Rviz not showing any output in operation with kitti rosbag and RTAB?
Hi i am planning to do this demo:https://github.com/introlab/rtabmap_ros/blob/master/launch/demo/demo_robot_mapping.launch Below is the launch file , I have written .I am not able to visualise the result in rviz . Error is no transforms is found between the different links , But rosbag already records those transforms right ? I am not sure what i am missing. I am using kitti dataset for the demo
<?xml version="1.0"?>
<launch>
<include file="$(find rtabmap_ros)/launch/rtabmap.launch">
<arg name="stereo" value="true"/>
<arg name="left_image_topic" value="/kitti/camera_color_left/image_raw"/>
<arg name="right_image_topic" value="/kitti/camera_color_right/image_raw"/>
<arg name="left_camera_info_topic" value="/kitti/camera_color_left/camera_info"/>
<arg name="right_camera_info_topic" value="/kitti/camera_color_right/camera_info"/>
<arg name="rtabmap_args" value="--delete_db_on_start"/>
<arg name="approx_sync" value="true"/>
<arg name="frame_id" value="base_link"/>
<arg name="use_sim_time" value="true"/>
<!--Here if you want rviz visualisation set raviz to true and rtabmap to false vice versa-->
<arg name="rviz" value="true"/>
<arg name="rtabmapviz" value="false"/>
<!-- -->
<arg name="rgbd_sync" value="true"/>
<arg name="approx_rgbd_sync" value="true"/>
<arg name="subscribe_scan" value="true"/>
<arg name="odom_frame_id" value="world"/>
<arg name="odom_topic" value="/rtabmap/odom"/>
<arg name="imu_topic" value="/kitti/oxts/imu"/>
<arg name="gps_topic" value="/kitti/oxts/gps/fix"/>
</include>
<node pkg="rosbag" type="play" name="player" output="screen" args=" $(find project2pcl)/rosbag/kitti_2011_09_26_drive_0005_synced.bag"/>
<node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="pointcloud_to_laserscan">
<remap from="cloud_in" to="/kitti/velo/pointcloud"/>
<!--remap from="scan" to="/camera/scan" /-->
</node>
</launch>
update 1-
launch file
<?xml version="1.0"?>
<launch>
<!--node name="rviz" pkg="rviz" type="rviz" args="-d $(find project2pcl)/rviz/rtab2d.rviz"/-->
<include file="$(find rtabmap_ros)/launch/rtabmap.launch">
<arg name="stereo" value="true"/>
<arg name="left_image_topic" value="/kitti/camera_color_left/image_raw"/>
<arg name="right_image_topic" value="/kitti/camera_color_right/image_raw"/>
<arg name="left_camera_info_topic" value="/kitti/camera_color_left/camera_info"/>
<arg name="right_camera_info_topic" value="/kitti/camera_color_right/camera_info"/>
<arg name="rtabmap_args" value="--delete_db_on_start"/>
<arg name="approx_sync" value="true"/>
<arg name="frame_id" value="base_link"/>
<arg name="use_sim_time" value="true"/>
<!--Here if you want rviz visualisation set raviz to true and rtabmap to false vice versa-->
<arg name="rviz" value="true"/>
<arg name="rtabmapviz" value="false"/>
<!-- -->
<arg name="rgbd_sync" value="true"/>
<arg name="approx_rgbd_sync" value="true"/>
<arg name="subscribe_scan" value="true"/>
<!--<arg name="odom_frame_id" value="world"/> -->
<!--<arg name="odom_topic" value="/rtabmap/odom"/>-->
<arg name="imu_topic" value="/kitti/oxts/imu"/>
<arg name="gps_topic" value="/kitti/oxts/gps/fix"/>
<!--<arg name="visual_odometry" value="false"/> -->
</include>
<node pkg="rosbag" type="play" name="player" output="screen" args=" $(find project2pcl)/rosbag/kitti_2011_09_26_drive_0005_synced.bag"/>
<node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="pointcloud_to_laserscan">
<remap from="cloud_in" to="/kitti/velo/pointcloud"/>
<!--remap from="scan" to="/camera/scan" /-->
</node>
terminal output -
