Questions tagged [rtabmap-odometry]

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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 ...
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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 ...
Hafiz Iman's user avatar
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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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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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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-...
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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: ...
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rtabmap: Did not receive data since 5 seconds ! (but it should be receiving !)

Hello, I'm using ros-noetic-desktop-full/focal,now 1.5.0-1focal.20200826.205403 amd64 [installed] on Ubuntu 20 rtabmap says it's not receiving data but the topics ...
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Rtab map stereo visual odometry pose scale?

Hello I'm kind of new to ROS, I'm trying to use the stereo visual odometry of RTAB map to produce odometry for localization, I have tried it on gazebo, the pose in the odom topic is translated in ...
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[Solved] rtabmap with external odometry (Realsense T265)

OS: Ubuntu 16.04.6 LTS ROS version: Lunar RTAB-Map: 0.17.6 Cameras: Realsense D435 and T265 I'm starting both cameras with this launch command: ...
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kitti rosbag rtabmap_ros

i download kitti kitti_2011_09_26_drive_0001_synced and use kitti2bag python make it become kitti_2011_09_26_drive_0001_synced.bag In ORBslam2 ,it works well. So i try to us rtabmap_ros my roslanuch: <...
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Unable to move turtlebot or create map when using custom world in Gazebo

Hi, I am new to using ROS (and Ubuntu) and am reaching out as I've hit a snag. I am trying to use the rtabmap_ros tutorial for mapping and navigation using turtlebot (the simulation portion) and am ...
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Is it possible to use rtabmap_ros with only scan data?

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 ...
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Improving odometry from RTAB mapping

I'm using real-time appearance-based mapping (rtabmap_ros) to perform SLAM with a first-generation Kinect RGBD sensor, and this is working fairly well. However, ...
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rtabmap localization

Hi I'm trying to run rtabmap in localization mode. This is my launch file: ...
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Errors using Rtabmap and also in running gmapping and Rtabmap simultaneously

I have tried many methods suggested in Kinect + Odometry + 2D laser and changed odom and scan topics that suit my robot specifications. But, I could not get any data neither in RViz nor in Rtab GUI. ...
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Navigation problem "Cannot connect to move_base action server"

Hi, I'm trying to do remote 3D mapping and navigation using Raspberry Pi 3 and XBOX Kinect 360 camera on Pioneer robot. I use my laptop as a remote station for visualization and sending 2D nav from ...
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How to disable odometry from ROSAria

Hi, is there a way to disable wheel odometry (at least the TF) that is published by ROSAria? I want to use odometry from another source like visual odometry. This is how my TF frames look like atm. I ...
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How can I stop Rtabmap from publishing transform data on /tf topic?

Hello, I am trying to implement slam on a mobile robot. I have created my own frames and linked them and I am publishing them on /tf I do not want rtabmap to publish its own transforms on this topic (...
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How to transform rtabmap/odom?

I want to compare the visual odometry from RTABMAP (Kinect 2) with ground truth. But it provides odometry rotated 90 degrees around. How to align it with ground truth? Sorry for my English. ...
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Handle lost visual odometry with IMU sensor fusion

Hi, I am trying to fuse data from an IMU and a visual odometry node with robot_localization in order to have a better localization for my robot. The IMU is a Tinkerforge IMU Brick 2.0; the visual ...
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How to get pose from rtabmap rgbd_odometry with Kinect

Hi, I am having trouble using rgbd_odometry from rtabmap_ros package. I would like to subscribe to the published topic ...
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Robot localization fusing wheel and visual odometry

Hello. I'm trying to fuse whell and visual odometry in robot_localization package. But I get insufficiently accurate data on output. The robot is lost more strongly, than at use only a wheel odometry. ...
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RTABMap rgbd_odometry and intel realsense: Could not get transform from base_link to camera_rgb_optical_frame

I am trying to get visual odometry using Intel RealSense R200 camera. I use realsense_camera package built from source for ROS Lunar on Ubuntu Server 16.04. I use the following launch file: ...
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rgbd_odometry: Did not receive data since 5 seconds (zed camera)

after i install rtabmap from source when i try to run it i got this error: [ WARN] [1516726659.614500547]: /rtabmap/rtabmap: Did not receive data since 5 seconds! Make sure the input topics are ...
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robot_localization IMU and visual odometry from rtabmap

I realize this topic has come up a lot, but I've read every related question on here and nothing is quite working yet. I have a depth camera and an IMU. The IMU is rigidly attached to the camera. I'm ...
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rtabmap ignore odometry

Can i set rtabmap_ros to ignore the odometry of the robot? At this moment the odometry of the robot is not good enough and will start to conflict with rtabmap resulting in a robot not knowing its ...
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Detect terrain slope with filtered odometry and RTAB-map (IMU, LMS111, Husky, R200)

Hi to all, I'm trying to perform 3D mapping by using Husky A200, filtered odometry (wheel encoders + IMU), Sick laser LMS111 and Real Sense R200 with RTAB. My purpose is to be able to detect terrain ...
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3D map with RTAB, SICK, IMU and Husky A200

I'm continuing my work on 3D map building as specified in my old topic. Finally, I mounted my sensors (IMU, SICK and RealSense R200) on a mobile robot (Husky A200) an I'm doing some acquisitions ...
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Paper related to RTABMAP odometry

Hi! Is there any paper related to the rtabmap_odometry node, especially presenting the various algorithms used (SURF features and RANSAC matching function according to this paper I only found papers ...
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