I want to use the rtabmap demo file, build a map from the data in the rosbag, and start the rtabmap with the command below：

roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start --Optimizer/GravitySigma 0.3" 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 wait_imu_to_init:=true imu_topic:=/rtabmap/imu

but nothing is displayed on the screen and get the error below:

/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.

Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback

to be called.

/rtabmap/rgbd_odometry subscribed to (exact sync): /camera/color/image_raw \ /camera/aligned_depth_to_color/image_raw \ /camera/color/camera_info

/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 \ /camera/color/image_raw \ /camera/aligned_depth_to_color/image_raw \ /camera/color/camera_info \ /rtabmap/odom_info

/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 ("ntpdate"). Parameter "approx_sync" is

false, which means that input topics should have all the exact timestamp for the callback to be called.

/rtabmap/rtabmapviz subscribed to (exact sync): /rtabmap/odom \ /camera/color/image_raw \ /camera/aligned_depth_to_color/image_raw \ /camera/color/camera_info \ /rtabmap/odom_info

The full log information：

minghao@ubuntu:~/catkin_ws/src/rtabmap_ros$ roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start --Optimizer/GravitySigma 0.3" 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 wait_imu_to_init:=true imu_topic:=/rtabmap/imu ... logging to /home/minghao/.ros/log/a86ece9c-3aba-11eb-947c-000c29942b3e/roslaunch-ubuntu-15840.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ubuntu:39681/

SUMMARY

PARAMETERS * /rosdistro: kinetic * /rosversion: 1.12.16 * /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: True * /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 ... (more)