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Problem with stereo outdoor mapping using rtabmap_ros

asked 2017-07-31 12:28:56 -0600

Jorge Mendes gravatar image

updated 2017-08-29 08:44:08 -0600

Hi,

I am new to rtabmap_ros. I have installed rtabmap_ros for indigo and was following steps mentioned in http://wiki.ros.org/rtabmap_ros/Tutorials/StereoOutdoorMapping to run the demo_stereo_outdoor.launch.

Using the file stereo_outdoorB.bag the stereo outdoor mapping is done correctly as you can see in [0:00 -> 0:52]. However, if I use a my .bag file, stereo outdoor mapping is not done correctly as can be seen in [0:53 -> 1:23].

The my .bag file has the same topics as stereo_outdoorB.bag (with the exception of /tf that is published through the .launch file). The used .launch file is in: https://codeshare.io/an4O03

After run a few seconds the map is no longer updated and the following warning is displayed:

[ WARN] [1501502173.552628407, 1487604089.579723953]: rtabmap: Could not get transform from odom to base_footprint after 0.200000 seconds (for stamp=1487604089.150464)!
[ WARN] (2017-07-31 12:56:13.572) OdometryF2F.cpp:203::computeTransform() Registration failed: "Not enough inliers 0/10 (matches=225) between 0 and 0"

You can find the rosbag file that I used in the video at: sev_2017-02-20-15-20-50.bag

Topics have to be remapped according to the following:

rosbag play --clock sev_2017-02-20-15-20-50.bag /stereo/left/image_raw/compressed:=/stereo_camera/left/image_raw_throttle/compressed /stereo/right/image_raw/compressed:=/stereo_camera/right/image_raw_throttle/compressed /stereo/left/camera_info:=/stereo_camera/left/camera_info_throttle /stereo/right/camera_info:=/stereo_camera/right/camera_info_throttle

Can anyone help me out to solve this?

Best regards,
Jorge Mendes


Edit: Thanks for the help Mathieu (@matlabbe), but unfortunately I could not get the same result as you. When I run the .launch file that you provided, the following errors and warning appear:

[ERROR] [1504001352.895939351]: Skipping XML Document "/opt/ros/indigo/share/hector_pose_estimation/hector_pose_estimation_nodelets.xml" which had no Root Element.  This likely means the XML is malformed or missing.
[ERROR] [1504001353.579416634, 1487604051.226342601]: Skipping XML Document "/opt/ros/indigo/share/hector_pose_estimation/hector_pose_estimation_nodelets.xml" which had no Root Element.  This likely means the XML is malformed or missing.
[ERROR] [1504001353.621420049]: Skipping XML Document "/opt/ros/indigo/share/hector_pose_estimation/hector_pose_estimation_nodelets.xml" which had no Root Element.  This likely means the XML is malformed or missing.

[ WARN] (2017-08-29 11:09:20.416) Features2d.cpp:425::create() SURF/SIFT features cannot be used because OpenCV was not built with nonfree module. ORB is used instead.

You can see the result of the execution on my computer in the following video: RTAB-Map ROS stereo outdoor mapping problem

When I play the .bag file continues to appear warnings of the type:

[ WARN] [1504001428.405463965, 1487604078.162979112]: rtabmap: Could not get transform from odom to base_footprint after 0.200000 seconds (for stamp=1487604077.691293)!
[ WARN] [1504001428.435126342, 1487604078.193218747]: rtabmapviz: Could not get transform from odom to base_footprint after 0,200000 seconds (for stamp=1487604077,491246)!
[ WARN] [1504001428.606564760, 1487604078.364592901]: rtabmap: Could not get transform from odom to base_footprint after 0.200000 seconds (for stamp=1487604077.891221)!
[ WARN] (2017-08-29 11:10:28.657) OdometryF2M.cpp:228::computeTransform() Registration failed: "Not enough inliers 0/10 ...
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Comments

Do you have a sample rosbag to share?

matlabbe gravatar imagematlabbe ( 2017-07-31 13:59:46 -0600 )edit

Yes, I added this information in the question.

Jorge Mendes gravatar imageJorge Mendes ( 2017-08-01 19:22:43 -0600 )edit
1

@Jorge Mendes: please do not post answers unless you are answering your own question. To interact with other posters, use comments or edit your original question. For updates, also edit your question. I've merged your answer with your question text, but please keep it in mind next time.

gvdhoorn gravatar imagegvdhoorn ( 2017-08-29 05:59:23 -0600 )edit

1 Answer

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answered 2017-08-02 15:49:05 -0600

matlabbe gravatar image

updated 2017-08-29 11:36:55 -0600

Thx for the bag. The rendering problem is that in rtabmap_ros/MapCloud RVIZ display, the default decimation is 4. Set it to 1 or 2. Set also maximum depth to 30 meters instead of default 4 meters. You may also notice points under the road caused by the reflection on the car.

