rtabmap_ros¶

Message types¶

• rtabmap_ros/KeyPoint
• rtabmap_ros/Link
• rtabmap_ros/OdomInfo
• rtabmap_ros/NodeData
• rtabmap_ros/Info
• rtabmap_ros/MapData
• rtabmap_ros/Point2f

rtabmap_ros/KeyPoint¶

Field:	pt (rtabmap_ros/Point2f) – size (float32) – angle (float32) – response (float32) – octave (int32) – class_id (int32) –

class cv::KeyPoint {

Point2f pt; float size; float angle; float response; int octave; int class_id;

}

#class cv::KeyPoint
#{
#    Point2f pt;
#    float size;
#    float angle;
#    float response;
#    int octave;
#    int class_id;
#}

Point2f pt
float32 size
float32 angle
float32 response
int32 octave
int32 class_id

rtabmap_ros/Link¶

Field:	fromId (int32) – toId (int32) – type (int32) – transform (geometry_msgs/Transform) – rotVariance (float32) – transVariance (float32) –

class rtabmap::Link {

int from; int to; Type type; Transform transform; float variance;

}

#class rtabmap::Link
#{
#   int from;
#   int to;
#   Type type;
#   Transform transform;
#   float variance;
#}

int32 fromId
int32 toId
int32 type
geometry_msgs/Transform transform
float32 rotVariance
float32 transVariance

rtabmap_ros/OdomInfo¶

Field:

header (std_msgs/Header) – lost (bool) – matches (int32) – inliers (int32) – variance (float32) – features (int32) – localMapSize (int32) – timeEstimation (float32) – timeParticleFiltering (float32) – stamp (float32) – interval (float32) – distanceTravelled (float32) – type (int32) – wordsKeys[] (int32) – wordsValues[] (rtabmap_ros/KeyPoint) – wordMatches[] (int32) – wordInliers[] (int32) – refCorners[] (rtabmap_ros/Point2f) – newCorners[] (rtabmap_ros/Point2f) – cornerInliers[] (int32) – transform (geometry_msgs/Transform) – transformFiltered (geometry_msgs/Transform) –

Header header

#class rtabmap::OdometryInfo
#{
#    bool lost;
#    int matches;
#    int inliers;
#    float variance;
#    int features;
#    int localMapSize;
#    float time;
#
#    int type; // 0=BOW, 1=Optical Flow, 2=ICP
#
#    // BOW odometry
#    std::multimap<int, cv::KeyPoint> words;
#    std::vector<int> wordMatches;
#    std::vector<int> wordInliers;
#
#    // Optical Flow odometry
#    std::vector<cv::Point2f> refCorners;
#    std::vector<cv::Point2f> newCorners;
#    std::vector<int> cornerInliers;
#}

bool lost
int32 matches
int32 inliers
float32 variance
int32 features
int32 localMapSize
float32 timeEstimation
float32 timeParticleFiltering
float32 stamp
float32 interval
float32 distanceTravelled

int32 type

int32[] wordsKeys
KeyPoint[] wordsValues
int32[] wordMatches
int32[] wordInliers

Point2f[] refCorners
Point2f[] newCorners
int32[] cornerInliers

geometry_msgs/Transform transform
geometry_msgs/Transform transformFiltered

rtabmap_ros/NodeData¶

Field:

id (int32) – mapId (int32) – weight (int32) – stamp (float64) – label (string) – pose (geometry_msgs/Pose) – image[] (uint8) – depth[] (uint8) – fx[] (float32) – fy[] (float32) – cx[] (float32) – cy[] (float32) – baseline (float32) – localTransform[] (geometry_msgs/Transform) – laserScan[] (uint8) – laserScanMaxPts (int32) – userData[] (uint8) – wordIds[] (int32) – wordKpts[] (rtabmap_ros/KeyPoint) – wordPts (sensor_msgs/PointCloud2) –

int32 id
int32 mapId
int32 weight
float64 stamp
string label

# Pose from odometry not corrected
geometry_msgs/Pose pose

# compressed image in /camera_link frame
# use rtabmap::util3d::uncompressImage() from "rtabmap/core/util3d.h"
uint8[] image

# compressed depth image in /camera_link frame
# use rtabmap::util3d::uncompressImage() from "rtabmap/core/util3d.h"
uint8[] depth