... logging to /home/shyam/.ros/log/246f1e00-9cd4-11ea-8628-606c666d2757/roslaunch-shyam-Inspiron-7720-21038.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://shyam-Inspiron-7720:40501/
SUMMARY
========
PARAMETERS
* /points_xyzrgb/approx_sync: True
* /points_xyzrgb/decimation: 4.0
* /points_xyzrgb/voxel_size: 0.0
* /rosdistro: melodic
* /rosversion: 1.14.5
* /rtabmap/rgbd_sync/approx_sync: True
* /rtabmap/rgbd_sync/queue_size: 10
* /rtabmap/rtabmap/Mem/IncrementalMemory: true
* /rtabmap/rtabmap/Mem/InitWMWithAllNodes: false
* /rtabmap/rtabmap/approx_sync: True
* /rtabmap/rtabmap/config_path:
* /rtabmap/rtabmap/database_path: ~/.ros/rtabmap.db
* /rtabmap/rtabmap/frame_id: base_link
* /rtabmap/rtabmap/ground_truth_base_frame_id:
* /rtabmap/rtabmap/ground_truth_frame_id:
* /rtabmap/rtabmap/landmark_angular_variance: 9999.0
* /rtabmap/rtabmap/landmark_linear_variance: 0.0001
* /rtabmap/rtabmap/map_frame_id: map
* /rtabmap/rtabmap/odom_frame_id:
* /rtabmap/rtabmap/odom_sensor_sync: False
* /rtabmap/rtabmap/odom_tf_angular_variance: 1.0
* /rtabmap/rtabmap/odom_tf_linear_variance: 1.0
* /rtabmap/rtabmap/publish_tf: True
* /rtabmap/rtabmap/queue_size: 10
* /rtabmap/rtabmap/scan_normal_k: 0
* /rtabmap/rtabmap/subscribe_depth: False
* /rtabmap/rtabmap/subscribe_odom_info: True
* /rtabmap/rtabmap/subscribe_rgbd: True
* /rtabmap/rtabmap/subscribe_scan: True
* /rtabmap/rtabmap/subscribe_scan_cloud: False
* /rtabmap/rtabmap/subscribe_stereo: True
* /rtabmap/rtabmap/subscribe_user_data: False
* /rtabmap/rtabmap/wait_for_transform_duration: 0.2
* /rtabmap/stereo_odometry/approx_sync: True
* /rtabmap/stereo_odometry/config_path:
* /rtabmap/stereo_odometry/frame_id: base_link
* /rtabmap/stereo_odometry/ground_truth_base_frame_id:
* /rtabmap/stereo_odometry/ground_truth_frame_id:
* /rtabmap/stereo_odometry/guess_frame_id:
* /rtabmap/stereo_odometry/guess_min_rotation: 0.0
* /rtabmap/stereo_odometry/guess_min_translation: 0.0
* /rtabmap/stereo_odometry/odom_frame_id: odom
* /rtabmap/stereo_odometry/publish_tf: True
* /rtabmap/stereo_odometry/queue_size: 10
* /rtabmap/stereo_odometry/subscribe_rgbd: True
* /rtabmap/stereo_odometry/wait_for_transform_duration: 0.2
* /rtabmap/stereo_odometry/wait_imu_to_init: False
* /use_sim_time: True
NODES
/rtabmap/
rgbd_sync (nodelet/nodelet)
rtabmap (rtabmap_ros/rtabmap)
stereo_odometry (rtabmap_ros/stereo_odometry)
/
player (rosbag/play)
pointcloud_to_laserscan (pointcloud_to_laserscan/pointcloud_to_laserscan_node)
points_xyzrgb (nodelet/nodelet)
rviz (rviz/rviz)
auto-starting new master
process[master]: started with pid [21048]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 246f1e00-9cd4-11ea-8628-606c666d2757
process[rosout-1]: started with pid [21059]
started core service [/rosout]
process[rtabmap/rgbd_sync-2]: started with pid [21066]
type is rtabmap_ros/stereo_sync
process[rtabmap/stereo_odometry-3]: started with pid [21067]
process[rtabmap/rtabmap-4]: started with pid [21073]
process[rviz-5]: started with pid [21074]
process[points_xyzrgb-6]: started with pid [21075]
process[player-7]: started with pid [21085]
type is rtabmap_ros/point_cloud_xyzrgb
process[pointcloud_to_laserscan-8]: started with pid [21090]
[ INFO] [1590224555.823736226]: Opening /home/shyam/AMR_I/catkin_ws/src/project2pcl/../../Data/kitti_2011_09_26_drive_0005_synced.bag
Waiting 0.2 seconds after advertising topics... done.
Hit space to toggle paused, or 's' to step.
[ INFO] [1590224556.118290914]: Starting node...
[ INFO] [1590224556.141438453]: Initializing nodelet with 8 worker threads.
[ INFO] [1590224556.150445273]: Initializing nodelet with 8 worker threads.
