Remote Mapping with Kinect and Turtlebot3 Waffle

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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 ...