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RGB-D Handheld Mapping with RealSense R200

asked 2018-07-23 18:41:24 -0500

csg gravatar image

updated 2018-07-24 19:03:40 -0500

jayess gravatar image

I was following the RGB-D Handheld Mapping tutorial . First I ran the following command

$ roslaunch realsense_camera r200_nodelet_default.launch

While the realsense_camera node is running, in a new tab I ran

$ roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/camera/depth_registered/sw_registered/image_rect_raw

The RTABMAP GUI is launched as expected but there is no image.

In the terminal that I launched the RTABMAP GUI, I am receiving the following warning.

[ WARN] [1532462055.394145038]: /rtabmap/rgbd_odometry: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. 
/rtabmap/rgbd_odometry subscribed to (approx sync):
   /camera/rgb/image_rect_color,
   /camera/depth/image_raw,
   /camera/rgb/camera_info

Same thing happens when I run

$ roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/camera/depth/points/image_raw

Can you help me solve this issue? Thank you.

I am running Ros Kinetic on Ubuntu 16.04 64-bit machine.

Edit

The published topics are:

$ rostopic list
/camera/color/camera_info
/camera/color/image_raw
/camera/color/image_raw/compressed
/camera/color/image_raw/compressed/parameter_descriptions
/camera/color/image_raw/compressed/parameter_updates
/camera/color/image_raw/compressedDepth
/camera/color/image_raw/compressedDepth/parameter_descriptions
/camera/color/image_raw/compressedDepth/parameter_updates
/camera/color/image_raw/theora
/camera/color/image_raw/theora/parameter_descriptions
/camera/color/image_raw/theora/parameter_updates
/camera/depth/camera_info
/camera/depth/image_raw
/camera/depth/image_raw/compressed
/camera/depth/image_raw/compressed/parameter_descriptions
/camera/depth/image_raw/compressed/parameter_updates
/camera/depth/image_raw/compressedDepth
/camera/depth/image_raw/compressedDepth/parameter_descriptions
/camera/depth/image_raw/compressedDepth/parameter_updates
/camera/depth/image_raw/theora
/camera/depth/image_raw/theora/parameter_descriptions
/camera/depth/image_raw/theora/parameter_updates
/camera/depth/points
/camera/driver/parameter_descriptions
/camera/driver/parameter_updates
/camera/ir/camera_info
/camera/ir/image_raw
/camera/ir/image_raw/compressed
/camera/ir/image_raw/compressed/parameter_descriptions
/camera/ir/image_raw/compressed/parameter_updates
/camera/ir/image_raw/compressedDepth
/camera/ir/image_raw/compressedDepth/parameter_descriptions
/camera/ir/image_raw/compressedDepth/parameter_updates
/camera/ir/image_raw/theora
/camera/ir/image_raw/theora/parameter_descriptions
/camera/ir/image_raw/theora/parameter_updates
/camera/ir2/camera_info
/camera/ir2/image_raw
/camera/ir2/image_raw/compressed
/camera/ir2/image_raw/compressed/parameter_descriptions
/camera/ir2/image_raw/compressed/parameter_updates
/camera/ir2/image_raw/compressedDepth
/camera/ir2/image_raw/compressedDepth/parameter_descriptions
/camera/ir2/image_raw/compressedDepth/parameter_updates
/camera/ir2/image_raw/theora
/camera/ir2/image_raw/theora/parameter_descriptions
/camera/ir2/image_raw/theora/parameter_updates
/camera/nodelet_manager/bond
/rosout
/rosout_agg
/tf
/tf_static

I think the RTABMAP GUI is not looking for the right topic; there is nothing matching "/camera/depth_registered/sw_registered/image_rect_raw". What should I change the

$ roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/camera/depth_registered/sw_registered/image_rect_raw

command with?

Edit 2

As Martin suggested, I tried running

$ roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/camera/depth/image_raw

Again, there's no image in the GUI. I also ran "rostopic hz /camera/depth/image_raw" and got:

$ rostopic hz /camera/depth/image_raw
subscribed to [/camera/depth/image_raw]
average rate: 60.027
    min: 0.016s max: 0.017s std dev: 0.00024s window: 57
average rate: 60.022
    min: 0.016s max: 0.017s std dev: 0.00025s window: 117
average rate: 60.018
    min: 0.016s max: 0.017s std dev: 0.00025s window: 177
average rate: 60 ...
(more)
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Comments

Looks like first we need to check what the topic is. "rostopic list" should display it, afterwards try "rostopic echo --noarr <topic>" to see if you get some data.

Humpelstilzchen gravatar image Humpelstilzchen  ( 2018-07-24 02:48:59 -0500 )edit

Hello @Humpelstilzchen can you check my edit? Thank you.

csg gravatar image csg  ( 2018-07-24 14:20:52 -0500 )edit

Which realsense_camera package version do you have? Just tried with latest version of their indigo-devel branch and /camera/depth_registered/sw_registered/image_rect_raw should be published by realsense_camera node.

matlabbe gravatar image matlabbe  ( 2018-07-24 15:02:41 -0500 )edit
1

Just found the difference, try roslaunch realsense_camera r200_nodelet_rgbd.launch instead like in the tutorial.

matlabbe gravatar image matlabbe  ( 2018-07-24 15:04:11 -0500 )edit

@matlabbe This one worked. Thank you very much!

csg gravatar image csg  ( 2018-07-24 15:34:20 -0500 )edit

Can you please attach your images directly to the question?

jayess gravatar image jayess  ( 2018-07-24 19:03:02 -0500 )edit

1 Answer

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answered 2018-07-24 14:42:18 -0500

From all the topics you listed, /camera/depth/image_raw looks like it's the only candidate. First make sure that you're receiving something on that topic:

rostopic hz /camera/depth/image_raw

Then change your command to:

$ roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/camera/depth/image_raw
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Comments

Hello @MartinGünther please check out my Edit 2, thank you.

csg gravatar image csg  ( 2018-07-24 15:11:49 -0500 )edit
1

Just for somebody stumbling on this later: The comment by @matlabbe solved this problem.

Martin Günther gravatar image Martin Günther  ( 2018-07-24 15:50:11 -0500 )edit

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Asked: 2018-07-23 18:41:24 -0500

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Last updated: Jul 24 '18