For the odometry lost problem, try this launch file based on yours (I included rtabmap.launch for convenience to avoid duplicating parameters between rtabmap and stereo_odometry nodes):

<launch>

   <!--
      Demo of outdoor stereo mapping. 
      From bag: 
      $ rosbag record 
            /stereo_camera/left/image_raw_throttle/compressed 
            /stereo_camera/right/image_raw_throttle/compressed 
            /stereo_camera/left/camera_info_throttle 
            /stereo_camera/right/camera_info_throttle 
            /tf

      $ roslaunch rtabmap demo_stereo_outdoor.launch
      $ rosbag play -.-clock stereo_oudoorA.bag
   -->

  <!-- Arguments -->
  <arg name="camera" default="/stereo"/>
  <arg name="frameid_robot" default="base_link"/>
  <!--OR: base_footprint -->
  <arg name="frameid_camera" default="stereo_camera"/>

  <!-- yaw, pitch, rooll -->
  <!-- Transformada entre base_link e IMU -->
  <node pkg="tf" type="static_transform_publisher" name="base_link_to_imu" args="0 0 0.3 0 0 0 base_link imu_frame 30"/>

<node pkg="tf" type="static_transform_publisher" name="base_link_to_base" args="0 0 0 0 0 0 base_footprint base_link 30"/>
  <!-- Transformada entre base_link e GPS-->
  <node pkg="tf" type="static_transform_publisher" name="base_link_to_gps" args="0 0 0.5 0 0 0 base_link gps 30"/> 

  <!-- TF: "base_link" to "camera_link" [Rotate the camera frame.] -->
  <arg name="pi/2" value="1.5707963267948966"/>
  <arg name="optical_rotate" value="0 0 0 -$(arg pi/2) 0.0 -$(arg pi/2)"/>
  <node pkg="tf" type="static_transform_publisher" name="camera_to_gimbal" args="$(arg optical_rotate) stereo_camera_base $(arg frameid_camera) 30"/>

  <!-- Tranformada entre o Gimbal e Base_link -->
  <arg name="Gimbal_rotate" value="0 0 1.75 0 0.19 0"/>
  <node pkg="tf" type="static_transform_publisher" name="Gimbal_baselink" args="$(arg Gimbal_rotate) $(arg frameid_robot) stereo_camera_base 30"/>

  <!-- Tranformada entre o Camera Frame e Leftoptical -->
  <node pkg="tf" type="static_transform_publisher" name="left_optical2stereo_camera" args="0 0 0 0 0 0 stereo_camera left_optical 30"/>


   <param name="use_sim_time" type="bool" value="True"/>

   <!-- Just to uncompress images for stereo_image_rect -->
   <node name="republish_left"  type="republish" pkg="image_transport" args="compressed in:=/stereo_camera/left/image_raw_throttle raw out:=/stereo_camera/left/image_raw_throttle_relay" />
   <node name="republish_right" type="republish" pkg="image_transport" args="compressed in:=/stereo_camera/right/image_raw_throttle raw out:=/stereo_camera/right/image_raw_throttle_relay" />

   <!-- Run the ROS package stereo_image_proc for image rectification -->
   <group ns="/stereo_camera" >
      <node pkg="nodelet" type="nodelet" name="stereo_nodelet"  args="manager"/>

      <node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc">
         <remap from="left/image_raw"    to="left/image_raw_throttle_relay"/>
         <remap from="left/camera_info"  to="left/camera_info_throttle"/>
         <remap from="right/image_raw"   to="right/image_raw_throttle_relay"/>
         <remap from="right/camera_info" to="right/camera_info_throttle"/>
         <param name="disparity_range" value="128"/>
      </node>
   </group>

   <include file="$(find rtabmap_ros)/launch/rtabmap.launch">
    <arg name="frame_id" value="base_footprint"/>
    <arg name="stereo" value="true"/>
    <arg name="approx_sync" value="true"/>
    <arg name="left_image_topic"        value="/stereo_camera/left/image_rect_color" />
    <arg name="right_image_topic"       value="/stereo_camera/right/image_rect" /> 
    <arg name="left_camera_info_topic"  value="/stereo_camera/left/camera_info_throttle" />
    <arg name="right_camera_info_topic" value="/stereo_camera/right/camera_info_throttle" />
    <arg name="rtabmap_args" value="--delete_db_on_start --Vis/EstimationType 1 --Vis/MaxDepth 0 --GFTT/QualityLevel 0.00001 --Stereo/MinDisparity 0 --Stereo/MaxDisparity 64 --Vis/RoiRatios '0 0 0 .2' --Kp/RoiRatios '0 0 0 .2' --Odom/GuessMotion true --Vis/MinInliers 10 --Vis/BundleAdjustment 1 ...
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Asked: 2017-07-31 12:28:56 -0600

Seen: 718 times

Last updated: Aug 29 '17