or whatever is your robot base frame).

cheers,
Mathieu

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Originally posted by matlabbe with karma: 6409 on 2019-03-31

This answer was ACCEPTED on the original site

Post score: 0