# rtabmap not getting data

Dear all, I’m making my first steps with ROS, and I’m hitting a problem to which I need some help.

My setup consists of a roomba that I equipped with a kinect, a picamera and a raspi3b, and a remote machine with roscore plus some other things. In both I have ROS Melodic installed. The environment works well. from the robot I can communicate to the master, and I can make vision working via the kinect.

The problem arises with rtabmap, as I want to have mapping and localization working. Please see the logs, I need an help to understand to which direction point my investigations.

I’m following this tutorial: https://github.com/Choitek/mmmros-doc...

Output from the roomba:

marco@roomba2:~$roslaunch freenect_launch freenect.launch depth_registration:=true … logging to /home/marco/.ros/log/56a34f04-96df-11ea-9f93-080027d394db/roslaunch-roomba2-2759.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://roomba2:41037/ SUMMARY ======== PARAMETERS * /camera/camera_nodelet_manager/num_worker_threads: 4 * /camera/depth_rectify_depth/interpolation: 0 * /camera/depth_registered_rectify_depth/interpolation: 0 * /camera/disparity_depth/max_range: 4.0 * /camera/disparity_depth/min_range: 0.5 * /camera/disparity_registered_hw/max_range: 4.0 * /camera/disparity_registered_hw/min_range: 0.5 * /camera/disparity_registered_sw/max_range: 4.0 * /camera/disparity_registered_sw/min_range: 0.5 * /camera/driver/data_skip: 0 * /camera/driver/debug: False * /camera/driver/depth_camera_info_url: * /camera/driver/depth_frame_id: camera_depth_opti... * /camera/driver/depth_registration: True * /camera/driver/device_id: #1 * /camera/driver/diagnostics_max_frequency: 30.0 * /camera/driver/diagnostics_min_frequency: 30.0 * /camera/driver/diagnostics_tolerance: 0.05 * /camera/driver/diagnostics_window_time: 5.0 * /camera/driver/enable_depth_diagnostics: False * /camera/driver/enable_ir_diagnostics: False * /camera/driver/enable_rgb_diagnostics: False * /camera/driver/rgb_camera_info_url: * /camera/driver/rgb_frame_id: camera_rgb_optica... * /rosdistro: melodic * /rosversion: 1.14.5 NODES /camera/ camera_nodelet_manager (nodelet/nodelet) depth_metric (nodelet/nodelet) depth_metric_rect (nodelet/nodelet) depth_points (nodelet/nodelet) depth_rectify_depth (nodelet/nodelet) depth_registered_hw_metric_rect (nodelet/nodelet) depth_registered_metric (nodelet/nodelet) depth_registered_rectify_depth (nodelet/nodelet) depth_registered_sw_metric_rect (nodelet/nodelet) disparity_depth (nodelet/nodelet) disparity_registered_hw (nodelet/nodelet) disparity_registered_sw (nodelet/nodelet) driver (nodelet/nodelet) ir_rectify_ir (nodelet/nodelet) points_xyzrgb_hw_registered (nodelet/nodelet) points_xyzrgb_sw_registered (nodelet/nodelet) register_depth_rgb (nodelet/nodelet) rgb_debayer (nodelet/nodelet) rgb_rectify_color (nodelet/nodelet) rgb_rectify_mono (nodelet/nodelet) / camera_base_link (tf2_ros/static_transform_publisher) camera_base_link1 (tf2_ros/static_transform_publisher) camera_base_link2 (tf2_ros/static_transform_publisher) camera_base_link3 (tf2_ros/static_transform_publisher) ROS_MASTER_URI=http://rb02-master.zurich:11311 process[camera/camera_nodelet_manager-1]: started with pid [2768] process[camera/driver-2]: started with pid [2769] process[camera/rgb_debayer-3]: started with pid [2770] process[camera/rgb_rectify_mono-4]: started with pid [2771] process[camera/rgb_rectify_color-5]: started with pid [2772] process[camera/ir_rectify_ir-6]: started with pid [2773] process[camera/depth_rectify_depth-7]: started with pid [2774] process[camera/depth_metric_rect-8]: started with pid [2775] process[camera/depth_metric-9]: started with pid [2776] process[camera/depth_points-10]: started with pid [2777] process[camera/register_depth_rgb-11]: started with pid [2778] process[camera/points_xyzrgb_sw_registered-12]: started with pid [2779] process[camera/depth_registered_sw_metric_rect-13]: started with pid [2780] process[camera/depth_registered_rectify_depth-14]: started with pid [2781] process[camera/points_xyzrgb_hw_registered-15]: started with pid [2782] process[camera/depth_registered_hw_metric_rect-16]: started with pid [2783] process[camera/depth_registered_metric-17]: started with pid [2784] process[camera/disparity_depth-18]: started with pid [2785] process[camera/disparity_registered_sw-19]: started with pid [2786] process[camera/disparity_registered_hw-20]: started with pid [2848 ... edit retag close merge delete ## Comments The problem would be coming from this warning: /rtabmap/rgbd_odometry subscribed to (approx sync): /camera/rgb/image_rect_color, /camera/depth_registered/image_raw, /camera/rgb/camera_info  Check if those topics are published at a good rate: $ rostopic hz /camera/rgb/image_rect_color /camera/depth_registered/image_raw /camera/rgb/camera_info

( 2020-05-25 17:42:35 -0500 )edit

Hi, I missed you answer - just noticed, thanks for answering. So... rate is terrible:

              topic                   rate    min_delta   max_delta   std_dev   window
======================================================================================
/camera/rgb/image_rect_color         0.5902   1.385       1.954       0.2316    9
/camera/depth_registered/image_raw   0.9451   0.9444      1.383       0.1007    9
/camera/rgb/camera_info              29.95    1.478e-05   0.1875      0.05431   15


How to improve it? What should be a reasonable value? I also folllowed this one: http://wiki.ros.org/rtabmap_ros/Tutor... but not big results.

Thanks

( 2020-06-13 13:38:36 -0500 )edit

Try launching rgbd_mapping.launch with compressed:=true. You may also compare with rostopic hz /camera/rgb/image_rect_color/compressed /camera/depth_registered/image_raw/compressedDepth /camera/rgb/camera_info. In your stats, the frame rate is too slow in comparison to camera_info, a larger queue_size would be required to be able to synchronize the topics. Based on that tutorial with rgbd_sync approach, what kind of frame rate you can get on topic /camera/rgbd_image/compressed?

( 2020-06-30 13:13:51 -0500 )edit