Ask Your Question
0

orbbec astra camera run the rtabmap

asked 2019-05-21 02:14:54 -0500

drink gravatar image

updated 2019-05-21 02:54:18 -0500

gvdhoorn gravatar image

I used the orbbec camera to run the the new version rtabmap 0.17.6 error! but the older version rtabmap was ok.. is the camera data not met the rtabmap input data???

[ INFO] [1551257273.507102516]: rtabmap 0.17.6 started...
[ INFO] [1551257273.518923499]: Starting color stream.
[ INFO] [1551257274.112980126]: rtabmap (1): Rate=1.00s, Limit=0.700s, RTAB-Map=0.1196s, Maps update=0.0293s pub=0.0040s (local map=1, WM=1)
[ INFO] [1551257274.229862717]: Using plugin "static_layer"
[ INFO] [1551257274.261771882]: Requesting the map...
[ INFO] [1551257274.481063797]: Resizing costmap to 421 X 421 at 0.050000 m/pix
[ INFO] [1551257274.580789996]: Received a 421 X 421 map at 0.050000 m/pix
[ INFO] [1551257274.606411614]: Using plugin "obstacle_layer"
[ INFO] [1551257274.620584008]: Subscribed to Topics: scan
[ INFO] [1551257274.754579212]: Using plugin "inflation_layer"
[ INFO] [1551257275.014146790]: Loading from pre-hydro parameter style
[ INFO] [1551257275.057684199]: Using plugin "obstacle_layer"
[ INFO] [1551257275.066937460]: Subscribed to Topics: scan
[FATAL] (2019-02-27 16:47:55.101) Link.cpp:82::setInfMatrix() Condition (uIsFinite(infMatrix.at(1,1)) && infMatrix.at(1,1)>0) not met! [Linear information should not be null! Value=inf (set to 1 if unknown).]
terminate called after throwing an instance of 'UException'
what(): [FATAL] (2019-02-27 16:47:55.101) Link.cpp:82::setInfMatrix() Condition (uIsFinite(infMatrix.at(1,1)) && infMatrix.at(1,1)>0) not met! [Linear information should not be null! Value=inf (set to 1 if unknown).]
[ INFO] [1551257275.183047576]: Using plugin "inflation_layer"
edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
1

answered 2019-05-21 17:15:01 -0500

matlabbe gravatar image

The new version added more checks to make sure input odometry covariance is good for graph optimization. Two workarounds:

  1. If you can edit the node publishing odometry, make sure all values on diagonal of the covariance matrix are non-null, even if you are in 2D.
  2. Set odom_frame_id for rtabmap node (with fixed frame of odometry), and set manually odom_tf_angular_variance and odom_tf_linear_variance, which would correspond to the values on the diagonal of the covariance matrix of odometry topic.

cheers,
Mathieu

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

Stats

Asked: 2019-05-21 02:14:54 -0500

Seen: 18 times

Last updated: May 21