Remote Mapping with Kinect and Turtlebot3 Waffle
Hello,
I was following the rtabmap_ros Remote Mapping tutorial.
I started with creating the freenect_throttle.launch
file inside Robot's catkin_ws/src (I am not sure this is where it should be created.)
I connected the Microsoft Kinect sensor to the robot using a USB 3.0 Hub and ran the turtlebot3_bringup node
rrlTB@rrl-tb3-4:~$ roslaunch turtlebot3_bringup turtlebot3_robot.launch
Then I launched the freenect_throttle.launch
file running the following command:
rrlTB@rrl-tb3-4:~/catkin_ws/src$ roslaunch freenect_throttle.launch rate:=5
and received the following error(s)
[ERROR] [1532714701.215154862]: Failed to load nodelet [/camera/data_throttle] of type [rtabmap_ros/data_throttle] even after refreshing the cache: According to the loaded plugin descriptions the class rtabmap_ros/data_throttle with base class type nodelet::Nodelet does not exist. Declared types are SlamGMappingNodelet depth_image_proc/convert_metric depth_image_proc/crop_foremost depth_image_proc/disparity depth_image_proc/point_cloud_xyz depth_image_proc/point_cloud_xyz_radial depth_image_proc/point_cloud_xyzi depth_image_proc/point_cloud_xyzi_radial depth_image_proc/point_cloud_xyzrgb depth_image_proc/register depthimage_to_laserscan/DepthImageToLaserScanNodelet freenect_camera/driver image_proc/crop_decimate image_proc/crop_nonZero image_proc/crop_non_zero image_proc/debayer image_proc/rectify image_proc/resize image_publisher/image_publisher image_rotate/image_rotate image_view/disparity image_view/image laser_proc/LaserProcNodelet nodelet_tutorial_math/Plus pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid stereo_image_proc/disparity stereo_image_proc/point_cloud2
[ERROR] [1532714701.215329314]: The error before refreshing the cache was: According to the loaded plugin descriptions the class rtabmap_ros/data_throttle with base class type nodelet::Nodelet does not exist. Declared types are SlamGMappingNodelet depth_image_proc/convert_metric depth_image_proc/crop_foremost depth_image_proc/disparity depth_image_proc/point_cloud_xyz depth_image_proc/point_cloud_xyz_radial depth_image_proc/point_cloud_xyzi depth_image_proc/point_cloud_xyzi_radial depth_image_proc/point_cloud_xyzrgb depth_image_proc/register depthimage_to_laserscan/DepthImageToLaserScanNodelet freenect_camera/driver image_proc/crop_decimate image_proc/crop_nonZero image_proc/crop_non_zero image_proc/debayer image_proc/rectify image_proc/resize image_publisher/image_publisher image_rotate/image_rotate image_view/disparity image_view/image laser_proc/LaserProcNodelet nodelet_tutorial_math/Plus pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid stereo_image_proc/disparity stereo_image_proc/point_cloud2
[FATAL] [1532714701.215657067]: Failed to load nodelet '/camera/data_throttle` of type `rtabmap_ros/data_throttle` to manager `camera_nodelet_manager'
[camera/data_throttle-25] process has died [pid 3050, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load rtabmap_ros/data_throttle camera_nodelet_manager rgb/image_in:=rgb/image_rect_color depth/image_in:=depth_registered/image_raw rgb/camera_info_in:=rgb/camera_info rgb/image_out:=data_throttled_image depth/image_out:=data_throttled_image_depth rgb/camera_info_out:=data_throttled_camera_info __name:=data_throttle __log:=/home/rrlTB/.ros/log/ade111ea-91c6-11e8-953e-60f677079225/camera-data_throttle-25.log].
log file: /home/rrlTB/.ros/log/ade111ea-91c6-11e8-953e-60f677079225/camera-data_throttle-25*.log
and consecutively since the /camera/data_throttle
is not loaded there is no image when I launch the rtabmapviz
using the following command:
$ roslaunch rtabmap_ros rtabmap.launch rgb_topic:=/camera/data_throttled_image depth_topic:=/camera/data_throttled_image_depth camera_info_topic:=/camera/data_throttled_camera_info compressed:=true rtabmap_args:="--delete_db_on_start"
The warning message that I am receiving on the terminal that I launched rtabmapviz
is as follows:
[ WARN] [1532715689.158667703]: /rtabmap/rtabmapviz: 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. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10).
/rtabmap/rtabmapviz subscribed to (approx sync):
/rtabmap/odom,
/camera/data_throttled_image_relay,
/camera/data_throttled_image_depth_relay,
/camera/data_throttled_camera_info,
/rtabmap/odom_info
I am not sure what I did wrong, can you help me solve this issue? Thank you.
I am running Ros Kinetic on Ubuntu 16.04 64-bit machine.
Asked by csg on 2018-07-27 13:27:54 UTC
Comments
Yes the problem is that roslaunch cannot find rtabmap_ros/data_throttle nodelet. Is
rtabmap_ros
installed on turtlebot?Asked by matlabbe on 2018-08-01 12:59:45 UTC
@matlabbe I didn't have sudo access to the Turtlebot in the lab, I contacted the lab manager and we installed
rtabmap_ros
on Turtlebot. This solved the problem, thank you.Asked by csg on 2018-08-07 11:44:27 UTC