[ INFO] [1590224556.328607723]: /rtabmap/rgbd_sync: approx_sync = true
[ INFO] [1590224556.329568779]: /rtabmap/rgbd_sync: queue_size = 10
[ INFO] [1590224556.329619746]: /rtabmap/rgbd_sync: compressed_rate = 0.000000
[ INFO] [1590224556.351052816]:
/rtabmap/rgbd_sync subscribed to (approx sync):
/kitti/camera_color_left/image_raw,
/kitti/camera_color_right/image_raw,
/kitti/camera_color_left/camera_info,
/kitti/camera_color_right/camera_info
[ INFO] [1590224556.387638148]: Approximate time sync = true
[ INFO] [1590224556.452005428]: /rtabmap/rtabmap(maps): map_filter_radius = 0.000000
[ INFO] [1590224556.452046403]: /rtabmap/rtabmap(maps): map_filter_angle = 30.000000
[ INFO] [1590224556.452064580]: /rtabmap/rtabmap(maps): map_cleanup = true
[ INFO] [1590224556.452081873]: /rtabmap/rtabmap(maps): map_always_update = false
[ INFO] [1590224556.452105962]: /rtabmap/rtabmap(maps): map_empty_ray_tracing = true
[ INFO] [1590224556.452128803]: /rtabmap/rtabmap(maps): cloud_output_voxelized = true
[ INFO] [1590224556.452153044]: /rtabmap/rtabmap(maps): cloud_subtract_filtering = false
[ INFO] [1590224556.452175517]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1590224556.454521222]: /rtabmap/rtabmap(maps): octomap_tree_depth = 16
[ INFO] [1590224556.475506421]: rtabmap: frame_id = base_link
[ INFO] [1590224556.475557954]: rtabmap: map_frame_id = map
[ INFO] [1590224556.475583328]: rtabmap: use_action_for_goal = false
[ INFO] [1590224556.475613736]: rtabmap: tf_delay = 0.050000
[ INFO] [1590224556.475639500]: rtabmap: tf_tolerance = 0.100000
[ INFO] [1590224556.475670726]: rtabmap: odom_sensor_sync = false
[ INFO] [1590224556.476549320]: rtabmap: stereo_to_depth = false
[ INFO] [1590224556.512350860]: Odometry: frame_id = base_link
[ INFO] [1590224556.512403281]: Odometry: odom_frame_id = odom
[ INFO] [1590224556.512444494]: Odometry: publish_tf = true
[ INFO] [1590224556.512474893]: Odometry: wait_for_transform = true
[ INFO] [1590224556.512518103]: Odometry: wait_for_transform_duration = 0.200000
[ INFO] [1590224556.512572553]: Odometry: initial_pose = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000
[ INFO] [1590224556.512605084]: Odometry: ground_truth_frame_id =
[ INFO] [1590224556.512634812]: Odometry: ground_truth_base_frame_id =
[ INFO] [1590224556.512667963]: Odometry: config_path =
[ INFO] [1590224556.512698054]: Odometry: publish_null_when_lost = true
[ INFO] [1590224556.512726829]: Odometry: guess_frame_id =
[ INFO] [1590224556.512758277]: Odometry: guess_min_translation = 0.000000
[ INFO] [1590224556.512790422]: Odometry: guess_min_rotation = 0.000000
[ INFO] [1590224556.512822394]: Odometry: guess_min_time = 0.000000
[ INFO] [1590224556.512855525]: Odometry: expected_update_rate = 0.000000 Hz
[ INFO] [1590224556.512886960]: Odometry: wait_imu_to_init = false
[ INFO] [1590224556.784723269]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1590224556.785231311]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[ INFO] [1590224557.032824065]: StereoOdometry: approx_sync = true
[ INFO] [1590224557.032884056]: StereoOdometry: queue_size = 10
[ INFO] [1590224557.032921060]: StereoOdometry: subscribe_rgbd = true
[ INFO] [1590224557.036722383]:
/rtabmap/stereo_odometry subscribed to:
/rtabmap/rgbd_image
[ WARN] [1590224557.268682042]: Setting "Grid/FromDepth" parameter to false (default true) as "subscribe_scan" or "subscribe_scan_cloud" is true. The occupancy grid map will be constructed from laser scans. To get occupancy grid map from cloud projection, set "Grid/FromDepth" to true. To suppress this warning, add <param name="Grid/FromDepth" type="string" value="false"/>
[ INFO] [1590224557.268756474]: Setting "Grid/RangeMax" parameter to 0 (default 5.000000) as "subscribe_scan" or "subscribe_scan_cloud" is true.
