RTAB-Map using realsense R200, Did not receive data since 5 seconds! Make sure the input topics are published
Hi, i'm new to RTAB-Map and ros. i follow the tutorial in how to use intel realsense R200 to do rtabmap. the robot i use is turtlebot3 with intel realsense R200 with ubuntu 16.04 (amd64) ros kinetic. i already run the realsense_camera R200_nodelet_rgbd.launch in the robot. the error i get are :
/rtabmap/rtabmap subscribed to (approx sync): /odom, /camera/rgb/image_rect_color, /camera/depth_registered/sw_registered/image_rect, /camera/rgb/camera_info, /scan
the display in rviz show nothing but black screen with blue green lines.
i have check the rostopic hz for each of the topic there. the results for /camera is a bit delayed like 1 - 3 no data then data received.
the launch file i use for rtabmap :
<launch>
<group ns="rtabmap">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="frame_id" type="string" value="base_link"/>
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_scan" type="bool" value="true"/>
<remap from="odom" to="/odom"/>
<remap from="scan" to="/scan"/>
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
<remap from="depth/image" to="/camera/depth_registered/sw_registered/image_rect"/>
<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
<param name="queue_size" type="int" value="10"/>
<!-- rtabmap parameters -->
<param name="RGBD/NeighborLinkRefining" type="string" value="true"/>
<param name="RGBD/ProximityBySpace" type="string" value="true"/>
<param name="RGBD/ProximityPathMaxNeighbors" type="string" value="10"/>
<param name="RGBD/AngularUpdate" type="string" value="0.01"/>
<param name="RGBD/LinearUpdate" type="string" value="0.01"/>
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/>
<param name="Reg/Force3DoF" type="string" value="true"/>
<param name="Reg/Strategy" type="string" value="1"/>
<param name="Vis/MinInliers" type="string" value="5"/>
<param name="Vis/InlierDistance" type="string" value="0.1"/>
<param name="Rtabmap/TimeThr" type="string" value="700"/>
<param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
<param name="Grid/FromDepth" type="string" value="false"/>
</node>
</group>
</launch>
See http://official-rtab-map-forum.67519....
Could you please advise me how you set up and start everything using R200 in remote mode: https://answers.ros.org/question/3369...