rtabmap low fps

I have jetson tx2, realsense depth camera d435.

I tried to run this project from github which runs rtabmap [https://github.com/ROBOTIS-JAPAN-GIT/turtlebot3_slam_3d] on two different machines that I have: jetson tx2 and PC with Intel core i5-9400F processor.

I cut from there darknet, turtlebotcore(because i dont have wheels yet, i wrote simple odom publisher instead) [https://github.com/jungladicitta/turtlebot3slam_3d]

The problem is that I have very low fps and freezes of /rtabmap/mapData topic on both machines.

What can I do to speedup rtabmap? where is the problem? software or hardware?

Asked by june2473 on 2019-10-09 08:59:12 UTC

Comments

Can you please be a bit more precise with how it freezes, which parameter configuration, which nodes from rtabmap are you using, ros and os versions, FPS from real sense, etc?

Asked by martimorta on 2019-10-10 02:30:16 UTC

/rtabmap/mapData updates approximately 1 frame per 2 seconds.

here is some video: https://yadi.sk/i/eYsIH-3DUYA8mQ

I have ROS kinetic, ubuntu 16.04 on nvidia jetson tx2.

I run turtlbot3_slam_3d.launch file:

https://github.com/jungladicitta/turtlebot3_slam_3d/blob/only_camera_2/turtlebot3_slam_3d/launch/turtlebot3_slam_3d.launch

which includes rtabmap.launch file:

https://github.com/jungladicitta/turtlebot3_slam_3d/blob/only_camera_2/turtlebot3_slam_3d/launch/rtabmap.launch

I tried to run rs_rgbd.launch separately with 30fps and it works fine. problem is somewhere in rtabmap I think.

Asked by june2473 on 2019-10-10 03:26:27 UTC

Have you tried changing the argument rate, which is currently at 1.0, I suppose Hz ? Have you tried moving the camera around to build the map?

Asked by martimorta on 2019-10-11 01:36:59 UTC

I haven't tried moving the camera? does it helps?

Asked by june2473 on 2019-10-11 03:12:02 UTC

well, if you don't move the camera it will be difficult to close any loop. I would suggest to try to understand what you want to achieve and the solution you are using or implementing, have a look at the available documentation and start with the minimal setup and build on that step by step. Good luck!

Asked by martimorta on 2019-10-11 03:46:38 UTC

In the video, rtabmap processing time is about 200 ms, but default update rate is 1 Hz. Sometimes it takes 2 sec to make a new update, maybe the input messages are poorly synchronized or have low frame rate. Can you do rostopic hz /camera/color/image_rect_color /camera/depth/image_rect_raw /camera/color/camera_info /odom /scan?

Asked by matlabbe on 2019-10-14 19:03:48 UTC

there is rostopic hz of these topics: https://github.com/introlab/rtabmap_ros/issues/358#issuecomment-542150771

Asked by june2473 on 2019-10-16 07:38:38 UTC