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 RTAB_MAP on your Robot, I couldn't see any configuration which uses odom + scan information. It seems I have to have a kinect sensor to use this package, but I would like to be sure.
I have already tried hector_slam, gmapping and cartographer_ros. I am trying hopelessly to find another possible SLAM algorithm which could give better performance for my case.
You can see my other question
Thank you for your help!
Edit: @matlabbe , Thank you very much for your answer. I directly used your launch file with the provided realoguz5.bag file as you mentioned. I also removed map frame from the bagfile and tried with that bagfile, . However, I couldn't see any map in either Rviz or Rtabmap_viz.You can see the terminal output of test.launch below. Could you help me further to solve this issue? Thank you very much!
SUMMARY
========
PARAMETERS
* /rosdistro: kinetic
* /rosversion: 1.12.13
* /rtabmap/rtabmap/RGBD/NeighborLinkRefining: True
* /rtabmap/rtabmap/Reg/Force3DoF: True
* /rtabmap/rtabmap/Reg/Strategy: 1
* /rtabmap/rtabmap/frame_id: base_link
* /rtabmap/rtabmap/odom_frame_id: odom
* /rtabmap/rtabmap/odom_tf_angular_variance: 0.05
* /rtabmap/rtabmap/odom_tf_linear_variance: 0.01
* /rtabmap/rtabmap/subscribe_depth: False
* /rtabmap/rtabmap/subscribe_rgb: False
* /rtabmap/rtabmap/subscribe_scan: True
* /rtabmap/rtabmap/wait_for_transform_duration: 1
* /use_sim_time: True
NODES
/rtabmap/
rtabmap (rtabmap_ros/rtabmap)
rtabmapviz (rtabmap_ros/rtabmapviz)
ROS_MASTER_URI=http://localhost:11311
process[rtabmap/rtabmap-1]: started with pid [11259]
process[rtabmap/rtabmapviz-2]: started with pid [11260]
[ INFO] [1556631047.098153064]: Starting node...
[ INFO] [1556631047.152156112]: Initializing nodelet with 8 worker threads.
[ INFO] [1556631047.194421357]: Starting node...
[ INFO] [1556631047.305024760]: rtabmapviz: Using configuration from "/home/alperen/.ros/rtabmapGUI.ini"
[ INFO] [1556631048.460661263]: Reading parameters from the ROS server...
[ INFO] [1556631048.609303406]: Parameters read = 0
[ INFO] [1556631049.355704547]: /rtabmap/rtabmapviz: queue_size = 10
[ INFO] [1556631049.355738290]: /rtabmap/rtabmapviz: rgbd_cameras = 1
[ INFO] [1556631049.355749637]: /rtabmap/rtabmapviz: approx_sync = true
[ INFO] [1556631049.358946567]:
/rtabmap/rtabmapviz subscribed to:
/rtabmap/odom
[ INFO] [1556631049.359086913]: rtabmapviz started.
[ INFO] [1556631072.496810848, 1555961484.412100329]: /rtabmap/rtabmap(maps): map_filter_radius = 0.000000
[ INFO] [1556631072.496924727, 1555961484.412100329]: /rtabmap/rtabmap(maps): map_filter_angle = 30.000000
[ INFO] [1556631072.496986324, 1555961484.412100329]: /rtabmap/rtabmap(maps): map_cleanup = true
[ INFO] [1556631072.497057702, 1555961484.412100329]: /rtabmap/rtabmap(maps): map_negative_poses_ignored = true
[ INFO] [1556631072.497116107, 1555961484.412100329]: /rtabmap/rtabmap(maps): map_negative_scan_ray_tracing = true
[ INFO] [1556631072.497174002, 1555961484.412100329]: /rtabmap/rtabmap(maps): cloud_output_voxelized = true
[ INFO] [1556631072.497228337, 1555961484.412100329]: /rtabmap/rtabmap(maps): cloud_subtract_filtering = false
[ INFO] [1556631072.497289089, 1555961484.412100329]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1556631072.506124736, 1555961484.422174375]: /rtabmap/rtabmap(maps): octomap_tree_depth = 16
[ INFO] [1556631072.548256477, 1555961484.462396979]: rtabmap: frame_id = base_link
[ INFO] [1556631072.548287631, 1555961484.462396979]: rtabmap: odom_frame_id = odom
