RTAB-Map using realsense R200, Did not receive data since 5 seconds! Make sure the input topics are published

asked 2019-02-19 01:07:29 -0600

mvinsens gravatar image

updated 2019-02-23 16:28:35 -0600

matlabbe gravatar image

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>
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Comments

matlabbe gravatar imagematlabbe ( 2019-02-23 16:29:23 -0600 )edit

Could you please advise me how you set up and start everything using R200 in remote mode: https://answers.ros.org/question/3369...

Markus gravatar imageMarkus ( 2019-11-06 13:51:11 -0600 )edit