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Questions tagged [rtabmap]

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

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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 ...
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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 ...
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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'...
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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 ...
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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: ...
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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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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 ...
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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://...
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When using rtabmap to build a map, how to fill the blanks in the map and remove objects outside the map?

The robot I use is turtlebot2, and I use a ZED stereo camera instead of an RGBD camera, without using a lidar sensor. When I used the rtabmap algorithm to make my robot build a map in the room, I ...
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Could not save point cloud map from rtabmap

Hi! I tried to generate a 3D mapping using fetch in gazebo simulation using rtabmap, and I was able to open the rtabmap.db file. Although I could see the map when I open the file with "rtabmap ~/....
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rtabmap: t265 fisheye images instead of zed stereo images

I want to test rtabmap with t265 fisheye images as input. I suppose I cant just put topics from t265 camera instead of zed topics in rtabmap.launch because zed camera's physical parameters differs ...
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incorrect rtabmap parameters, loop closure problem

Hello! I am looking at some amazing rtabmap mappings such as https://www.youtube.com/watch?v=FvhxdUhsNUk https://www.youtube.com/watch?v=j8OYlSZcqMc and my mapping does not look good at all, I dont ...
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Rtabmap does not produce 3D map

Hello all, I am having problems with RTABMAP (0.19.3) in ROS Melodic. I am using a stereo camera setup on a simulated car in gazebo. Here are four images that visualize my problem: link The first two ...
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rtabmap, rviz: data disappearing, flickering

I am running rtabmap and I have problem that some parts of the map flickering in rviz; here is video that shows my problem: https://yadi.sk/i/roougyDK8XWkSA on 21st second and on 1m3s you can observe ...
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simple question about rtabmap

Hello! I am just simple guy, I have robot and want my robot avoiding obstacles. I dont have much furniture in my room, but certainly I want that my robot could avoid tables with thin legs. I want to ...
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Limit the size of the octomap coming from RTABMap?

Hello, Ideally we would like to limit the size of the octomap coming from RTABMap such that it stays within a certain size (or takes a certain amount of time to update). The parameter Rtabmap/TimeThr ...
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rtabmap: angled camera

I have mobile robot with 1.5 meters mast. I have located Intel Realsense d435 camera near to the top of the mast and oriented to the floor. I am trying to get rtabmap working correctly. And I dont ...
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rtab-map to scan the PLAIN wall in front of the robot

Hello, i'm working on a robotic arm which can be equipped with a realsense or a zed rgbd camera. The camera is attached to the end-effector of the robot, so im able to make a "zig-zag" (from ...
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large kitti data map(or LoopClosure) make rtabmap_ros and the whole ubuntu crash!

I successfuly run rtabmap_ros by kitti2rosbag(kitti_to_rosbag),if kitti data is not such large.(less than 2500 pictures) But i want do "Visual Odometry / SLAM Evaluation 2012".So i download ...
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'make' fails when building the rtabmap package

Hi, I was using rtabmap_ros version 0.17.6 and working on SLAM with Gazebo as shown here. I wanted to take a look at the map that is stored in ~/.ros/rtabmap.db and ...
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Using RTABmap_ros with external GPS?

Is there support to use an external GPS with RTABmap_ros? I have seen previous answers saying this was not supported, but you could possibly use robot_localization to get around it (https://answers....
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Localising using RTABmap without LiDAR

Hi, I have created a map using the depth camera (mono depth camera) and 2d Lidar. When I do the localisation, I will not have my LiDAR, so is it still possible to localise with only the depth camera? ...
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RTABmap deletes half of my map

Hi, When I am doing SLAM using RTABmap, at half point, I got half of my map and rtabmap deleted some of my map for some reason, why is that? I have uplodade the database here: https://drive.google.com/...
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RTABmap corrupted database

Everytime when I perfrom SLAM with RTABMAP, I get a map with some warning like: ...
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RTABmap localization error

I recently got this error while localizing with RTABmap: ...
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Using PCL and Laser as obstacle_layer (RTABmap obstacles_detection)

How can I use both Laser and PCL from obstacles_detection node to view the obstacles in the local costmap? If i put the local_costmap like this: ...
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How can I know whether RTABmap successfully localized?

I am running my robot in a localization mode and sometimes I need to know whether the localization was succesfull so I do not need to use PoseEstimate on RViz manually. Is there some specific bool? ...
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How can I correct odometry using rtabmap?

I know that rtabmap uses loop closure to correct the odometry error but did I turn it on, that is the question. What parameter should I turn on to activate the loop closure or is it turned on by ...
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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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Why does RTABmap subscribing to my other TF?

