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RTABMAP using Realsense D435

Hi, I am new to ROS. I am trying to do mapping using an intel realsense D435 camera using ROS. I followed the procedure given in the RTABMAP's hand held mapping page over here :

http://wiki.ros.org/rtabmap_ros/Tutorials/HandHeldMapping but it doesn't seem to be working for me. Please help me with this.

Edit: I tried the following commands in the same order:

$ 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 approx_sync:=false

and after that I expected to get the output as shown in the page: http://wiki.ros.org/rtabmap_ros/Tutorials/HandHeldMapping where it says, " you should see something like this:"

But, I am not getting the same output as has been shown there. Instead I am getting a blank RTABMAP window which shows me nothing.

Asked by devel on 2019-03-06 02:10:48 UTC

Comments

but it doesn't seem to be working for me

that's of course very annoying, that "it doesn't seem to be working" for you.

With the amount of information that you have provided, all we can suggest is to try again and/or try turning it off-and-on again.

Asked by gvdhoorn on 2019-03-06 02:16:03 UTC

It would help tremendously if you could describe what you have tried, what you expected would happen, what you have observed actually happened and why you believe there is something wrong.

WIthout additional information, I'm afraid we can't help you.

Asked by gvdhoorn on 2019-03-06 02:16:50 UTC

I tried the same after restarting my laptop. Still doesn't work. Can you suggest something please.

Asked by devel on 2019-03-06 03:22:26 UTC

There are probably some warnings in the terminal telling that rtabmap didn't receive data since 5 sec... Verify if your camera is publishing the required topics listed in those warnings.

Asked by matlabbe on 2019-03-06 09:26:58 UTC

Yes, I am getting warnings like this. How do I solve this? Can someone help me with this?

Asked by devel on 2019-03-06 13:58:25 UTC

beside /rtabmap/odom, check the other topics (with rostopic hz) listed in the warning, if one is not published, the problem comes from the node publishing that topic.

Asked by matlabbe on 2019-03-08 18:16:53 UTC

I had some warnings while excuting $ roslaunch realsense2_camera rs_camera.launch align_depth:=true and I had solved them by modifying the parameters in the launch files the default values from the original values were good and changed my cable to a better one as I have some errors related USB SCP over flow Hardware error, and check that all the topic are listed when you write$ rostopic list and they are correct as you wrote them here: $ 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 approx_sync:=false Try to visualize in rivz in order to find if the topics have data or no

Asked by hany606 on 2019-07-29 12:37:13 UTC

To know if topic are atually published (not just listed), use rostopic hz /my_topic_name: 

rostopic hz /camera/aligned_depth_to_color/image_raw /camera/color/image_raw /camera/color/camera_info

Asked by matlabbe on 2019-07-30 08:49:24 UTC

Answers