Question

Hello all!

Please help me with my problems.

After download and install rtabmap_ros, I run

roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/camera/aligned_depth_to_color/image_raw rgb_topic:=/camera/color/image_raw camera_info_topic:=/camera/color/camera_info

Then the RTAB-MAP run,my camera is realsense D435, but it didn't have any image output.

And the terminal also have warning:

[ WARN] [1541916269.544172735]: /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/color/image_raw,
/camera/aligned_depth_to_color/image_raw,
/camera/color/camera_info
[ WARN] [1541916270.303259059]: /rtabmap/rtabmap: 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/rtabmap subscribed to (approx sync):
/rtabmap/odom,
/camera/color/image_raw,
/camera/aligned_depth_to_color/image_raw,
/camera/color/camera_info,
/rtabmap/odom_info
[ WARN] [1541916270.530203041]: /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/color/image_raw,
/camera/aligned_depth_to_color/image_raw,
/camera/color/camera_info,
/rtabmap/odom_info

Asked by Jingqiu on 2018-11-11 01:44:45 UTC

Answer 1

Did you follow this tutorial?

$ roslaunch realsense2_camera rs_camera.launch align_depth:=true
$ roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/camera/aligned_depth_to_color/image_raw rgb_topic:=/camera/color/image_raw camera_info_topic:=/camera/color/camera_info

On my system (Ubuntu 16.04 + Kinetic + rtabmap_ros binaries), it is working. Like your warning messages are saying, make sure the camera topics are published, example:

$ rostopic hz /camera/color/image_raw /camera/aligned_depth_to_color/image_raw /camera/color/camera_info
subscribed to [/camera/color/image_raw]
subscribed to [/camera/aligned_depth_to_color/image_raw]
subscribed to [/camera/color/camera_info]
                 topic                      rate   min_delta   max_delta    std_dev    window
=============================================================================================
/camera/color/image_raw                    29.73   0.03322     0.03445     0.0002011   29    
/camera/aligned_depth_to_color/image_raw   29.72   0.03025     0.03833     0.001109    29    
/camera/color/camera_info                  29.72   0.03314     0.03463     0.0002347   29

Asked by matlabbe on 2018-11-26 17:15:17 UTC

Comments

I am having the same problem. After launching rtabmap $ roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" rtabmap camera window opens for 10 seconds and then it stops. rostopics $ rostopic hz /camera/color/image_raw $ rostopic hz /camera/aligned_depth_to_color/image_raw $ rostopic hz /camera/color/camera_info show no new messages after rtabmap stops.

The rostopics are not getting published. Please tell me what to do to get them published.

Asked by pratikparwatwar on 2019-04-28 07:50:55 UTC

When you say "then it stops", is the window closing/crashing? or there is just no new frames shown? For the topics not published anymore, it is more a realsense related problem.

Asked by matlabbe on 2019-04-29 17:31:40 UTC

run RTAB-MAP but without image open

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