[ INFO] [1590224557.285374613]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.045204s
[ INFO] [1590224557.410752185]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1590224557.411056052]: rtabmap: Deleted database "/home/shyam/.ros/rtabmap.db" (--delete_db_on_start or -d are set).
[ INFO] [1590224557.411113937]: rtabmap: Using database from "/home/shyam/.ros/rtabmap.db" (0 MB).
[ INFO] [1590224557.442313387]: Odom: quality=328, std dev=0.379408m|0.046331rad, update time=0.105052s
[ INFO] [1590224557.495558998]: Odom: quality=238, std dev=0.373264m|0.048989rad, update time=0.051303s
[ INFO] [1590224557.612281981]: Odom: quality=321, std dev=0.456844m|0.051274rad, update time=0.065318s
[ INFO] [1590224557.714729190]: Odom: quality=242, std dev=0.524723m|0.060975rad, update time=0.065633s
[ INFO] [1590224557.827268443]: Odom: quality=300, std dev=0.475661m|0.055097rad, update time=0.075568s
[ INFO] [1590224557.941967770]: Odom: quality=221, std dev=0.409639m|0.052310rad, update time=0.084312s
[ INFO] [1590224558.035751594]: Odom: quality=325, std dev=0.538646m|0.050171rad, update time=0.078841s
[ INFO] [1590224558.135656332]: Odom: quality=238, std dev=0.507991m|0.053288rad, update time=0.075531s
[ INFO] [1590224558.243524629]: Odom: quality=325, std dev=0.559777m|0.066523rad, update time=0.080548s
[ INFO] [1590224558.341003047]: Odom: quality=228, std dev=0.527390m|0.053288rad, update time=0.075734s
[ INFO] [1590224558.451970377]: Odom: quality=330, std dev=0.501152m|0.051274rad, update time=0.079751s
[ INFO] [1590224558.558429747]: Odom: quality=243, std dev=0.436861m|0.055097rad, update time=0.086288s
[ INFO] [1590224558.653086025]: Odom: quality=347, std dev=0.371537m|0.044810rad, update time=0.076825s
[ INFO] [1590224558.758779396]: Odom: quality=281, std dev=0.542202m|0.051274rad, update time=0.078318s
[ INFO] [1590224558.869579830]: Odom: quality=198, std dev=0.612925m|0.063371rad, update time=0.081937s
[ INFO] [1590224558.977382372]: Odom: quality=372, std dev=0.314895m|0.046331rad, update time=0.089646s
[ INFO] [1590224559.075699746]: Odom: quality=290, std dev=0.351367m|0.047716rad, update time=0.085190s
[ INFO] [1590224559.184531703]: Odom: quality=210, std dev=0.428429m|0.048989rad, update time=0.089221s
[ INFO] [1590224559.281277495]: Odom: quality=400, std dev=0.379138m|0.052310rad, update time=0.086293s
[ INFO] [1590224559.382903529]: Odom: quality=286, std dev=0.353515m|0.051274rad, update time=0.082251s
[ INFO] [1590224559.488415776]: Odom: quality=244, std dev=0.452681m|0.056744rad, update time=0.082922s
[ INFO] [1590224559.525767407]: rtabmap: Database version = "0.19.3".
[ WARN] [1590224559.544561926]: rtabmap: Parameters subscribe_stereo and subscribe_rgb cannot be true at the same time. Parameter subscribe_rgb is set to false.
[ WARN] [1590224559.544616912]: rtabmap: Parameters subscribe_stereo and subscribe_rgbd cannot be true at the same time. Parameter subscribe_stereo is set to false.
[ INFO] [1590224559.547301051]: /rtabmap/rtabmap: subscribe_depth = false
[ INFO] [1590224559.547347216]: /rtabmap/rtabmap: subscribe_rgb = false
[ INFO] [1590224559.547373675]: /rtabmap/rtabmap: subscribe_stereo = false
[ INFO] [1590224559.547413543]: /rtabmap/rtabmap: subscribe_rgbd = true (rgbd_cameras=1)
[ INFO] [1590224559.547441558]: /rtabmap/rtabmap: subscribe_odom_info = true
[ INFO] [1590224559.547458988]: /rtabmap/rtabmap: subscribe_user_data = false
[ INFO] [1590224559.547491427]: /rtabmap/rtabmap: subscribe_scan = true
[ INFO] [1590224559.547528205]: /rtabmap/rtabmap: subscribe_scan_cloud = false
[ INFO] [1590224559.547562743]: /rtabmap/rtabmap: queue_size = 10
[ INFO] [1590224559.547596655]: /rtabmap/rtabmap: approx_sync = true
[ INFO] [1590224559.547684943]: Setup rgbd callback
[ INFO] [1590224559.559065384]:
/rtabmap/rtabmap subscribed to (approx sync):
/rtabmap/odom,
/rtabmap/rgbd_image,
/scan,
/rtabmap/odom_info
[ INFO] [1590224559.568585559]: rtabmap 0.19.3 started...