# Camera models
float32[] fx
float32[] fy
float32[] cx
float32[] cy
float32 baseline
# local transform (/base_link -> /camera_link)
geometry_msgs/Transform[] localTransform

# compressed 2D laser scan in /base_link frame
# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
uint8[] laserScan
int32 laserScanMaxPts

# compressed user data
# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
uint8[] userData

# std::multimap<wordId, cv::Keypoint>
# std::multimap<wordId, pcl::PointXYZ>
int32[] wordIds
KeyPoint[] wordKpts
sensor_msgs/PointCloud2 wordPts

rtabmap_ros/Info¶

Field:

header (std_msgs/Header) – refId (int32) – loopClosureId (int32) – localLoopClosureId (int32) – loopClosureTransform (geometry_msgs/Transform) – posteriorKeys[] (int32) – posteriorValues[] (float32) – likelihoodKeys[] (int32) – likelihoodValues[] (float32) – rawLikelihoodKeys[] (int32) – rawLikelihoodValues[] (float32) – weightsKeys[] (int32) – weightsValues[] (int32) – statsKeys[] (string) – statsValues[] (float32) – localPath[] (int32) –

RTAB-Map info with statistics

########################################
# RTAB-Map info with statistics 
########################################

Header header

int32 refId
int32 loopClosureId
int32 localLoopClosureId

geometry_msgs/Transform loopClosureTransform

####
# For statistics...
####
# std::map<int, float> posterior;
int32[] posteriorKeys
float32[] posteriorValues

# std::map<int, float> likelihood;
int32[] likelihoodKeys
float32[] likelihoodValues

# std::map<int, float> rawLikelihood;
int32[] rawLikelihoodKeys
float32[] rawLikelihoodValues

# std::map<int, int> weights;
int32[] weightsKeys
int32[] weightsValues

# std::map<std::string, float> stats
string[] statsKeys
float32[] statsValues

# std::vector<int> localPath
int32[] localPath

rtabmap_ros/MapData¶

Field:	header (std_msgs/Header) – mapToOdom (geometry_msgs/Transform) – posesId[] (int32) – poses[] (geometry_msgs/Pose) – links[] (rtabmap_ros/Link) – nodes[] (rtabmap_ros/NodeData) –

Header header

##################
# Optimized graph
##################
##
# /map to /odom transform
# Always identity when the graph is optimized from the latest pose.
##
geometry_msgs/Transform mapToOdom

# The poses
int32[] posesId
geometry_msgs/Pose[] poses

# The links
Link[] links

##################
# Graph data
##################
NodeData[] nodes

rtabmap_ros/Point2f¶

Field:	x (float32) – y (float32) –

class cv::Point2f {

float x; float y;

}

#class cv::Point2f
#{
#    float x;
#    float y;
#}

float32 x
float32 y

Service types¶

• rtabmap_ros/GetMap
• rtabmap_ros/SetGoal
• rtabmap_ros/ResetPose
• rtabmap_ros/SetLabel
• rtabmap_ros/PublishMap
• rtabmap_ros/ListLabels

rtabmap_ros/GetMap¶

Field (Request):
	global (bool) – optimized (bool) – graphOnly (bool) –
Field (Response):
	data (rtabmap_ros/MapData) –

request

#request
bool global
bool optimized
bool graphOnly
---
#response
MapData data

rtabmap_ros/SetGoal¶

Field (Request):
	node_id (int32) – node_label (string) –

request

Set either node_id or node_label

#request
# Set either node_id or node_label
int32 node_id
string node_label
---
#response 

rtabmap_ros/ResetPose¶

Field (Request):
	x (float32) – y (float32) – z (float32) – roll (float32) – pitch (float32) – yaw (float32) –

request

#request
float32 x
float32 y
float32 z
float32 roll
float32 pitch
float32 yaw
---
#response

rtabmap_ros/SetLabel¶

Field (Request):
	node_id (int32) – node_label (string) –

request

Set node_id = 0 to set label to last node

#request
# Set node_id = 0 to set label to last node
int32 node_id
string node_label
---
#response 

rtabmap_ros/PublishMap¶

Field (Request):
	global (bool) – optimized (bool) – graphOnly (bool) –

request

#request
bool global
bool optimized
bool graphOnly
---
#response

rtabmap_ros/ListLabels¶

Field (Response):
	labels[] (string) –

#request
---
#response 
string[] labels