# RTAB-Map using realsense R200- Set up

Hey there,

I just followed this tutorial [rtabmap_rosTutorialsRemoteMapping ] (http://wiki.ros.org/rtabmap_ros/Tutor...). As I have a RealsenseCamera R200 there is no instructions given on how to setup the synchronization.

Note 1: I just have a realsense on my robot (nothing else).

Note 2: If I try the rtabmap_rosTutorialsHandHeldMapping tutorial with usb connected realsene everything works. Now I want to see if also the remote example works but it does not due to synchronization problems ....

What I tried is the following (after setting up network connection)

Robot PC: launched this file:

<launch>

<arg name="rate"        default="5"/>     <!-- Rate we want to publish over network -->
<arg name="approx_sync" default="true"/> <!-- false for zed camera -->
<arg name="resolution"  default="3"/>     <!-- Using VGA to use less bandwidth -->
<arg name="rgbd_sync"   default="true"/>

<group ns="camera">
<node pkg="nodelet" type="nodelet" name="camera_nodelet_manager" args="manager" output="screen"/>

<include file="$(find realsense_camera)/launch/r200_nodelet_rgbd.launch"> </include> <node pkg="tf" type="static_transform_publisher" name="camera_zed_link" args="0 0 0 0 0 0 camera_link zed_camera_center 100"/> <!-- Use same nodelet used by ZED to avoid image serialization --> <node if="$(arg rgbd_sync)" pkg="nodelet" type="nodelet" name="rgbd_sync" args="load rtabmap_ros/rgbd_sync camera_nodelet_manager" output="screen">
<param name="compressed_rate"  type="double" value="$(arg rate)"/> <param name="approx_sync" type="bool" value="$(arg approx_sync)"/>

<remap from="rgb/image"       to="rgb/image_rect_color"/>
<remap from="depth/image"     to="depth/depth_registered"/>
<remap from="rgb/camera_info" to="rgb/camera_info"/>

<remap from="rgbd_image"      to="rgbd_image"/>
</node>

<node unless="$(arg rgbd_sync)" pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen"> <param name="rate" type="double" value="$(arg rate)"/>
<param name="approx_sync"  type="bool"   value="$(arg approx_sync)"/> <remap from="rgb/image_in" to="rgb/image_rect_color"/> <remap from="depth/image_in" to="depth/depth_registered"/> <remap from="rgb/camera_info_in" to="rgb/camera_info"/> <remap from="rgb/image_out" to="throttled/rgb/image_rect_color"/> <remap from="depth/image_out" to="throttled/depth_registered/image_raw"/> <remap from="rgb/camera_info_out" to="throttled/rgb/camera_info"/> </node> </group> </launch>  Client PC: roslaunch rtabmap_ros rtabmap.launch subscribe_rgbd:=true rgbd_topic:=/camera/rgbd_image compressed:=true rtabmap_args:="--delete_db_on_start"  I then get this error on the client pc: ERROR: cannot launch node of type [rtabmap_ros/rgbd_relay]: can't locate node [rgbd_relay] in package [rtabmap_ros] [ WARN] [1573069611.462580337]: rtabmap: Parameters subscribe_depth and subscribe_rgbd cannot be true at the same time. Parameter subscribe_depth is set to false. [ WARN] [1573069615.289041955]: /rtabmap/rgbd_odometry: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set.
/rtabmap/rgbd_odometry subscribed to:
/camera/rgbd_image_relay
[ WARN] [1573069616.512067609]: /rtabmap/rtabmapviz: 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 ...
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Hi! I am a complete novice in ROS and I was having exactly the same problem this morning. ROS didn't seem to be able to locate the rgbd_delay node. However, the node is indeed listed in the rtabmap_ros package, so I thought it was weird. What I attempted was to build the package from source, as specified here: Build from source It took me a couple hours for the package to build, but in the end the problem seems to be fixed. I can now do Remote Mapping just fine, with a latency smaller than before. This might not be the simplest solution, but it worked for me. I hope it does for you as well. I am still following this thread in case a more straightforward solution is proposed. Cheers!