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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

odom (nav_msgs/Odometry)

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

rgb/image (sensor_msgs/Image)

• 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_info (sensor_msgs/CameraInfo)

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

depth/image (sensor_msgs/Image)

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

scan (sensor_msgs/LaserScan)

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

scan_cloud (sensor_msgs/PointCloud2)

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

left/image_rect (sensor_msgs/Image)

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

left/camera_info (sensor_msgs/CameraInfo)

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

right/image_rect (sensor_msgs/Image)

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

right/camera_info (sensor_msgs/CameraInfo)

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

odom_info (rtabmap_msgs/OdomInfo)

• Odometry info. Required if parameter subscribe_odom_info is true.

info (rtabmap_msgs/Info)

• RTAB-Map's statistics info.

mapData (rtabmap_msgs/MapData)

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

rgbd_image (rtabmap_msgs/RGBDImage)

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

Parameters

~subscribe_depth (bool, default: "false")

• Subscribe to depth image

~subscribe_scan (bool, default: "false")

• Subscribe to laser scan

~subscribe_scan_cloud (bool, default: "false")

• Subscribe to laser scan point cloud

~subscribe_stereo (bool, default: "false")

• Subscribe to stereo images

~subscribe_odom_info (bool, default: "false")

• Subscribe to odometry info messages

~subscribe_rgbd (bool, default: "false")

• Subsribe to rgbd_image topic.

~frame_id (string, default: "base_link")

• The frame attached to the mobile base.

~odom_frame_id (string, default: "")

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

~tf_prefix (string, default: "")

• Prefix to add to generated tf.

~wait_for_transform (bool, default: "false")

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

~queue_size (int, default: 10)

• Size of message queue for each synchronized topic.

~rgbd_cameras (int, default: 1)

• 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

base_link → <the frame attached to sensors of incoming data>

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

odom → base_link

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

map → odom

• the current odometry correction.