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how to use map_assembler from rtabmap util with rtabmap_launch
I've installed everything from apt-get.except rtabmap_ros. im using rtabmap from rtabmap_launch. how can i connect it to rtabmap_util's map_assembler, because it's not running, im getting error rtabmap_launch not found ?
this is the rtabmap util launch:
<node pkg="rtabmap_util" type="map_assembler" name="map_assembler">
<remap from="mapData" to="/rtabmap/mapData"/>
<param name="Grid/RangeMax" type="double" value="100"/>
<param name="Grid/DepthDecimation" type="double" value="0.1"/>
</node>
this is how i launch slam:
roslaunch rtabmap_launch rtabmap.launch depth_topic:=/slam/depth_image rgb_topic:=/slam/image camera_info_topic:=/slam/camera_info rtabmapviz:=true mapping:=true frame_id:=fcu visual_odometry:=false odom_topic:=/mavros/local_position/odom
Which version are you using?
Tried on my computer:
roslaunch rtabmap_launch rtabmap.launch depth_topic:=/slam/depth_image rgb_topic:=/slam/image camera_info_topic:=/slam/camera_info rtabmapviz:=true mapping:=true frame_id:=fcu visual_odometry:=false odom_topic:=/mavros/local_position/odom
... logging to /home/mathieu/.ros/log/236d8d9e-7380-11ee-95bf-d93a9a424f56/roslaunch-RBLT-MLABBE-01-784211.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
WARNING: disk usage in log directory [/home/mathieu/.ros/log] is over 1GB.
It's recommended that you use the 'rosclean' command.
started roslaunch server http://RBLT-MLABBE-01:41361/
SUMMARY
========
CLEAR PARAMETERS
* /rtabmap/rtabmap/
* /rtabmap/rtabmap_viz/
PARAMETERS
* /rosdistro: noetic
* /rosversion: 1.15.15
* /rtabmap/rtabmap/Mem/IncrementalMemory: true
* /rtabmap/rtabmap/Mem/InitWMWithAllNodes: false
* /rtabmap/rtabmap/approx_sync: True
* /rtabmap/rtabmap/config_path:
* /rtabmap/rtabmap/database_path: ~/.ros/rtabmap.db
* /rtabmap/rtabmap/frame_id: fcu
* /rtabmap/rtabmap/gen_depth: False
* /rtabmap/rtabmap/gen_depth_decimation: 1
* /rtabmap/rtabmap/gen_depth_fill_holes_error: 0.1
* /rtabmap/rtabmap/gen_depth_fill_holes_size: 0
* /rtabmap/rtabmap/gen_depth_fill_iterations: 1
* /rtabmap/rtabmap/gen_scan: False
* /rtabmap/rtabmap/ground_truth_base_frame_id:
* /rtabmap/rtabmap/ground_truth_frame_id:
* /rtabmap/rtabmap/initial_pose:
* /rtabmap/rtabmap/landmark_angular_variance: 9999.0
* /rtabmap/rtabmap/landmark_linear_variance: 0.0001
* /rtabmap/rtabmap/map_frame_id: map
* /rtabmap/rtabmap/odom_frame_id:
* /rtabmap/rtabmap/odom_frame_id_init:
* /rtabmap/rtabmap/odom_sensor_sync: False
* /rtabmap/rtabmap/odom_tf_angular_variance: 0.001
* /rtabmap/rtabmap/odom_tf_linear_variance: 0.001
* /rtabmap/rtabmap/publish_tf: True
* /rtabmap/rtabmap/queue_size: 10
* /rtabmap/rtabmap/scan_cloud_max_points: 0
* /rtabmap/rtabmap/subscribe_depth: True
* /rtabmap/rtabmap/subscribe_rgb: True
* /rtabmap/rtabmap/subscribe_rgbd: False
* /rtabmap/rtabmap/subscribe_scan: False
* /rtabmap/rtabmap/subscribe_scan_cloud: False
* /rtabmap/rtabmap/subscribe_scan_descriptor: False
* /rtabmap/rtabmap/subscribe_stereo: False
* /rtabmap/rtabmap/subscribe_user_data: False
* /rtabmap/rtabmap/wait_for_transform_duration: 0.2
* /rtabmap/rtabmap_viz/approx_sync: True
* /rtabmap/rtabmap_viz/frame_id: fcu
* /rtabmap/rtabmap_viz/odom_frame_id:
* /rtabmap/rtabmap_viz/queue_size: 10
* /rtabmap/rtabmap_viz/subscribe_depth: True
* /rtabmap/rtabmap_viz/subscribe_rgb: True
* /rtabmap/rtabmap_viz/subscribe_rgbd: False
* /rtabmap/rtabmap_viz/subscribe_scan: False
* /rtabmap/rtabmap_viz/subscribe_scan_cloud: False
* /rtabmap/rtabmap_viz/subscribe_scan_descriptor: False
* /rtabmap/rtabmap_viz/subscribe_stereo: False
* /rtabmap/rtabmap_viz/wait_for_transform_duration: 0.2
NODES
/rtabmap/
rtabmap (rtabmap_slam/rtabmap)
rtabmap_viz (rtabmap_viz/rtabmap_viz)
auto-starting new master
process[master]: started with pid [784226]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 236d8d9e-7380-11ee-95bf-d93a9a424f56
process[rosout-1]: started with pid [784245]
started core service [/rosout]
process[rtabmap/rtabmap-2]: started with pid [784253]
process[rtabmap/rtabmap_viz-3]: started with pid [784254]
[ INFO] [1698270468.973031106]: Starting node...
