run RTAB-MAP but without image open

asked 2018-11-11 00:49:09 -0500

Jingqiu
1 ●2 ●2 ●3

updated 2018-11-11 06:11:26 -0500

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

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

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Comments

Did you start the ROS node for your real sense sensor? What are the topics it's publishing too. To check can you show us the output of rostopic list.

PeteBlackerThe3rd ( 2018-11-11 08:11:18 -0500 )edit

I am troubled with the same problem

ＹＵＵ ( 2018-11-26 01:51:43 -0500 )edit

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$ 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

$ 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

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.

pratikparwatwar ( 2019-04-28 07:50:55 -0500 )edit

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.

matlabbe ( 2019-04-29 17:31:40 -0500 )edit

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run RTAB-MAP but without image open

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