[ INFO] [1556631072.548303426, 1555961484.462396979]: rtabmap: map_frame_id = map
[ INFO] [1556631072.548327794, 1555961484.462396979]: rtabmap: tf_delay = 0.050000
[ INFO] [1556631072.548360511, 1555961484.462396979]: rtabmap: tf_tolerance = 0.100000
[ INFO] [1556631072.548484635, 1555961484.462396979]: rtabmap: odom_sensor_sync = true
[ INFO] [1556631072.966363444, 1555961484.884980407]: Setting RTAB-Map parameter "RGBD/NeighborLinkRefining"="true"
[ INFO] [1556631072.990358985, 1555961484.905120888]: Setting RTAB-Map parameter "Reg/Force3DoF"="true"
[ INFO] [1556631072.993316060, 1555961484.905120888]: Setting RTAB-Map parameter "Reg/Strategy"="1"
[ WARN] [1556631073.304790820, 1555961485.217051786]: Setting "Grid/FromDepth" parameter to false (default true) as "subscribe_scan" or "subscribe_scan_cloud" is true. The occupancy grid map will be constructed from laser scans. To get occupancy grid map from cloud projection, set "Grid/FromDepth" to true. To suppress this warning, add <param name="Grid/FromDepth" type="string" value="false"/>
[ INFO] [1556631073.304887280, 1555961485.217051786]: Setting "Grid/RangeMax" parameter to 0 (default 5.000000) as "subscribe_scan" or "subscribe_scan_cloud" is true.
[ WARN] [1556631073.304923801, 1555961485.217051786]: Setting "RGBD/ProximityPathMaxNeighbors" parameter to 10 (default 0) as "subscribe_scan" is true and "Reg/Strategy" uses ICP. Proximity detection by space will be also done by merging close scans. To disable, set "RGBD/ProximityPathMaxNeighbors" to 0. To suppress this warning, add <param name="RGBD/ProximityPathMaxNeighbors" type="string" value="10"/>
[ INFO] [1556631073.495091214, 1555961485.408431133]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1556631073.495247294, 1555961485.408431133]: rtabmap: Deleted database "/home/alperen/.ros/rtabmap.db" (--delete_db_on_start or -d are set).
[ INFO] [1556631073.495309505, 1555961485.408431133]: rtabmap: Using database from "/home/alperen/.ros/rtabmap.db" (0 MB).
[ INFO] [1556631074.532128087, 1555961486.450984098]: rtabmap: Database version = "0.17.6".
[ WARN] [1556631074.596041198, 1555961486.511582134]: When subscribing to laser scan, you should subscribe to depth, stereo or rgbd too. Subscribing to depth by default...
[ INFO] [1556631074.604608470, 1555961486.521694744]: /rtabmap/rtabmap: queue_size = 10
[ INFO] [1556631074.604704264, 1555961486.521694744]: /rtabmap/rtabmap: rgbd_cameras = 1
[ INFO] [1556631074.604748108, 1555961486.521694744]: /rtabmap/rtabmap: approx_sync = true
[ INFO] [1556631074.604866725, 1555961486.521694744]: Setup depth callback
[ INFO] [1556631074.632802948, 1555961486.551916526]:
/rtabmap/rtabmap subscribed to (approx sync):
/rtabmap/rgb/image,
/rtabmap/depth/image,
/rtabmap/rgb/camera_info,
/scan
[ INFO] [1556631074.638748810, 1555961486.551916526]: rtabmap 0.17.6 started...
[ WARN] [1556631079.637634199, 1555961491.557643367]: /rtabmap/rtabmap: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10).
/rtabmap/rtabmap subscribed to (approx sync):
/rtabmap/rgb/image,
/rtabmap/depth/image,
/rtabmap/rgb/camera_info,
/scan
Originally posted by samialperen on ROS Answers with karma: 70 on 2019-04-25
Post score: 1
Original comments
Comment by matlabbe on 2019-04-30:
Note that it is preferred that you edit your question instead of adding new info in a new answer. You are using rtabmap 0.17.6, my example works only with 0.19. You have to build rtabmap/rtabmap_ros
from source. I edited my answer with that info.