Skip to main content
Share Your Experience: Take the 2024 Developer Survey

Questions tagged [rtabmap]

Questions about RTAB-Map ROS package and library. RTAB-Map is a visual SLAM and LiDAR SLAM library.

Filter by
Sorted by
Tagged with
0 votes
0 answers
11 views

Robot is rotating instead of path following using nav2

We're trying to use nav2 for target following. We are using RGBD camera and RTAB-Map with filtering of dynamic objects in frontend. So, we have the map with static obstacles only as slam output (it ...
ArtemKondratev's user avatar
0 votes
0 answers
18 views

nav2 is dropping lidar messages

I'm trying to use rtabmap with my robot and I use both odometry from wheels and visual odometry. It works, but my 2D lidar (which is not used in rtabmap, but used in nav2) cannot be transformed ...
ArtemKondratev's user avatar
0 votes
1 answer
45 views

Low quality map with RTAB-Map

I'm trying to create a map via differential drive robot with RGBD camera Intel RealSense D435i and wheel odometry using RTAB-Map. The map is low quality (right picture). Also, I have a map which ...
ArtemKondratev's user avatar
1 vote
0 answers
18 views

Problems using octomap to raycast a point in front of the robot

I'm trying to create a ROS2 service that returns a 3D point the robot is currently looking at. I'm struggling to get it to consistently work, I believe my issues are with the way I'm subscribing to ...
tmayoff's user avatar
  • 21
1 vote
1 answer
40 views

Why does my rtabmap mapper not receive data?

I am trying to run this rtabmap config on my Jetson Orin: ...
moooeeeep's user avatar
  • 174
0 votes
0 answers
89 views

ROS navigation warn: Timed out waiting for transform from base_footprint to map

Hi I am doing Navigation stack on pepper robot. while doing navigation stack I came across multiple warnings and errors. I rectified few warnings but facing other warnings too. I have searched on ...
sai's user avatar
  • 1
0 votes
1 answer
38 views

Pinpointing object on map upon detection

I am doing slam using rtabmap with a realsense d435i. Alongside, I am running a yolov5 node to detect certain objects such chair, tables etc. Now I want to pinpoint the object's position on map upon ...
Niaz Nafi's user avatar
0 votes
0 answers
13 views

rtabmap source panel disabled

I am working on multi-session mapping with rtabmap. I am following this tutorial. but my source is disabled and even I can't find "File->Open database..." option in my gui. I am using ...
sai's user avatar
  • 1
0 votes
1 answer
38 views

RTABMAP with stereo cameras, mapping along the wrong axis, and odometry is all over the place

I"m trying to setup a robot to do stereo mapping with rtabmap, and depthai's Oak-D-Pro cameras. Mainly testing with gazebo at the moment. When I rotate the robot in gazebo the TF tree rotates ...
tmayoff's user avatar
  • 21
0 votes
0 answers
26 views

rtabmap 0.21.3 - Rtabmap: Parameter "GridGlobal/FullUpdate" doesn't exist anymore!

recently I updated my system with "sudo apt update" and "sudo apt upgrade" and rtabmap passed to 0.21.3 version but now I am having trouble launching rtabmap ( "rosrun ...
Jacopo Tedeschi's user avatar
0 votes
1 answer
35 views

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 ...
RAKESH YADAV's user avatar
0 votes
0 answers
113 views

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 ...
quark epsi's user avatar
0 votes
1 answer
177 views

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 ...
Coen H's user avatar
  • 21
0 votes
0 answers
65 views

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/...
ash's user avatar
  • 1
0 votes
1 answer
18 views

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 ...
Hafiz Iman's user avatar
0 votes
1 answer
48 views

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 ...
Krzo's user avatar
  • 11
0 votes
1 answer
27 views

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 ...
user avatar
0 votes
1 answer
534 views

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 ...
user avatar
0 votes
1 answer
145 views

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 ...
user avatar
0 votes
1 answer
19 views

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 ...
Chase's user avatar
  • 22
0 votes
1 answer
53 views

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), ...
Alessio Parmeggiani's user avatar
0 votes
1 answer
17 views

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 ...
user avatar
0 votes
1 answer
215 views

[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. ...
user avatar
0 votes
1 answer
73 views

[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. ...
user avatar
0 votes
1 answer
50 views

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 ...
user avatar
0 votes
1 answer
202 views

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 ...
user avatar
0 votes
1 answer
89 views

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 ...
moooeeeep's user avatar
  • 174
0 votes
2 answers
76 views

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: ...
user avatar
0 votes
1 answer
55 views

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 ...
user avatar
0 votes
1 answer
24 views

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): ...
Alessio Parmeggiani's user avatar
0 votes
1 answer
12 views

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: ...
Alessio Parmeggiani's user avatar
0 votes
1 answer
11 views

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 ...
user avatar
0 votes
1 answer
7 views

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 ...
user avatar
0 votes
1 answer
10 views

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 ...
user avatar
0 votes
1 answer
15 views

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 ...
user avatar
0 votes
1 answer
24 views

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 ...
user avatar
0 votes
1 answer
15 views

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 ...
user avatar
0 votes
1 answer
17 views

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 ...
user avatar
0 votes
1 answer
13 views

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 ...
user avatar
0 votes
1 answer
9 views

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 ...
user avatar
0 votes
1 answer
7 views

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 ...
user avatar
0 votes
1 answer
8 views

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-...
user avatar
0 votes
1 answer
15 views

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 ...
user avatar
0 votes
1 answer
4 views

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 ...
user avatar
0 votes
1 answer
26 views

/rtabmap/cloud_map is only a 2D map

Hi! I ran the following demo for rtab-map ROS without changing anything: ...
user avatar
0 votes
1 answer
33 views

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-...
user avatar
0 votes
1 answer
2 views

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 ...
user avatar
0 votes
1 answer
11 views

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 ...
user avatar
0 votes
1 answer
5 views

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: ...
user avatar
0 votes
1 answer
18 views

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 ...
user avatar

1
2 3 4 5