[ INFO] [1590224559.608183711]: Odom: quality=396, std dev=0.343944m|0.051274rad, update time=0.099086s
[ INFO] [1590224559.683590282]: Odom: quality=308, std dev=0.513477m|0.054216rad, update time=0.073869s
[ INFO] [1590224559.800877287]: Odom: quality=251, std dev=0.599349m|0.059663rad, update time=0.083588s
[ INFO] [1590224559.894197696]: Odom: quality=380, std dev=0.438428m|0.055097rad, update time=0.076420s
[ INFO] [1590224560.001762340]: Odom: quality=286, std dev=0.603077m|0.055097rad, update time=0.083118s
[ INFO] [1590224560.098709351]: Odom: quality=220, std dev=0.654725m|0.051274rad, update time=0.074775s
[ INFO] [1590224560.206730487]: Odom: quality=362, std dev=0.310847m|0.046331rad, update time=0.079609s
[ INFO] [1590224560.310730116]: Odom: quality=267, std dev=0.475434m|0.051274rad, update time=0.082021s
[ INFO] [1590224560.404367143]: Odom: quality=213, std dev=0.630775m|0.055097rad, update time=0.072315s
[ INFO] [1590224560.517314105]: Odom: quality=327, std dev=0.324499m|0.047716rad, update time=0.081782s
[ INFO] [1590224560.615688085]: Odom: quality=208, std dev=0.529777m|0.051274rad, update time=0.078027s
[ INFO] [1590224560.725962025]: Odom: quality=325, std dev=0.383766m|0.046331rad, update time=0.082795s
[ INFO] [1590224560.834610800]: Odom: quality=233, std dev=0.500708m|0.048989rad, update time=0.087994s
[ INFO] [1590224560.924667958]: Odom: quality=338, std dev=0.408638m|0.051274rad, update time=0.077053s
[ INFO] [1590224561.031844600]: Odom: quality=244, std dev=0.440399m|0.052310rad, update time=0.078368s
[ INFO] [1590224561.142200620]: Odom: quality=335, std dev=0.338113m|0.046331rad, update time=0.088804s
[ INFO] [1590224561.245604570]: Odom: quality=274, std dev=0.339315m|0.046331rad, update time=0.086032s
[ INFO] [1590224561.342019121]: Odom: quality=212, std dev=0.459993m|0.050171rad, update time=0.081541s
[ INFO] [1590224561.447588212]: Odom: quality=358, std dev=0.317678m|0.047716rad, update time=0.081639s
[ INFO] [1590224561.545821603]: Odom: quality=283, std dev=0.284976m|0.047716rad, update time=0.076484s
[ INFO] [1590224561.647944898]: Odom: quality=199, std dev=0.354139m|0.046331rad, update time=0.077195s
[ INFO] [1590224561.751381303]: Odom: quality=343, std dev=0.282517m|0.064474rad, update time=0.076651s
[ INFO] [1590224561.859678307]: Odom: quality=248, std dev=0.315817m|0.048989rad, update time=0.080325s
[ INFO] [1590224561.956517597]: Odom: quality=349, std dev=0.199618m|0.058258rad, update time=0.076127s
[ INFO] [1590224562.063299066]: Odom: quality=260, std dev=0.237893m|0.055097rad, update time=0.077526s
[ INFO] [1590224562.170080445]: Odom: quality=319, std dev=0.159274m|0.053288rad, update time=0.081242s
[ INFO] [1590224562.278914314]: Odom: quality=238, std dev=0.184280m|0.050171rad, update time=0.088294s
[ INFO] [1590224562.366860306]: Odom: quality=299, std dev=0.213441m|0.050171rad, update time=0.074001s
[ INFO] [1590224562.474985566]: Odom: quality=213, std dev=0.238992m|0.048989rad, update time=0.077408s
[ INFO] [1590224562.584654960]: Odom: quality=319, std dev=0.144440m|0.043116rad, update time=0.083920s
[ INFO] [1590224562.677657265]: Odom: quality=230, std dev=0.173286m|0.051274rad, update time=0.074022s
[ INFO] [1590224562.788902673]: Odom: quality=348, std dev=0.172956m|0.053288rad, update time=0.082755s
[ INFO] [1590224562.897851989]: Odom: quality=257, std dev=0.170805m|0.048989rad, update time=0.086387s
[ INFO] [1590224562.999426382]: Odom: quality=353, std dev=0.116078m|0.043116rad, update time=0.086675s
[ INFO] [1590224563.089389768]: Odom: quality=263, std dev=0.156761m|0.043116rad, update time=0.073139s
