cannot build rtabmapviz about rtabmap_ros

[nanohaddad]

I am also unable to subscribe to the left/image_rect and right/image_rect topics when I launch rtabmap from source. Not sure if these issues are related. The same launch file works fine when I launch the apt-get version of RTAB.

From the source build, the package launches without error, but does not show any results. The RVIZ template is pointing to image_rect_color. I changed the remap to left/image_rect from left/image_rect_color. Is this hard coded anywhere in RTAB by chance?

[matlabbe]

For the build error, I've pushed the fix above. Thx to point out!

The stereo topic names are still the same (for rtabmap, rtabmapviz and stereo_odometry nodes). Example to remap the stereo topics:

<!-- subscribe_stereo only required for rtabmap and rtabmapviz nodes --> 
<param name="subscribe_stereo" type="bool" value="true"/>

<remap from="left/image_rect"   to="/stereo_camera/left/image_rect_color"/>
<remap from="right/image_rect"  to="/stereo_camera/right/image_rect"/>
<remap from="left/camera_info"  to="/stereo_camera/left/camera_info"/>
<remap from="right/camera_info" to="/stereo_camera/right/camera"/>

I tried again the stereo tutorial and it still works. What is your rqt_graph?

[nanohaddad]

Thanks, now Im getting the following errors on build:

/home/testing/test/src/rtabmap_ros/src/CoreWrapper.cpp: In member function ‘bool CoreWrapper::setGoalCallback(rtabmap_ros::SetGoal::Request&, rtabmap_ros::SetGoal::Response&)’:
/home/testing/test/src/rtabmap_ros/src/CoreWrapper.cpp:1923:6: error: ‘rtabmap_ros::SetGoal::Response’ has no member named ‘planning_time’
res.planning_time = planningTime;
^
[100%] Built target rgbd_odometry
/home/testing/test/src/rtabmap_ros/src/GuiWrapper.cpp: In member function ‘virtual void GuiWrapper::handleEvent(UEvent_)’:
/home/testing/test/src/rtabmap_ros/src/GuiWrapper.cpp:444:129: error: ‘rtabmap_ros::SetGoal::Response’ has no member named ‘planning_time’
this->post(new RtabmapGlobalPathEvent(setGoalSrv.request.node_id, setGoalSrv.request.node_label, poses, setGoalSrv.response.planning_time));
^
make[2]: *_* [rtabmap_ros/CMakeFiles/rtabmap.dir/src/CoreWrapper.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....

[matlabbe]

Sorry, the change I did in SetGoal service was missing in the previous commit.

cheers