Question

I am having on ROS Kinetic on Ubuntu 16.04. I am trying to run Kinect 360 on ROS to get regular as well as depth images. I have installed freenect and rtabmap using following commands.

sudo apt-get install -y ros-kinetic-freenect-camera ros-kinetic-freenect-launch
sudo apt-get install -y ros-kinetic-freenect-stack ros-kinetic-libfreenect
sudo apt-get install ros-kinetic-rtabmap-ros

Now, in CASE 1. running roscore in 1st terminal then launching freenect in 2nd terminal.

roscore
roslaunch freenect_launch freenect.launch depth_registration:=true

In 3rd terminal launching rtabmap.

roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start"enter code here

the rtabmap window opens but it doesn't record any images and in the freenect terminal window the following oputput repeats.

[ INFO] [1556638758.135309207]: Stopping device RGB and Depth stream flush.
[ INFO] [1556638780.594793009]: Device timed out. Flushing device.
[ INFO] [1556638780.595096944]: Starting a 3s RGB and Depth stream flush.

and in rtabmap terminal the following warnings repeat.

[WARN] [1556639251.666465373]: /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/rgb/image_rect_color,
   /camera/depth_registered/image_raw,
   /camera/rgb/camera_info
[ WARN] [1556639252.656543038]: /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/rgb/image_rect_color,
   /camera/depth_registered/image_raw,
   /camera/rgb/camera_info,
   /rtabmap/odom_info

Now in CASE2

running roscore in 1st terminal

roscore

and launching rtabmap 2nd.

roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start"

and then in 3rd terminal launching freenect

roslaunch freenect_launch freenect.launch depth_registration:=true

rtabmap window opens up and starts recording images for approximately 7-10 seconds and then stops reconding new images. Now in freenect terminal the following error occurs

[INFO] [1556639771.038578426]: Stopping device RGB and Depth stream flush.
terminate called after throwing an instance of 'std::runtime_error'
  what():  freenect_process_events error
[camera/camera_nodelet_manager-1] process has died [pid 7765, exit code -6, cmd /opt/ros/kinetic/lib/nodelet/nodelet manager __name:=camera_nodelet_manager __log:=/home/pratik/.ros/log/68acbe86-6b59-11e9-a105-70778130b1b9/camera-camera_nodelet_manager-1.log].
log file: /home/pratik/.ros/log/68acbe86-6b59-11e9-a105-70778130b1b9/camera-camera_nodelet_manager-1*.log

and the output of rtabmap terminal

[ INFO] [1556639780.054831440]: rtabmap (8): Rate=1.00s, Limit=0.000s, RTAB-Map=0.0499s, Maps update=0.0008s pub=0.0004s (local map=1, WM=1)
[ INFO] [1556639780.158713000]: Odom: quality=83, std dev=0.006837m|0.057880rad, update time=0.127539s
[ INFO] [1556639780.256065956]: Odom: quality=77, std dev=0.008145m|0.062481rad, update time=0.094164s
[ INFO] [1556639780.362580483]: Odom: quality=90, std dev=0.004738m|0.057249rad, update time=0.100875s
[ INFO] [1556639780.462297168]: Odom: quality=75, std dev=0.005483m|0.050833rad, update time=0.096905s
[ INFO] [1556639780.565689327]: Odom: quality=74, std dev=0.007174m|0.072406rad, update time=0.095736s

Please let me know what can be the problem. It is getting harder to anticipate what could be the solution. Please let me know if I need to check anything more.

Asked by pratikparwatwar on 2019-04-30 11:14:34 UTC

rtabmap stops recording images after 7-10 seconds

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