[ INFO] [1590224563.193278012]: Odom: quality=197, std dev=0.181531m|0.053288rad, update time=0.071118s
[ INFO] [1590224563.314452017]: Odom: quality=382, std dev=0.153045m|0.050171rad, update time=0.087869s
[ INFO] [1590224563.401380421]: Odom: quality=282, std dev=0.166447m|0.046331rad, update time=0.072629s
[ INFO] [1590224563.508605793]: Odom: quality=191, std dev=0.142194m|0.048989rad, update time=0.073417s
[ INFO] [1590224563.622577213]: Odom: quality=387, std dev=0.126546m|0.046331rad, update time=0.087649s
[ INFO] [1590224563.711380118]: Odom: quality=271, std dev=0.168037m|0.058258rad, update time=0.072770s
[ INFO] [1590224563.822605959]: Odom: quality=202, std dev=0.172527m|0.053288rad, update time=0.080892s
[ INFO] [1590224563.924881821]: Odom: quality=417, std dev=0.108366m|0.051274rad, update time=0.079172s
[ INFO] [1590224564.025096788]: Odom: quality=277, std dev=0.138954m|0.057516rad, update time=0.077964s
[ INFO] [1590224564.125343231]: Odom: quality=197, std dev=0.125702m|0.053288rad, update time=0.075429s
[ INFO] [1590224564.240262590]: Odom: quality=393, std dev=0.099378m|0.053288rad, update time=0.084981s
[ INFO] [1590224564.334481442]: Odom: quality=278, std dev=0.115997m|0.047716rad, update time=0.074455s
[ INFO] [1590224564.437957957]: Odom: quality=179, std dev=0.149617m|0.053288rad, update time=0.075529s
[ INFO] [1590224564.547500107]: Odom: quality=342, std dev=0.118602m|0.052310rad, update time=0.083072s
[ INFO] [1590224564.642057196]: Odom: quality=216, std dev=0.140728m|0.055097rad, update time=0.071690s
[ INFO] [1590224564.760696166]: Odom: quality=332, std dev=0.137425m|0.058258rad, update time=0.084421s
[ INFO] [1590224564.853059797]: Odom: quality=192, std dev=0.176619m|0.054216rad, update time=0.076159s
[ INFO] [1590224564.951415413]: Odom: quality=314, std dev=0.099620m|0.056744rad, update time=0.073661s
[ INFO] [1590224565.053069580]: Odom: quality=205, std dev=0.101837m|0.053288rad, update time=0.071034s
[ INFO] [1590224565.161310759]: Odom: quality=287, std dev=0.087649m|0.044810rad, update time=0.072375s
[ INFO] [1590224565.267687264]: Odom: quality=166, std dev=0.132767m|0.051274rad, update time=0.075565s
[ INFO] [1590224565.366994322]: Odom: quality=261, std dev=0.089137m|0.050171rad, update time=0.074038s
[ INFO] [1590224565.472158314]: Odom: quality=258, std dev=0.112306m|0.050171rad, update time=0.075982s
[ INFO] [1590224565.577855973]: Odom: quality=260, std dev=0.082039m|0.043116rad, update time=0.079506s
[ INFO] [1590224565.677940468]: Odom: quality=237, std dev=0.111900m|0.047716rad, update time=0.073388s
[ INFO] [1590224565.787072347]: Odom: quality=235, std dev=0.141734m|0.058258rad, update time=0.080674s
[ INFO] [1590224565.879678189]: Odom: quality=205, std dev=0.095020m|0.051274rad, update time=0.071191s
[ INFO] [1590224565.991091099]: Odom: quality=204, std dev=0.116944m|0.048989rad, update time=0.079187s
[ INFO] [1590224566.086309374]: Odom: quality=215, std dev=0.116171m|0.044810rad, update time=0.068032s
[ INFO] [1590224566.190403261]: Odom: quality=206, std dev=0.115111m|0.048989rad, update time=0.069515s
[ INFO] [1590224566.290686833]: Odom: quality=207, std dev=0.190734m|0.051274rad, update time=0.068608s
[ INFO] [1590224566.396258314]: Odom: quality=234, std dev=0.152524m|0.056744rad, update time=0.072405s
[ INFO] [1590224566.498621535]: Odom: quality=277, std dev=0.089004m|0.051274rad, update time=0.070536s
[ INFO] [1590224566.603089922]: Odom: quality=185, std dev=0.136588m|0.056744rad, update time=0.069464s