[ INFO] [1698270469.016869417]: Initializing nodelet with 8 worker threads.
[ INFO] [1698270469.125220198]: Starting node...
[ INFO] [1698270469.180412404]: /rtabmap/rtabmap(maps): map_filter_radius = 0.000000
[ INFO] [1698270469.180442450]: /rtabmap/rtabmap(maps): map_filter_angle = 30.000000
[ INFO] [1698270469.180451048]: /rtabmap/rtabmap(maps): map_cleanup = true
[ INFO] [1698270469.180459014]: /rtabmap/rtabmap(maps): map_always_update = false
[ INFO] [1698270469.180466680]: /rtabmap/rtabmap(maps): map_empty_ray_tracing = true
[ INFO] [1698270469.180474588]: /rtabmap/rtabmap(maps): cloud_output_voxelized = true
[ INFO] [1698270469.180482709]: /rtabmap/rtabmap(maps): cloud_subtract_filtering = false
[ INFO] [1698270469.180492329]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1698270469.180658007]: /rtabmap/rtabmap(maps): octomap_tree_depth = 16
[ INFO] [1698270469.191053909]: rtabmap: frame_id = fcu
[ INFO] [1698270469.191076182]: rtabmap: map_frame_id = map
[ INFO] [1698270469.191087669]: rtabmap: log_to_rosout_level = 4
[ INFO] [1698270469.191093128]: rtabmap: initial_pose =
[ INFO] [1698270469.191100147]: rtabmap: use_action_for_goal = false
[ INFO] [1698270469.191116664]: rtabmap: tf_delay = 0.050000
[ INFO] [1698270469.191124675]: rtabmap: tf_tolerance = 0.100000
[ INFO] [1698270469.191132055]: rtabmap: odom_sensor_sync = false
[ INFO] [1698270469.191139451]: rtabmap: pub_loc_pose_only_when_localizing = false
[ INFO] [1698270469.191429640]: rtabmap: gen_scan = false
[ INFO] [1698270469.191447830]: rtabmap: gen_depth = false
[ INFO] [1698270469.245438403]: rtabmap_viz: Using configuration from "/home/mathieu/.ros/rtabmap_gui.ini"
[ INFO] [1698270469.270658607]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1698270469.270901935]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[ WARN] (2023-10-25 14:47:49.425) Parameters.cpp:150::deserialize() Unknown parameter "OdomOpenVINS/FastThreshold"="30"! The parameter is still added to output map.
[ WARN] (2023-10-25 14:47:49.425) Parameters.cpp:150::deserialize() Unknown parameter "OdomOpenVINS/GridX"="5"! The parameter is still added to output map.
[ WARN] (2023-10-25 14:47:49.425) Parameters.cpp:150::deserialize() Unknown parameter "OdomOpenVINS/GridY"="5"! The parameter is still added to output map.
[ WARN] (2023-10-25 14:47:49.425) Parameters.cpp:150::deserialize() Unknown parameter "OdomOpenVINS/KNNRatio"="0.7"! The parameter is still added to output map.
[ INFO] [1698270469.426380149]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1698270469.426747376]: rtabmap: Using database from "/home/mathieu/.ros/rtabmap.db" (0 MB).
[ INFO] [1698270469.455918671]: rtabmap: Working Memory = 4, Local map = 4.
[ INFO] [1698270469.455963388]: rtabmap: Database version = "0.21.2".
