rtabmap low fps

asked 2019-10-09 08:59:12 -0500

june2473 gravatar image

updated 2019-10-10 01:09:38 -0500

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/...] on two different machines that I have: jetson tx2 and PC with Intel core i5-9400F processor.

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

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?

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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?

martimorta gravatar imagemartimorta ( 2019-10-10 02:30:16 -0500 )edit

/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/turt...

which includes rtabmap.launch file:

https://github.com/jungladicitta/turt...

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

june2473 gravatar imagejune2473 ( 2019-10-10 03:26:27 -0500 )edit

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?

martimorta gravatar imagemartimorta ( 2019-10-11 01:36:59 -0500 )edit

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

june2473 gravatar imagejune2473 ( 2019-10-11 03:12:02 -0500 )edit

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!

martimorta gravatar imagemartimorta ( 2019-10-11 03:46:38 -0500 )edit

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?

matlabbe gravatar imagematlabbe ( 2019-10-14 19:03:48 -0500 )edit