[ INFO] [1590224566.708219764]: Odom: quality=300, std dev=0.121739m|0.046331rad, update time=0.072564s
[ INFO] [1590224566.807246044]: Odom: quality=195, std dev=0.215497m|0.044810rad, update time=0.069607s
[ INFO] [1590224566.913553877]: Odom: quality=325, std dev=0.084967m|0.043116rad, update time=0.070534s
[ INFO] [1590224567.019571942]: Odom: quality=215, std dev=0.181385m|0.051274rad, update time=0.075086s
[ INFO] [1590224567.121016642]: Odom: quality=327, std dev=0.128830m|0.048989rad, update time=0.069255s
[ INFO] [1590224567.219547438]: Odom: quality=255, std dev=0.267961m|0.047716rad, update time=0.066500s
[ INFO] [1590224567.326955286]: Odom: quality=167, std dev=0.871562m|0.058258rad, update time=0.071811s
[ INFO] [1590224567.425204854]: Odom: quality=285, std dev=0.289493m|0.062208rad, update time=0.067798s
[ INFO] [1590224567.526501072]: Odom: quality=224, std dev=0.343983m|0.043116rad, update time=0.064419s
[ INFO] [1590224567.638148061]: Odom: quality=318, std dev=0.237269m|0.053288rad, update time=0.072263s
[ INFO] [1590224567.738371397]: Odom: quality=228, std dev=0.630378m|0.047716rad, update time=0.068958s
[ INFO] [1590224567.841841785]: Odom: quality=293, std dev=0.314249m|0.046331rad, update time=0.070097s
[ INFO] [1590224567.938235677]: Odom: quality=230, std dev=0.478068m|0.055939rad, update time=0.065312s
[ INFO] [1590224568.049529597]: Odom: quality=191, std dev=0.579629m|0.047716rad, update time=0.071763s
[ INFO] [1590224568.152114884]: Odom: quality=290, std dev=0.388453m|0.046331rad, update time=0.071969s
[ INFO] [1590224568.249344972]: Odom: quality=245, std dev=0.442949m|0.058973rad, update time=0.063560s
[ INFO] [1590224568.348220591]: Odom: quality=176, std dev=0.723258m|0.046331rad, update time=0.060440s
[ INFO] [1590224568.468398699]: Odom: quality=298, std dev=0.333397m|0.044810rad, update time=0.078534s
[ INFO] [1590224568.555327181]: Odom: quality=237, std dev=0.322646m|0.047716rad, update time=0.063836s
[ INFO] [1590224568.660414596]: Odom: quality=175, std dev=0.688608m|0.054216rad, update time=0.063686s
[ INFO] [1590224568.770806606]: Odom: quality=334, std dev=0.179531m|0.051274rad, update time=0.070336s
[ INFO] [1590224568.873919885]: Odom: quality=241, std dev=0.317420m|0.046331rad, update time=0.072066s
[ INFO] [1590224568.971191186]: Odom: quality=179, std dev=0.396844m|0.059663rad, update time=0.063245s
[ INFO] [1590224569.084454409]: Odom: quality=336, std dev=0.173896m|0.046331rad, update time=0.075259s
[ INFO] [1590224569.179352086]: Odom: quality=244, std dev=0.186838m|0.048989rad, update time=0.064720s
[ INFO] [1590224569.295039025]: Odom: quality=158, std dev=0.332050m|0.048989rad, update time=0.077704s
[ INFO] [1590224569.394822235]: Odom: quality=326, std dev=0.149713m|0.038960rad, update time=0.075722s
[ INFO] [1590224569.488920697]: Odom: quality=230, std dev=0.145194m|0.046331rad, update time=0.066227s
[ INFO] [1590224569.601669384]: Odom: quality=322, std dev=0.147375m|0.048989rad, update time=0.074519s
[ INFO] [1590224569.696374857]: Odom: quality=214, std dev=0.210923m|0.058973rad, update time=0.067333s
[ INFO] [1590224569.801113766]: Odom: quality=315, std dev=0.161138m|0.044810rad, update time=0.066483s
[ INFO] [1590224569.901219767]: Odom: quality=197, std dev=0.229276m|0.063929rad, update time=0.066119s
[ INFO] [1590224570.007187664]: Odom: quality=319, std dev=0.119654m|0.048989rad, update time=0.071247s
[ INFO] [1590224570.116728817]: Odom: quality=227, std dev=0.152230m|0.053288rad, update time=0.076127s
[ INFO] [1590224570.214822456]: Odom: quality=347, std dev=0.109861m|0.047716rad, update time=0.072877s