[ INFO] [1698270469.455986148]: rtabmap: SLAM mode (Mem/IncrementalMemory=true)
[ INFO] [1698270469.472433841]: /rtabmap/rtabmap: subscribe_depth = true
[ INFO] [1698270469.472505703]: /rtabmap/rtabmap: subscribe_rgb = true
[ INFO] [1698270469.472516735]: /rtabmap/rtabmap: subscribe_stereo = false
[ INFO] [1698270469.472528493]: /rtabmap/rtabmap: subscribe_rgbd = false (rgbd_cameras=1)
[ INFO] [1698270469.472542487]: /rtabmap/rtabmap: subscribe_sensor_data = false
[ INFO] [1698270469.472552929]: /rtabmap/rtabmap: subscribe_odom_info = false
[ INFO] [1698270469.472563625]: /rtabmap/rtabmap: subscribe_user_data = false
[ INFO] [1698270469.472570929]: /rtabmap/rtabmap: subscribe_scan = false
[ INFO] [1698270469.472586499]: /rtabmap/rtabmap: subscribe_scan_cloud = false
[ INFO] [1698270469.472597815]: /rtabmap/rtabmap: subscribe_scan_descriptor = false
[ INFO] [1698270469.472609132]: /rtabmap/rtabmap: queue_size = 10
[ INFO] [1698270469.472621408]: /rtabmap/rtabmap: approx_sync = true
[ INFO] [1698270469.472660128]: Setup depth callback
[ INFO] [1698270469.485369110]:
/rtabmap/rtabmap subscribed to (approx sync):
/mavros/local_position/odom \
/slam/image \
/slam/depth_image \
/slam/camera_info
[ INFO] [1698270469.547744363]: rtabmap 0.21.2 started...
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
[ INFO] [1698270470.072148656]: rtabmap_viz: Reading parameters from the ROS server...
[ INFO] [1698270470.178605194]: rtabmap_viz: Parameters read = 363
[ INFO] [1698270470.178637595]: rtabmap_viz: Parameters successfully read.
[ INFO] [1698270470.305686579]: /rtabmap/rtabmap_viz: subscribe_depth = true
[ INFO] [1698270470.305708196]: /rtabmap/rtabmap_viz: subscribe_rgb = true
[ INFO] [1698270470.305714738]: /rtabmap/rtabmap_viz: subscribe_stereo = false
[ INFO] [1698270470.305721312]: /rtabmap/rtabmap_viz: subscribe_rgbd = false (rgbd_cameras=1)
[ INFO] [1698270470.305727422]: /rtabmap/rtabmap_viz: subscribe_sensor_data = false
[ INFO] [1698270470.305734325]: /rtabmap/rtabmap_viz: subscribe_odom_info = false
[ INFO] [1698270470.305739902]: /rtabmap/rtabmap_viz: subscribe_user_data = false
[ INFO] [1698270470.305745894]: /rtabmap/rtabmap_viz: subscribe_scan = false
[ INFO] [1698270470.305751892]: /rtabmap/rtabmap_viz: subscribe_scan_cloud = false
[ INFO] [1698270470.305757433]: /rtabmap/rtabmap_viz: subscribe_scan_descriptor = false
[ INFO] [1698270470.305763234]: /rtabmap/rtabmap_viz: queue_size = 10
[ INFO] [1698270470.305769906]: /rtabmap/rtabmap_viz: approx_sync = true
[ INFO] [1698270470.305781328]: Setup depth callback
[ INFO] [1698270470.335699875]:
/rtabmap/rtabmap_viz subscribed to (approx sync):
/mavros/local_position/odom \
/slam/image \
/slam/depth_image \
/slam/camera_info
[ INFO] [1698270470.336224393]: rtabmap_viz started.
and map_assembler:
rosrun rtabmap_util map_assembler mapData:=/rtabmap/mapData
[ INFO] [1698270546.421023560]: /map_assembler: regenerate_local_grids = false
[ INFO] [1698270546.422581327]: /map_assembler(maps): map_filter_radius = 0.000000
[ INFO] [1698270546.422596489]: /map_assembler(maps): map_filter_angle = 30.000000
[ INFO] [1698270546.422603216]: /map_assembler(maps): map_cleanup = true
[ INFO] [1698270546.422610159]: /map_assembler(maps): map_always_update = false
[ INFO] [1698270546.422620116]: /map_assembler(maps): map_empty_ray_tracing = true
[ INFO] [1698270546.422630714]: /map_assembler(maps): cloud_output_voxelized = true
[ INFO] [1698270546.422637411]: /map_assembler(maps): cloud_subtract_filtering = false
[ INFO] [1698270546.422645151]: /map_assembler(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1698270546.422767979]: /map_assembler(maps): octomap_tree_depth = 16
[ INFO] [1698270546.428067750]: Rtabmap namespace is "rtabmap", deduced from topic "/rtabmap/mapData"
[ INFO] [1698270546.483586279]: Called "rtabmap/get_map_data" service, initializing cache...
[ INFO] [1698270546.484419874]: map_assembler: Updating = 0.000592s, Publishing data = 0.000138s (subscribers=false)
[ INFO] [1698270546.484487547]: Called "rtabmap/get_map_data" service, initializing cache... done! The map will be assembled on next subscriber connection.
Both looks fine.
Hello, how can i pass the "Grid/RangeMax" and "Grid/DepthDecimation" parameters as shown above, since i keep getting this error
rosrun rtabmap_util map_assembler mapData:=/rtabmap/mapData Grid/RangeMax:="100" terminate called after throwing an instance of 'ros::InvalidNameException' what(): Character [1] is not valid as the first character in Graph Resource Name [100]. Valid characters are a-z, A-Z, / and in some cases ~. Aborted (core dumped)