Rosanswers logo


I got RGBDSLAM working on my Ubuntu 12.04 machine. I am using ROS Fuerte and Xbox Kinect. I can save the map as .pcl and .ply, but I can't get any octomap. When I press "send model" in RGBDSLAM and save a map using octomap_saver and try to view it using octovis it only shows an empty cube (which means no map).

I used rostopic echo /rgbdslam/batch_clouds while running RGBDSLAM but nothing is being published on that topic! I checked the settings in RGBDSLAM and individual_cloud_out_topic and it is set to the right topic (which is /rgbdslam/batch_clouds).

What could be preventing the data from being published on that topic? Any thoughts on how I can generate an octomap?

Originally posted by Merdad on ROS Answers with karma: 40 on 2013-01-23

Post score: 0


1 Answer 1


Rosanswers logo

Maybe you disabled "store_pointclouds" in your launch-file? It is on by default.

Originally posted by Felix Endres with karma: 6468 on 2013-01-27

This answer was ACCEPTED on the original site

Post score: 4

Original comments

Comment by Merdad on 2013-01-28:
I removed a few lines in the launch file including that and it worked. Thanks.

Comment by VicL on 2013-05-07:
Hi Medrad can I see your launch file? I also cannot see any output when I use typed the command rostopic echo /rgbdslam/batch_clouds. There is also no topic published from the rgbdslam node in the rxgraph. By the way is it the kinect+rgbdslam.launch file?

Comment by Felix Endres on 2013-05-13:
batch_clouds is only published on command, i.e. from the GUI menu or ros service call. If you want to use/visualize the aligned clouds as they are processed, subscribe to the pointcloud from openni_launch and transform them to the tf frame /map that is published by rgbdslam.

Comment by VicL on 2013-05-14:
I see! after pressing Ctrl+M or clicking on "send model" under "Data", values starts to show up under rostopic echo /rgbdslam/batch_clouds. Thanks Felix! Where should I look at if I want to automate this proces based on a variable that I will publish from my own program that will run simultaneously?

Comment by Felix Endres on 2013-05-16:
In your own program call the ros service "/rgbdslam/ros_ui" with command "send_all". See the ros wiki tutorials for how to call services.


Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge you have read our privacy policy.