[ INFO] [1590224570.324821503]: Odom: quality=220, std dev=0.184459m|0.053288rad, update time=0.076301s
[ INFO] [1590224570.420503970]: Odom: quality=303, std dev=0.145584m|0.058258rad, update time=0.071793s
[ INFO] [1590224570.523789122]: Odom: quality=201, std dev=0.176052m|0.046331rad, update time=0.071269s
[ INFO] [1590224570.625748395]: Odom: quality=303, std dev=0.132474m|0.054216rad, update time=0.070112s
[ INFO] [1590224570.731292395]: Odom: quality=213, std dev=0.216846m|0.050171rad, update time=0.068678s
[ INFO] [1590224570.831759795]: Odom: quality=302, std dev=0.147902m|0.055939rad, update time=0.069905s
[ INFO] [1590224570.935768733]: Odom: quality=203, std dev=0.229388m|0.060975rad, update time=0.069148s
[ INFO] [1590224571.037865931]: Odom: quality=330, std dev=0.142345m|0.050171rad, update time=0.070524s
[ INFO] [1590224571.151500691]: Odom: quality=224, std dev=0.216443m|0.048989rad, update time=0.081402s
[ INFO] [1590224571.249314911]: Odom: quality=382, std dev=0.140997m|0.053288rad, update time=0.074631s
[ INFO] [1590224571.350933148]: Odom: quality=251, std dev=0.189118m|0.046331rad, update time=0.072849s
[ INFO] [1590224571.458421108]: Odom: quality=364, std dev=0.205235m|0.048989rad, update time=0.076244s
[ INFO] [1590224571.567835448]: Odom: quality=236, std dev=0.174892m|0.043116rad, update time=0.083570s
[ INFO] [1590224571.660765572]: Odom: quality=371, std dev=0.188172m|0.053288rad, update time=0.073350s
[ INFO] [1590224571.765289027]: Odom: quality=230, std dev=0.207517m|0.046331rad, update time=0.074015s
[ INFO] [1590224571.881085329]: Odom: quality=372, std dev=0.156084m|0.047716rad, update time=0.086357s
Done.
[ INFO] [1590224571.971147198]: Odom: quality=255, std dev=0.231741m|0.041195rad, update time=0.075130s
[player-7] process has finished cleanly
log file: /home/shyam/.ros/log/246f1e00-9cd4-11ea-8628-606c666d2757/player-7*.log
Rviz output -
error at global status ->fixed frame-> frame map does not exist
error at tf -> transforms does not exist for any frame
error at map->selected map grid map ->no topic published
Asked by Shiva_uchiha on 2020-04-24 09:02:16 UTC
Answers
Hi,
I updated this example with a new section to include IMU, gps and ground truth.
In your example, if you want to use /world
as odometry, set also visual_odometry:=false
. This may be your problem with TF and rviz. If you want to use rtabmap's stereo odometry, follow the new example, there is a script to fix world->base_link
TF so that there is no TF conflict with odometry publishing also odom -> base_link
.
cheers,
Mathieu
Asked by matlabbe on 2020-04-26 22:53:14 UTC
Comments
Hi ! changing the visual_odometry:=false didn't work either . I need the occupancy map in rviz Which sadly I am not able to visualises as the nothing is published in related topic.
Asked by Shiva_uchiha on 2020-04-27 05:38:42 UTC
Can you add the terminal output to your question? There are maybe warnings showing why rtabmap is not running.
Asked by matlabbe on 2020-04-27 12:22:47 UTC
Hi sir ! sorry for late response , had been held up . I have updated the question as you have asked !
Asked by Shiva_uchiha on 2020-05-23 04:12:26 UTC
It is strange, rtabmap node is doing nothing, so it makes you don't have map. Normally, it should show a warning when it cannot synchronize input topics. It tries to synchronize:
/rtabmap/rtabmap subscribed to (approx sync):
/rtabmap/odom,
/rtabmap/rgbd_image,
/scan,
/rtabmap/odom_info
Is /scan
published? What frame rate? Try:
rostopic hz /rtabmap/odom /rtabmap/rgbd_image /scan /rtabmap/odom_info
Asked by matlabbe on 2020-05-25 11:44:55 UTC
Comments