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Realsense D455 .bag file into RTAB MAP

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Graysonwylie

Hello,

I have recorded a rosbag file using the D455 camera, and I would like to build a 3d point cloud using the slam feature in RTAB MAP. I have created a launch file that should subscribe to the bag file topics that I need, but the terminal running the launch file keeps telling me that RTAB MAP isn't getting any data from those topics. I have checked to make sure the topics are getting published when the bag files run, and they are. below is my launch file.

 

<launch>
  <node pkg="rtabmap_ros" type="rtabmap" name="rtabmap" output="screen">
    <param name="subscribe_depth" type="bool" value="true"/>
    <param name="subscribe_rgb" type="bool" value="true"/>
    <param name="subscribe_scan" type="bool" value="true"/>
    <param name="frame_id" type="string" value="base_link"/>
    <param name="odom_frame_id" type="string" value="odom"/>
    <remap from="rgb/image" to="/camera/color/image_raw"/>
    <remap from="depth/image" to="/camera/depth/image_rect_raw"/>
    <remap from="rgb/camera_info" to="/camera/color/camera_info"/>
    <remap from="scan" to="/scan"/>
  </node>
 
  <node pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen">
    <param name="frame_id" type="string" value="base_link"/>
    <param name="odom_frame_id" type="string" value="odom"/>
    <remap from="rgb/image" to="/camera/color/image_raw"/>
    <remap from="depth/image" to="/camera/depth/image_rect_raw"/>
    <remap from="odom" to="/odom"/>
  </node>
 
  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/configuration.rviz"/>
</launch>
 
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