I have noticed some problem. When I launch RTABmap, it subscribes to my noisy_odom TF and also subscribes to filtered_odom TF and I think it makes my map being messy and sometimes I get this warning: <...
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How to launch nodelet? (RTABmap)

Hi, I came up across remote mapping and RTABmap provides this launch file: ...
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No data received even though topics are not empty

I am using RTABmap and having a camera on a seperate machine which sends image_rect/compressed over the WiFi to my host PC. My tree looks very standard and non-broken and every topic is not empty, ...
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All spaces are occupied using RTABmap stereo

Hi, I am trying to map the area using the stereo camera and after looking at produced map, all the cells are black, meaning occupied. I have tried to figure out for 2 days but still struggling to ...
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Why does pointcloud pointing upwards?

I am using a camera remotely and sending the compressed image frames to host pc. I am using RTABmap to create a 2d MAP. The problem occurs when the PCL is being published and the points are located ...
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Use RTAB-Map with ORB_SLAM2 in ROS

Hello everyone, I successfully compiled RTAB-Map with Orb-Slam2, so I can now choose ORB-SLAM2 as an odometry strategy in RTAB-Map standalone app. Now I would like to use it inside ROS. I guess that ...
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Bad stereo mapping in RTABmap

Hi, I have a stereo camera, Intel T265 and I am getting strange stereo map: Why is that? I have also recorded the bag: https://drive.google.com/file/d/1sjh1QdhBczf9v69mqZckdFTdfV8486nl/view?usp=...
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Manually localise in RTAB-Map

Is there some way to manually localize on RTAB-Map? At the moment, when we launch RTAB-Map in localization mode, we need to drive the rover account for a bit until it finds enough visual points to ...
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Why such a bad map using a depth camera?

I recently bought D435 (Intel realsense) and used rtabmap package to perfrom SLAM. I simply used this roslaunch: http://wiki.ros.org/rtabmap_ros/Tutorials/HandHeldMapping And the result is this: The ...
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Trouble exporting map from RTAB-Map

I am following this answer to export a .pgm and a .yaml from a database file generated using RTAB-map. But when I run rosrun ...
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rtabmap_ros: Is it possible to continue running SLAM when a sensor is disabled?

Hardware: Turtlebot 2 (Kobuki), Hokuyo URG-04LX, PrimeSense RGB-D Software: ROS Kinetic (ubuntu 16.04), turtlebot_bringup, turtlebot_description, urg_node, openni2_camera, rtabmap_ros Context: I am ...
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How to execute rtabmap_ros/map_assembler and generate a cloud map?

I am running ros_rtabmap and seeing good point cloud in rviz /rtabmap/mapData (but not from /rtabmap/cloud_map) According to here, I should be able to run an rtabmap_ros/map_assembler node to ...
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Rviz odometry color circles with different sizes - what do they represent

I process a bag file with rtabmap and rgbd odometry. The odometry (/rtabmap/odom) in rviz shows colored (purple and yellow) dots in different sizes. Can someone tell me what they mean? The closest I ...
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How to clean up a noisy 3d point cloud?

Hi, I am running ros melodic rtabmap rgbd_odometry. I'm getting a noisy point cloud, which I tried to filter by using the rtabmap_ros parameters: cloud_noise_filtering_radius, ...
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Running rtabmap on bag of rgb and depth images

Hi, I want to run ros rtabmap on a bag of rgb and depth images, with the following topics: ...
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[SOLVED] rtabmap fails to run a bag of depth and rgdb images

Hi, I am playing a bag of 16 bits-per-pixel depth and 8 bit rgb images. While playing the bag, I can extract both the rgb and the depth images into files (to verify that the data is ok) (I used the ...
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working with stereo camera and rtabmap for 3d mapping

So I am using rtabmap and a ZED stereo for this project based o, 3D mapping. I have the following launch file, I tried to play with with it but no mapping : ...
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TF Error: Lookup would requrie extrapolation into the future

I'm running rtabmap on a jackal robot with bumblebee2 stereo camera on ros-kinetic. I get the following error when trying to view pointcloud2 topic in rviz: ...
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Does rtabmap_ros accepts IMU fusion?

I want to fuse IMU data with vision while mapping with rtabmap_ros, I need to know if the algorithms actually accepts IMU fusion? Originally posted by saratoonsi on ROS Answers with karma: 1 on 2018-...
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Problem with starting of room map construction process using Intel RealSense R200

Hello. I've got 3D camera Intel RealSense R200, but I haven't got TurtleBot. The operating system is Ubuntu 14.04.5 kernel 4.4.0-130-generic. ROS distro: Indigo. The following information was used for ...
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RGB-D Handheld Mapping with RealSense R200

I was following the RGB-D Handheld Mapping tutorial . First I ran the following command $ roslaunch realsense_camera r200_nodelet_default.launch While the ...
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