Questions tagged [rtabmap]
Questions about RTAB-Map ROS package and library. RTAB-Map is a visual SLAM and LiDAR SLAM library.
195
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why does the maps gets elevated while mapping using stereo camera and rtabmap in gazebo world?
I am doing the visual SLAM using stereo camera in gazebo world. I am using stereo_image_proc and rtabmap_slam package. The problem I am facing is the map gets elevated after a certain time and I get ...
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How to launch rtabmap_ros?
I have been following the Nav2 tutorial when I reached the robot_localization part and decided to launch rtabmap using a Kinect rgbd camera for map generation
I found this schema which I need to ...
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49
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RTABmap with ROS2 & gazebo simulated camera
Hey guys,
I'm trying to simulated a test setup with gazebo. I have a depth camera, rgbd_cammera added to my model and bridged the topics: color/image_raw, depth/image_raw, camera_info, /color/points ...
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14
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rtab map mapcloud/mapData working but cloud_map is empty!
I'm trying to retrieve the pointclouds built from rtab map, im using gz garden with ros1 bridge to get my input topics. my launch file is :
roslaunch rtabmap_ros rtabmap.launch depth_topic:=/slam/...
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12
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Is there a flag or member variable that I can access to indicated odometry lost in RTAB-Map?
Is there a flag/service/variable that I can access programmatically which will indicate rtabmap odometry lost? I am attempting to use rgbd_odometry (RTAB-Map 0.21) in ROS-Noetic, and requires stopping ...
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24
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Rtabmap has a few jumps in odometry
I'm using the LEO rover gazebo simulator, to simulate the robot on Marsian terain. I'm running rtabmap, to map the world around the rover. The problem I'm running into, is that rtabmap sometimes finds ...
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9
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RTABMap Ground Plain Off
Hi,
I've having problems getting the ground plan on rtabmap to show correctly. The pic below shows the ground plan beneath the grid floor. How can I correct this please. I've tried some static ...
MarkRobotics
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118
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octomap_ros on ros 2 humble
Hello,
Both octomap and octomap_ros are available on ros 2 humble, as debian packages. But the documentation linked is for ros noetic. Making some google searches on the subject I understood that ...
wintermute
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55
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Transform the map frame into custom global coordinate system
I'm running RTABMap and mapping is working correctly with Lidar, odometry and RGBD sensor data. In order to overlay the generated map with a CAD model, I need to transform the map frame into the CAD ...
xdzye
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8
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How to have more than 1 of the same sensor types in obstacle layer of local costmap?
I am trying to use 2 topics from RTABmap/obstacle_detection (obstacle, ground). Ground for the clearing and obstacle for marking.
I am trying to follow this answer, and am not sure if I am doing it ...
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Doubts on rtabmap stereo_odometry parameters and feature visualization
Hi, I am trying to tune the many parameters of RtabMap, in particular the ones of the stereo_odometry node.
I have some doubts: in this paper it's written that "for F2F (Odom/Strategy=1), ...
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8
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What is a cluster in RTAB-Map?
I saw parameters related to cluster inside RTAB-Maps configuration ClusterRadius and MinClusterSize but their is absolutely no documentation that describes what these values are and how they should be ...
sopesa
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89
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[Noetic, Rtabmap, move_base]I cannot resolve the error "The robot's start position is off the global costmap."
I have set the robot's target point and orientation in "2D Nav Goal" in RViz and am trying to run the robot to the target point, but I get the following error message.
...
donguri
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38
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[Noetic, RTABMap, GPS]I want to use GPS with RTABMap
Hello.
I want to integrate RTABMap and GPS.
I currently have a T265 and a D455 available for RTABMap.
I am using Ubuntu 20.04, ROS Noetic.
Below is the launch file for RTABMap.
...
donguri
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10
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How to build rtabmap_ros with octomap?
Hi,
This guide says that the topics pertaining to octomap like octomap_full, octomap_binary, etc. are only available with I have ...
electrophod
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67
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3D Navigation (navigation in uneven terrain)
I am trying to develop a project in which I have to navigate a robot through a cave. The problem is that the cave's terrain is very uneven and so creating a 2D costmap to use Nav2 afterwards isn't an ...
marpeja
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Loop Closure with Velodyne and Camera using RTAB-Map?
