Problem with starting of room map construction process using Intel RealSense R200
Hello. I've got 3D camera Intel RealSense R200, but I haven't got TurtleBot. The operating system is Ubuntu 14.04.5 kernel 4.4.0-130-generic. ROS distro: Indigo. The following information was used for camera configuration and room map construction: http://wiki.ros.org/rtabmap_ros/Tutor... . http://wiki.ros.org/rtabmap_ros/Tutor... .
Starting procedure is the following:
roscore
export TURTLEBOT_3D_SENSOR=r200
roslaunch turtlebot_bringup minimal.launch
export TURTLEBOT_3D_SENSOR=r200
roslaunch rtabmap_ros demo_turtlebot_mapping.launch args:="--delete_db_on_start" rgbd_odometry:=true depth_topic:=/camera/depth_registered/sw_registered/image_rect_raw
roslaunch rtabmap_ros demo_turtlebot_rviz.launch
Launch files log:
$ roslaunch rtabmap_ros demo_turtlebot_mapping.launch args:="--delete_db_on_start" rgbd_odometry:=true depth_topic:=/camera/depth_registered/sw_registered/image_rect_raw
... logging to /home/hulk/.ros/log/79eae048-8a58-11e8-818e-240a64bf4b09/roslaunch-hulk-X550CL-2002.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://192.168.43.162:37408/
SUMMARY
========
PARAMETERS
* /camera/camera_nodelet_manager/num_worker_threads: 4
* /camera/depth_rectify_depth/interpolation: 0
* /camera/disparity_depth/max_range: 4.0
* /camera/disparity_depth/min_range: 0.5
* /camera/disparity_registered_sw/max_range: 4.0
* /camera/disparity_registered_sw/min_range: 0.5
* /camera/driver/base_frame_id: camera_link
* /camera/driver/camera_type: R200
* /camera/driver/color_fps: 30
* /camera/driver/color_frame_id: camera_rgb_frame
* /camera/driver/color_height: 480
* /camera/driver/color_optical_frame_id: camera_rgb_optica...
* /camera/driver/color_width: 640
* /camera/driver/depth_fps: 30
* /camera/driver/depth_frame_id: camera_depth_frame
* /camera/driver/depth_height: 360
* /camera/driver/depth_optical_frame_id: camera_depth_opti...
* /camera/driver/depth_width: 480
* /camera/driver/enable_color: True
* /camera/driver/enable_depth: True
* /camera/driver/enable_fisheye: False
* /camera/driver/enable_imu: False
* /camera/driver/enable_ir2: True
* /camera/driver/enable_ir: True
* /camera/driver/enable_pointcloud: False
* /camera/driver/enable_tf: False
* /camera/driver/fisheye_frame_id: camera_fisheye_frame
* /camera/driver/fisheye_optical_frame_id: camera_fisheye_op...
* /camera/driver/imu_frame_id: camera_imu_frame
* /camera/driver/imu_optical_frame_id: camera_imu_optica...
* /camera/driver/ir2_frame_id: camera_ir2_frame
* /camera/driver/ir2_optical_frame_id: camera_ir2_optica...
* /camera/driver/ir_frame_id: camera_ir_frame
* /camera/driver/ir_optical_frame_id: camera_ir_optical...
* /camera/driver/mode: manual
* /camera/driver/serial_no:
* /camera/driver/usb_port_id:
* /camera/points_xyzrgb_sw_registered/queue_size: 100
* /depthimage_to_laserscan/output_frame_id: /camera_depth_frame
* /depthimage_to_laserscan/range_min: 0.45
* /depthimage_to_laserscan/scan_height: 10
* /move_base/DWAPlannerROS/acc_lim_theta: 2.0
* /move_base/DWAPlannerROS/acc_lim_x: 1.0
* /move_base/DWAPlannerROS/acc_lim_y: 0.0
* /move_base/DWAPlannerROS/forward_point_distance: 0.325
* /move_base/DWAPlannerROS/global_frame_id: odom
* /move_base/DWAPlannerROS/goal_distance_bias: 24.0
* /move_base/DWAPlannerROS/max_rot_vel: 5.0
* /move_base/DWAPlannerROS/max_scaling_factor: 0.2
* /move_base/DWAPlannerROS/max_trans_vel: 0.5
* /move_base/DWAPlannerROS/max_vel_x: 0.5
* /move_base/DWAPlannerROS/max_vel_y: 0.0
* /move_base/DWAPlannerROS/min_rot_vel: 0.4
* /move_base/DWAPlannerROS/min_trans_vel: 0.1
* /move_base/DWAPlannerROS/min_vel_x: 0.0
* /move_base/DWAPlannerROS/min_vel_y: 0.0
* /move_base/DWAPlannerROS/occdist_scale: 0.5
* /move_base/DWAPlannerROS/oscillation_reset_dist: 0.05
* /move_base/DWAPlannerROS/path_distance_bias: 64.0
* /move_base/DWAPlannerROS/publish_cost_grid_pc: True
* /move_base/DWAPlannerROS/publish_traj_pc: True
* /move_base/DWAPlannerROS/rot_stopped_vel: 0.4
* /move_base/DWAPlannerROS/scaling_speed: 0.25
* /move_base/DWAPlannerROS/sim_time: 1.0
* /move_base/DWAPlannerROS/stop_time_buffer: 0.2
* /move_base/DWAPlannerROS/trans_stopped_vel: 0.1
* /move_base/DWAPlannerROS/vtheta_samples: 20
* /move_base/DWAPlannerROS/vx_samples: 6
* /move_base/DWAPlannerROS/vy_samples: 1
* /move_base/DWAPlannerROS/xy_goal_tolerance: 0.15
* /move_base/DWAPlannerROS/yaw_goal_tolerance: 0.3
* /move_base/GlobalPlanner/allow_unknown: True
* /move_base/GlobalPlanner/cost_factor: 3.0
* /move_base/GlobalPlanner/default_tolerance: 0.0
* /move_base/GlobalPlanner/lethal_cost: 253
* /move_base/GlobalPlanner/neutral_cost: 50
* /move_base/GlobalPlanner/old_navfn_behavior: False
* /move_base/GlobalPlanner/planner_costmap_publish_frequency: 0.0
* /move_base/GlobalPlanner/planner_window_x: 0.0
* /move_base/GlobalPlanner/planner_window_y: 0.0
* /move_base/GlobalPlanner/publish_potential: True
* /move_base ...