Why can't rtabmap_ros access the published zed camera topics?
Hi,
I'm new to ROS and currently working on using rtabmap with move_base and the zed camera on a jetston-tx2 for Navigation.
I start the roscore on the Host machine.
Than I start the zed node on the robot.
$ roslaunch zed_wrapper zed.launch
During the start the following error comes up:
...[ INFO] [1582724028.740786655]: depth_frame: depth_frame
Couldn't find an AF_INET address for [hostname]
Couldn't find an AF_INET address for [hostname]
Couldn't find an AF_INET address for [hostname]
ZED (Init) >> Depth mode: PERFORMANCE
ZED (Init) >> Video mode: HD720@30
At this point I can see the topcis published by the zed camere via rostopic list and via rqt, but any rtabmap or rviz application I start returns something similar to this:
...[ WARN] [1582724056.543819469]: /rtabmap/rtabmap: 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 ("ntpdate"). Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
/rtabmap/rtabmap subscribed to (exact sync):
/rtabmap/odom,
/zed/zed_node/left/image_rect_color,
/zed/zed_node/right/image_rect_color,
/zed/zed_node/left/camera_info,
/zed/zed_node/right/camera_info,
/rtabmap/odom_info
Meanwhile in the zed node terminal:
...[ WARN] [1582724033.052059891]: The tf from 'base_frame' to 'camera_frame' does not seem to be available, will assume it as identity!
Couldn't find an AF_INET address for [hostname]
Couldn't find an AF_INET address for [hostname]
Couldn't find an AF_INET address for [hostname]
Couldn't find an AF_INET address for [hostname]
Couldn't find an AF_INET address for [hostname]...
Additional Information:
On host machine: ros_kinetic, Ubuntu 16.04, 4.15.0-76-generic
On jetson-tx2: ros_kinetic, Ubuntu 16.04, 4.4.38-tegra, zed_wrapper: 2.8.x
Regarding the AF_INET address error i already tried this: https://answers.ros.org/question/1635...
But that didnt change anything for me.
I also wrote two tf static_transform_publisher which added the camera_frame and base_frame into the existingt tf_tree. After I had done that the frames where in the tf_tree and there was a transform between them but the error message still appeared. I would rather change that directly in the zed_urdf but I can't find where they're defined.
It would be very much appreciated if You could give me some idea on what to look into.
Best regards, Uwe
Things I tryed so fa, but didn't work out: -Reinstall rtabmap -Built rtabmap from source -Run diffrent examples -Turn approx sync = true
Edit: I now have tried running the example (http://wiki.ros.org/rtabmap_ros/Tutor...) on the jetson itself and I got the same error message. The Topics are being publish and aren't empty.
Edit: After editing the urdf (https://github.com/stereolabs/zed-ros...) and deleting a static tf transform (which I forgit about) I could run the rtabmap example (http://wiki.ros.org/rtabmap_ros ...
I fixed the AF_INET Error by following http://wiki.ros.org/ROS/NetworkSetup
Make sure you are receiving topics on the remote computer. If not, check your ROS_IP. Is rtabmap logging at 1hz ? (making sure rtabmap is running)