I am running RTAB-Map with a 3d point cloud (Velodyne VLP-16). I use the icp_odometry node which seems to work quite well in principle, but it doesn't do loop closures. I found that this is, because ...
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15
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Undefined reference error while building
I am trying to update my version of rtabmap to the current one on Ubuntu 20.04 with ros noetic. While following the instructions below from here:
...
zippyzoo77
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22
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RTAB-Map using isaac_ros_visual_odometry
Hi there. In order to get some hardware acceleration I want to use the isaac_ros_visual_odometry package as a replacement for the rgbd_odometry node of rtabmap_ros.
Now the rgbd_odometry node ...
TurBot
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10
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rtabmap obstacle_detection error: lookup would require extrapolation into the future when looking up transform
Hi everyone, I have a problem with using rtabmap obstacle_detection nodelet, I get the following error when trying to read the published topic ( in my case called /pointCloud_obstacles):
...
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rtabmap obstacle_detection nodelet not subscribing to topics
Hi, I am using the nodelet obstacle_detection from rtabmap to output a pointcloud that contains the obstacles to avoid.
I launch the obstacles_detection nodelet using:
...
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3
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Getting black scans on ground using rtabmap while generating map from point cloud
Hello, I am using laser assembler package to convert 2D laser scans to 3D point cloud and then using the point cloud to get a 2D occupancy grid map which can be provided to move base for autonomous ...
Robo_guy
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map / navigate on a different axis / plane
Hello everyone,
first of all I would like to thank you for such a great forum, it has helped me solve many issues in the past!
I have questions that could be caused by my luck of understanding how the ...
ekptwtos
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5
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MULTI-SESSION RTABMAP PROBLEM
Hello everyone, i am working with rtabmap, and I want to use multi-session feature of this package to merge local maps. I am following this tutorial multi-session tutorial. However, i figured out that ...
N.N.Huy
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1
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3D mapping Cliff Detection
Hi, I am using rtabmap in my project with Velodyne VLP-16 sensor so that the ground can be identified by the slam algorithm. As mention here that if I want to detect the cliff robustly, then it ...
jacklu333333
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5
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Rtabmap Object Obstacle Problem
Hi, I want to setup my turtlebot for Full autonomous Navigation with rtabmap.
The first problem I encounter is that 3D irregular shape objects, such as chairs. In this case, if I use scan topic the ...
jacklu333333
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6
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how to increase resolution of map in yaml file
Hello,
I am using rtabmap to get map of environment. For saving 2D projection of map I type:
rosrun map_server map_saver -f map
...
Ivan4815162342
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5
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How is RTABMap a SLAM algorithm if it has separate mapping and localization modes?
I believe the RTABMAP has mapping and localization modes. Can they both run together? If they can't how is RTABMap said to be a ...
electrophod
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4
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RTABMAP Navigation without providing a map
Hello!
I have been searching but haven't found out how the navigation stack works when no static map is given. My questions are:
Can Rtabmap be run without a static map? If yes, how is localization ...
Delbina
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2
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Confusion of the unbounded covariance growth of fused odometry with SLAM
Hello.
I'm currently trying to fuse IMU with wheel odometry as an input to rtabmap. IMU provides acceleration while wheel odometry technically provides a pose, but I'm setting it in differential mode ...
cactus
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3
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how to fix MAP reference?
hi everyone,
I have one question about the reference of the Map created by Rtabmap. The problem is that when I am in localization mode, and I want to specify a fixed goal for the vehicle, each time ...
Delbina
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2
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rtabmap icp_odometry.cpp:453::callbackCloud() fatal error
Hello everyone,
I get a strange error that I did not get before, I formated my laptop and rebuilt rtabmap and now I get this error while i play the same bagfile with the same parameters.
[FATAL] (2021-...
Ifx13
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7
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Problems with my robot and rtabmap
Hello everyone, after a month of trying to solve some issues , I haven`t got any lucky. That is why I am turning to this forum to see if someone can help me with it . Here is my problem in context:
I ...
jarain78
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RTABMAP estimate normals with external odometry
Is it possible to use external odometry to estimate normals with RTABMAP?
