noetic

Nodes

rtabmap_viz

This node starts the visualization interface of RTAB-Map. It is a wrapper of the RTAB-Map GUI library. It has the same purpose as rviz but with specific options for RTAB-Map.

Arguments

• -d "config.ini": Set a RTAB-Map ini file for GUI interface parameters. Default is "/.ros/rtabmapGUI.ini".

Subscribed Topics

• Odometry stream. Required if parameters subscribe_depth or subscribe_stereo are true and odom_frame_id is not set.

• RGB/Mono image. Should be rectified when subscribe_depth is true. Not required if parameter subscribe_stereo is true (use left/image_rect instead).

• RGB camera metadata. Not required if parameter subscribe_stereo is true (use left/camera_info instead).

• Registered depth image. Required if parameter subscribe_depth is true.

• Laser scan stream. Required if parameter subscribe_scan is true.

• Laser scan stream. Required if parameter subscribe_scan_cloud is true.

• Left RGB/Mono rectified image. Required if parameter subscribe_stereo is true.

• Left camera metadata. Required if parameter subscribe_stereo is true.

• Right Mono rectified image. Required if parameter subscribe_stereo is true.

• Right camera metadata. Required if parameter subscribe_stereo is true.

• Odometry info. Required if parameter subscribe_odom_info is true.

• RTAB-Map's statistics info.

• RTAB-Map's graph and latest node data.

• RGB-D synchronized image, only when subscribe_rgbd is true.

Parameters

• Subscribe to depth image

• Subscribe to laser scan

• Subscribe to laser scan point cloud

• Subscribe to stereo images

• Subscribe to odometry info messages

• Subsribe to rgbd_image topic.

• The frame attached to the mobile base.

• The frame attached to odometry. If empty, rtabmapviz will subscribe to odom topic to get odometry. If set, odometry is got from tf.

• Prefix to add to generated tf.

• Wait (maximum 1 sec) for transform when a tf transform is not still available.

• Size of message queue for each synchronized topic.

• Number of RGB-D cameras to use (when subscribe_rgbd is true). Well for now, a maximum of 4 cameras can be synchronized at the same time. If > 1, the rgbd_image topics should contain the camera index starting with 0. For example, if we have 2 cameras, you should set rgbd_image0 and rgbd_image1 topics.

Required tf Transforms

• usually a fixed value, broadcast periodically by a robot_state_publisher, or a tf static_transform_publisher.

• usually provided by the odometry system (e.g., the driver for the mobile base).

• the current odometry correction.