Is it possibe to send the position data from rtab map to other programs ?

[TheBricktop]

Id like to retrieve positional data from rtabmap using some sort of udp or osc protocol for my interactive installation. Is it currently possible? What should be done to achieve it?

[sumitsarkar1]

you can use a QUdpSocket class to achieve this...or create a class inheriting from UEventsHandler , register to UEventsHandler and listen to OdometryEvent like here

[matlabbe]

If you want to do it without ROS, you will have to implement and approach like @sumitsarkar1 .

Otherwise, if you use ROS, everything is published on topics.

[TheBricktop]

So basically id need to build rtabmap with additional feature, or You are suggesting using rtabmap as a library?

[camasmie]

Hi @TheBricktop did you find a solution to get pose information from rtabmap in realtime? We need the same functionality with rtabmap standalone version(non-ROS) and wonder if you used any of @sumitsarkar1 suggestions or something else. More details would be appreciated.

[sumitsarkar1]

this is a hack https://github.com/sumitsarkar1/rtabmap check the guilib folder....better to register to events and do it for Non ROS

[matlabbe]

So basically id need to build rtabmap with additional feature, or You are suggesting using rtabmap as a library?

That feature is ROS or ROS2 :) Otherwise, you can look at the threaded C++ example here where the data is shared using events. The idea is when you make a class inheriting from UEventsHandler, you can see all rtabmap events published.