Issues running Rtabmap with realsense d435 and d435i with Nvidia Jetson [closed]
Having issues running the beginner tutorial for Handheld mapping wit heithe rthe d435 or d435i,
I get the following error when launching the nodes:
~/catkin_ws$ roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/camera/aligned_depth_to_color/image_raw rgb_topic:=/camera/color/image_raw camera_info_topic:=/camera/color/camera_info approx_sync:=false
... logging to /home/nvidiaagx/.ros/log/b0458e06-3652-11eb-b0cb-00044bcb9d03/roslaunch-nvidiaagx-desktop-18574.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://192.168.1.64:43919/
SUMMARY
========
PARAMETERS
/rosdistro: melodic
/rosversion: 1.14.10
/rtabmap/rgbd_odometry/approx_sync: False
/rtabmap/rgbd_odometry/config_path:
/rtabmap/rgbd_odometry/expected_update_rate: 0.0
/rtabmap/rgbd_odometry/frame_id: camera_link
/rtabmap/rgbd_odometry/ground_truth_base_frame_id:
/rtabmap/rgbd_odometry/ground_truth_frame_id:
/rtabmap/rgbd_odometry/guess_frame_id:
/rtabmap/rgbd_odometry/guess_min_rotation: 0.0
/rtabmap/rgbd_odometry/guess_min_translation: 0.0
/rtabmap/rgbd_odometry/max_update_rate: 0.0
/rtabmap/rgbd_odometry/odom_frame_id: odom
/rtabmap/rgbd_odometry/publish_tf: True
/rtabmap/rgbd_odometry/queue_size: 10
/rtabmap/rgbd_odometry/subscribe_rgbd: False
/rtabmap/rgbd_odometry/wait_for_transform_duration: 0.2
/rtabmap/rgbd_odometry/wait_imu_to_init: False
/rtabmap/rtabmap/Mem/IncrementalMemory: true
/rtabmap/rtabmap/Mem/InitWMWithAllNodes: false
/rtabmap/rtabmap/approx_sync: False
/rtabmap/rtabmap/config_path:
/rtabmap/rtabmap/database_path: ~/.ros/rtabmap.db
/rtabmap/rtabmap/frame_id: camera_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_cloud_max_points: 0
/rtabmap/rtabmap/subscribe_depth: True
/rtabmap/rtabmap/subscribe_odom_info: True
/rtabmap/rtabmap/subscribe_rgb: True
/rtabmap/rtabmap/subscribe_rgbd: False
/rtabmap/rtabmap/subscribe_scan: False
/rtabmap/rtabmap/subscribe_scan_cloud: False
/rtabmap/rtabmap/subscribe_scan_descriptor: False
/rtabmap/rtabmap/subscribe_stereo: False
/rtabmap/rtabmap/subscribe_user_data: False
/rtabmap/rtabmap/wait_for_transform_duration: 0.2
/rtabmap/rtabmapviz/approx_sync: False
/rtabmap/rtabmapviz/frame_id: camera_link
/rtabmap/rtabmapviz/odom_frame_id:
/rtabmap/rtabmapviz/queue_size: 10
/rtabmap/rtabmapviz/subscribe_depth: True
/rtabmap/rtabmapviz/subscribe_odom_info: True
/rtabmap/rtabmapviz/subscribe_rgbd: False
/rtabmap/rtabmapviz/subscribe_scan: False
/rtabmap/rtabmapviz/subscribe_scan_cloud: False
/rtabmap/rtabmapviz/subscribe_scan_descriptor: False
/rtabmap/rtabmapviz/subscribe_stereo: False
/rtabmap/rtabmapviz/wait_for_transform_duration: 0.2
NODES
/rtabmap/
rgbd_odometry (rtabmap_ros/rgbd_odometry)
rtabmap (rtabmap_ros/rtabmap)
rtabmapviz (rtabmap_ros/rtabmapviz)
ROS_MASTER_URI=http://localhost:11311
process[rtabmap/rgbd_odometry-1]: started with pid [18589]
process[rtabmap/rtabmap-2]: started with pid [18590]
process[rtabmap/rtabmapviz-3]: started with pid [18591]
/rtabmap/rgbd_odometry subscribed to (exact sync):
/camera/color/image_raw \
/camera/aligned_depth_to_color/image_raw \
/camera/color/camera_info
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
[rtabmap/rgbd_odometry-1] process has died [pid 18589, exit code -11, cmd /home/nvidiaagx/catkin_ws/devel/lib/rtabmap_ros/rgbd_odometry --delete_db_on_start rgb/image:=/camera/color/image_raw depth/image:=/camera/aligned_depth_to_color/image_raw rgb/camera_info:=/camera/color/camera_info rgbd_image:=rgbd_image_relay odom:=odom imu:=/imu/data __name:=rgbd_odometry __log:=/home/nvidiaagx/.ros/log/b0458e06-3652-11eb-b0cb-00044bcb9d03/rtabmap-rgbd_odometry-1.log].
log file: /home/nvidiaagx/.ros/log/b0458e06-3652-11eb-b0cb-00044bcb9d03/rtabmap-rgbd_odometry-1*.log
[rtabmap/rtabmap-2] process has died [pid 18590, exit code -11, cmd /home/nvidiaagx/catkin_ws/devel/lib/rtabmap_ros/rtabmap --delete_db_on_start rgb/image:=/camera/color/image_raw depth/image:=/camera/aligned_depth_to_color/image_raw rgb/camera_info:=/camera/color/camera_info rgbd_image:=rgbd_image_relay left/image_rect:=/stereo_camera/left/image_rect_color right/image_rect ...
