[SOLVED] RTABMAP does not generate accumulated 3d points in rgbd mode

edit

Hi,

I am running RTABMAP against a stereo camera that provides left and right and depth images.

When I run RTABMAP in stereo_mode (based on left and right image pairs) RTABMAP is working OK (e.g. I can see the 3d point cloud being build in Rviz via the topic /rtabmap/mapData)

Now I want to test RTABMAP in rgbd mode (based on right and depth image pairs).

In this mode the rgbd_odometry runs OK, and produces odometry results (snippet1). I also echo the /rtabmap/odom topic and I can see published data.

But nothing is published for topic /rtabmap/mapData.

RTABMAP does publish data for topic /rtabmap/odom_local_map (see snippet2)

To debug the problem, I list odom_local_map in Rviz and set the field "Fixed Frame" to "odom", but nothing is displayed in the 3d pane.

How can I debug the problem, to see the accumulated 3d point cloud in Rviz?

Or, how can I debug the problem, to see intermediate results such as odom_local_map in Rviz?

Thanks,

Avner

EDIT:

The RTABMAP launch files are listed in snippet3, snippet4

The ros related processes are in snippet5

snippet1 - rgb_odometry runs ok

[ INFO] [1565916017.025276774, 1556057414.818000078]: Odom: quality=508, std dev=0.000465m|0.000032rad, update time=0.028195s
[ INFO] [1565916017.052003568, 1556057414.818000078]: Odom: quality=513, std dev=0.000365m|0.000032rad, update time=0.026503s
[ INFO] [1565916017.117518421, 1556057414.884999990]: Odom: quality=513, std dev=0.000324m|0.000032rad, update time=0.027049s...

snippet2 - I can echo topic from /rtabmap/odom_local_map

header: 
  seq: 6484
  stamp: 
    secs: 1556058813
    nsecs: 713999987
  frame_id: "odom"
height: 1
width: 550
fields: 
  - 
    name: "x"
    offset: 0
    datatype: 7
    count: 1
  - 
    name: "y"
    offset: 4
    datatype: 7
    count: 1
  - 
    name: "z"
    offset: 8
    datatype: 7
    count: 1
  - 
    name: "rgb"
    offset: 16
    datatype: 7
    count: 1
is_bigendian: False
point_step: 32
row_step: 17600
data: [55, 45, 144, 194, 0, 0, 0, 0, 14, 209, 130 ...

snapshot3 - RTABMAP launch file

<?xml version="1.0"?>
<launch>
    <!-- Choose visualization -->
    <arg name="rviz"       default="true" />
    <arg name="rtabmapviz" default="false" />

    <arg name="rate"       default="30" />

    <arg name="rviz_cfg"                default="/home/catkin_ws/src/slam_rtabmap/launch/slam.rtabmap.live2.rviz" />

    <param name="/use_sim_time" value="true"/>

    <arg name="pi/2" value="1.5707963267948966" />
    <include file="/home/catkin_ws/src/slam_rtabmap/launch/live1_tf.launch"></include>

    <include file="/home/catkin_ws/src/slam_rtabmap/launch/rtabmap.base.launch">
        <arg name="rtabmap_args" value="--delete_db_on_start" />
        <arg name="stereo"           value="false" />
        <arg name="subscribe_rgbd"           value="true" />

        <arg name="queue_size"           value="10" />
        <arg name="rgbd_sync"               default="true"/>
        <arg name="approx_rgbd_sync"        default="false"/>
        <!-- <arg name="frame_id"                default="censys_stern"/> -->

        <arg name="rviz"             value="$(arg rviz)" />
        <arg name="rtabmapviz"       value="$(arg rtabmapviz)" />
        <arg name="rviz_cfg"       value="$(arg rviz_cfg)" />
        <arg name="rgb_topic"               value="/rectified_right" />
        <arg name="depth_topic"             value="/3d_z_coords" />
        <arg name="camera_info_topic"       value="/right/camera_info" />
    </include>
</launch>

snippet4 - RTABMAP base launch file

<launch>
  <!-- Convenience launch file to launch ...