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Did you follow this tutorial?

$ roslaunch realsense2_camera rs_camera.launch align_depth:=true
$ roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/camera/aligned_depth_to_color/image_raw rgb_topic:=/camera/color/image_raw camera_info_topic:=/camera/color/camera_info

On my system (Ubuntu 16.04 + Kinetic + rtabmap_ros binaries), it is working. Like your warning messages are saying, make sure the camera topics are published, example:

$ rostopic hz /camera/color/image_raw /camera/aligned_depth_to_color/image_raw /camera/color/camera_info
subscribed to [/camera/color/image_raw]
subscribed to [/camera/aligned_depth_to_color/image_raw]
subscribed to [/camera/color/camera_info]
                 topic                      rate   min_delta   max_delta    std_dev    window
=============================================================================================
/camera/color/image_raw                    29.73   0.03322     0.03445     0.0002011   29    
/camera/aligned_depth_to_color/image_raw   29.72   0.03025     0.03833     0.001109    29    
/camera/color/camera_info                  29.72   0.03314     0.03463     0.0002347   29