zhsuan/decombot

DecomBot

Run RTAB-Map with DecomBot bag file

Setup

ROS installation: http://wiki.ros.org/ROS/Installation
rtabmap-ros installation: https://github.com/introlab/rtabmap_ros

Notes

1. Originally recorded bag file is a large file with totally 975s. To test with shorter bag file, you can split bag file at first.
2. Because depth images are not registered in recorded bag file, we use registration.launch to register depth images to RGB images.
3. Use rtabmap-databaseViewer to regenerate 3D maps.

Split bag file

command

1. rosbag filter input.bag output.bag "t.secs >= [t1] and t.secs <= [t2]"
2. rosbag record -a --split --duration=[seconds]

bag file

from start time: 1610938942 ( 0s)
to end time: 1610939917 (975s)

example

Split bag file during 250s~550s (pipe):
rosbag filter [input.bag] [output.bag] "t.secs >= 1610939191 and t.secs <= 1610939492"

Execute

1. run RTAB-Map with registration roslaunch rtabmap_registeration.launch

(or run launch file seperately if needed)
(1) run RTAB-Map
roslaunch rtabmap_ros rtabmap.launch
rtabmap_args:="--delete_db_on_start"
depth_topic:=/depth_registered/image_rect
rgb_topic:=/camera/color/image_raw
camera_info_topic:=/camera/color/camera_info
approx_sync:=true
use_sim_time:=true
(2) run registration
roslaunch registration.launch

2. run rosbag
   rosbag play --clock [bag file]

Change 3D reconstruction

rtabmap-databaseViewer ~/.ros/rtabmap.db

Discussion and problems

1. Accumulated errors
   Odometry errors will accumulate as time pass by, it may need other odometry methods or seperate a long process to several short ones.
2. Lose tracking
   RTAB-Map will lose tracking in sometimes, causing 3D reconstruction stopped.
3. Meshing
   Meshing results depend on the parameters and methods. It can be improved by change paramters provided by RTAB-Map or use PCL.

Basics and references

ROS: http://wiki.ros.org/ROS/Tutorials
RTAB-Map ros: http://wiki.ros.org/rtabmap_ros
PCL: https://pcl.readthedocs.io/projects/tutorials/en/latest/index.html