introlab
ROS2 Humble runs rtabmap slam, there is data in /mapData but no 3D map appears in rviz2
Hi everyone, I'm using ros2-humble to test rtabmap slam and navigation, using [sudo apt install ros-humble-rtabmap-*] to install the algorithm with version number 0.21.4-2 jammy.20240416. My steps are as follows:
- Start lidar
- Start the binocular camera
- Start rtabmap slam
During the test, it was found that everything ran normally, with 0 errors and 0 warnings. I cannot view the 3D map in rviz2. Is there any problem with the operation?
You have "Cloud from scan" checked in MapCloud plugin, to see the camera cloud, uncheck that.
You have "Cloud from scan" checked in MapCloud plugin, to see the camera cloud, uncheck that.
I want to prove in this way that there is no problem with rtabmap navigation. When I try to open an rviz2 again and cancel Cloud from scan, I still cannot display the 3D map? Is it a problem with the Raspberry Pi?
I am not aware of your full config, but there could be a possibility that rtabmap node is not subscribed to image data. You can also use rtabmap-databaseViewer, to verify that you have image and scan data in the database.
I am not aware of your full config, but there could be a possibility that rtabmap node is not subscribed to image data. You can also use rtabmap-databaseViewer, to verify that you have image and scan data in the database.
When I perform the above steps, running in another terminal: ros2 topic info /Mapdata shows that a node is subscribed to it. In this case, can we rule out the reason that the rtabmap node may not be subscribed to image data? I haven't tried rtabmap-databaseViewer yet. Based on the output of ros2 topic echo /Mapdata, it should be possible to determine that there is image data in the database. If you need more information, please let me add it. (;_;)
With MapData msg, if nodes has image field left set in their SensorData, then yes images are there:
http://docs.ros.org/en/noetic/api/rtabmap_msgs/html/msg/SensorData.html