Will the normals then be estimated based on the odom when the points where captured?
I know icp_odometry have some parameters ...
MRRobot
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6
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/rtabmap/cloud_map is only a 2D map
Hi! I ran the following demo for rtab-map ROS without changing anything:
...
justastudent
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10
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Realsense D435i distortion
Hi ! I'm an Embedded Systems student and I need your help :) !
First my distribution is Melodic and I'm on Jetson Xavier NX (Ubuntu 18.04 LTS). I use an Intel Realsense D435i to make 3D SLAM in RTAB-...
Evan
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Publish RTABMAP cloud_map as ordered point cloud
I am using a D435 and T256 to record 3d data with realsense_ros. D435 data is published as a ordered point cloud. Environment point cloud is assembled with RTABMAP and published as cloud_map.
Is it ...
MRRobot
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2
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RTABMAP 2D Occupancy Grid showing color
I am driving on a grey track with a green grass surrounding. I have a kinect plugin which I modified to reflect Intel d435 parameters. How can I have the 2D Occupancy Grid reflect the change in the ...
sisaha9
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2
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Getting error after calling a service in eloquent
Hi!
I`m trying to use a Rtabmap service, which is defined as follows:
#request
bool global
bool optimized
bool graph_only
---
#response
Then, I call:
...
mirella melo
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5
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Anyway to use the map data from this website for SLAM?
http://data.selfracingcars.com/
I was using RTABMAP before since I wanted to be able to differentiate between the green patch of grass and the actual track (which Lidar wouldn't be able to do as it ...
sisaha9
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7
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RTAB-Map: Merge local grid maps of multi-session mapping
We have a large facility I want to map in stages. I've already created a decent map of a large portion of the facility but need to add additional rooms/corridors. I am able to continue mapping by ...
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16
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Rtab-map : unexpected occupancy grid map
Hi, I just started using Rtabmap and I'm having an unexpected 2D occupancy grid map. First, here are the parameters I'm setting in the launch file:
...
mirella melo
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3
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Visualization with rtabmap
In rtabmap, should we always include the rtabmapviz node along with the rtabmap node?
I had an experience like, I forgot to remap my odom topic in rtabmapviz parameters and the robot did not detect ...
Chan
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How to find the number of Occupied grids in RTAB-Map global map?
Is there a way to get the total number of grids and the number of occupied grids from the final global map in RTAB-Map?
In the RTAB-Map code there are variables that can list these numbers for each ...
MalarJN
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13
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Rtab-Map ICP + visual loop closing
Hey,
i used rtabmap in Reg/Strategy 0 so far with my kinect camera. I wanted to try to fake a laserscan to use rtabmap with ICP and visual loop closing. For some reason when i start the application it'...
Chris91
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2
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hardware accelerators
Hi all,
I'm running rtabmap from a raspberry pi 3b, equipped with a kinect.
The publishing rate is pretty low, and I guess it's because of the cpu which is high.
I'm evaluating if to replace the ...
Batstru
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21
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[Solved] Rtabmap cannot load map in localization mode
I'm building a map with the Realsense D435 and T265. The map building works fine with rtabmap. But when I run rtabmap in localization mode, it fails loading the map with this error message:
...
dschnabel
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4
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ZED VO vs Rtabmap VO
I'm using ZED cameras and also running Rtabmap. Both systems have visual odom available. What are the pros and cons of using ZED VO instead of rtabmap? Do I get gains from using one over the other?
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mugetsu
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4
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Why does rtabmap have the option to not use an Odom frame
I noticed that rtabmap has the option to use an Odom topic instead of a TF. Why is that? Is the Odom frame optional against the standard of REP 105
Originally posted by mugetsu on ROS Answers with ...
mugetsu
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6
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What is different RGBD SLAM VS RTAB-Map SLAM?
Hi.
ROS beginners. So I'm not sure.
I tried to use rtabmap for slam using rgb-d in ROS slam.
But is rgbd_slam also provided in the ros package?
i can check the rgbslam at the following link.
http://...