Question

hello there, i am trying to use rtabmap navigation with turtlebot3 and ros noetic, the problem i am having right now is that most of the rtabmap published topics are empty when i try to ($rostopic echo them) including the ( grid_map) so i can't start my mapping session because i dont have a map topic. when i perform $rosnode info /rtabmap/rtabmap.. this is what i get:

  Node [/rtabmap/rtabmap]
 Publications: 
  * /map [nav_msgs/OccupancyGrid]
 * /rosout [rosgraph_msgs/Log]
 * /rtabmap/cloud_ground [sensor_msgs/PointCloud2]
 * /rtabmap/cloud_map [sensor_msgs/PointCloud2]
 * /rtabmap/cloud_obstacles [sensor_msgs/PointCloud2]
 * /rtabmap/global_path [nav_msgs/Path]
 * /rtabmap/global_path_nodes [rtabmap_ros/Path]
 * /rtabmap/goal_out [geometry_msgs/PoseStamped]
 * /rtabmap/goal_reached [std_msgs/Bool]
 * /rtabmap/grid_prob_map [nav_msgs/OccupancyGrid]
 * /rtabmap/info [rtabmap_ros/Info]
 * /rtabmap/labels [visualization_msgs/MarkerArray]
 * /rtabmap/landmarks [geometry_msgs/PoseArray]
 * /rtabmap/local_grid_empty [sensor_msgs/PointCloud2]
 * /rtabmap/local_grid_ground [sensor_msgs/PointCloud2]
 * /rtabmap/local_grid_obstacle [sensor_msgs/PointCloud2]
 * /rtabmap/local_path [nav_msgs/Path]
 * /rtabmap/local_path_nodes [rtabmap_ros/Path]
 * /rtabmap/localization_pose [geometry_msgs/PoseWithCovarianceStamped]
 * /rtabmap/mapData [rtabmap_ros/MapData]
 * /rtabmap/mapGraph [rtabmap_ros/MapGraph]
 * /rtabmap/mapPath [nav_msgs/Path]
 * /rtabmap/octomap_binary [octomap_msgs/Octomap]
 * /rtabmap/octomap_empty_space [sensor_msgs/PointCloud2]
 * /rtabmap/octomap_full [octomap_msgs/Octomap]
 * /rtabmap/octomap_global_frontier_space [sensor_msgs/PointCloud2]
 * /rtabmap/octomap_grid [nav_msgs/OccupancyGrid]
 * /rtabmap/octomap_ground [sensor_msgs/PointCloud2]
 * /rtabmap/octomap_obstacles [sensor_msgs/PointCloud2]
 * /rtabmap/octomap_occupied_space [sensor_msgs/PointCloud2]
 * /rtabmap/proj_map [nav_msgs/OccupancyGrid]
 * /rtabmap/scan_map [sensor_msgs/PointCloud2]
 * /tf [tf2_msgs/TFMessage]

Subscriptions: 
 * /camera/depth/image_raw [sensor_msgs/Image]
 * /camera/rgb/camera_info [sensor_msgs/CameraInfo]
 * /camera/rgb/image_raw [sensor_msgs/Image]
 * /clock [rosgraph_msgs/Clock]
 * /rtabmap/global_pose [unknown type]
 * /rtabmap/goal [unknown type]
 * /rtabmap/goal_node [unknown type]
 * /rtabmap/gps/fix [unknown type]
 * /rtabmap/imu [unknown type]
 * /rtabmap/initialpose [unknown type]
 * /rtabmap/odom [unknown type]
 * /rtabmap/user_data_async [unknown type]
 * /scan [sensor_msgs/LaserScan]
 * /tf [tf2_msgs/TFMessage]
 * /tf_static [tf2_msgs/TFMessage]

Services: 
 * /rtabmap/add_link
 * /rtabmap/backup
 * /rtabmap/cancel_goal
 * /rtabmap/get_grid_map
 * /rtabmap/get_map
 * /rtabmap/get_map_data
 * /rtabmap/get_map_data2
 * /rtabmap/get_node_data
 * /rtabmap/get_nodes_in_radius
 * /rtabmap/get_plan
 * /rtabmap/get_plan_nodes
 * /rtabmap/get_prob_map
 * /rtabmap/get_proj_map
 * /rtabmap/list_labels
 * /rtabmap/octomap_binary
 * /rtabmap/octomap_full
 * /rtabmap/pause
 * /rtabmap/publish_map
 * /rtabmap/reset
 * /rtabmap/resume
 * /rtabmap/rtabmap/get_loggers
 * /rtabmap/rtabmap/list
 * /rtabmap/rtabmap/load_nodelet
 * /rtabmap/rtabmap/log_debug
 * /rtabmap/rtabmap/log_error
 * /rtabmap/rtabmap/log_info
 * /rtabmap/rtabmap/log_warning
 * /rtabmap/rtabmap/set_logger_level
 * /rtabmap/rtabmap/unload_nodelet
 * /rtabmap/set_goal
 * /rtabmap/set_label
 * /rtabmap/set_mode_localization
 * /rtabmap/set_mode_mapping
 * /rtabmap/trigger_new_map
 * /rtabmap/update_parameters


contacting node http://lenovo:39907/ ...
Pid: 15701
Connections:
 * topic: /rosout
    * to: /rosout
    * direction: outbound (53303 - 127.0.0.1:48894) [11]
    * transport: TCPROS
 * topic: /tf
    * to: /rtabmap/rtabmap
    * direction: outbound
    * transport: INTRAPROCESS
 * topic: /tf
    * to: /move_base
    * direction: outbound (53303 - 127.0.0.1:48932) [12]
    * transport: TCPROS
 * topic: /tf
    * to: /rviz
    * direction: outbound (53303 - 127.0.0.1:48934) [13]
    * transport: TCPROS
 * topic: /clock
    * to: /gazebo (http://lenovo:32887/)
    * direction: inbound (57826 - lenovo:38151) [10]
    * transport: TCPROS
 * topic: /tf
    * to: /rtabmap/rtabmap (http://lenovo:39907/)
    * direction: inbound
    * transport: INTRAPROCESS
 * topic: /tf
    * to: /gazebo (http://lenovo:32887/)
    * direction: inbound (57856 - lenovo:38151) [17]
    * transport: TCPROS
 * topic: /tf
    * to: /robot_state_publisher (http://lenovo:33713/)
    * direction: inbound (41586 - lenovo:42949) [18]
    * transport: TCPROS
 * topic: /tf_static
    * to: /robot_state_publisher (http://lenovo:33713/)
    * direction: inbound (41588 - lenovo:42949) [19]
    * transport: TCPROS
 * topic: /camera/rgb/image_raw
    * to: /gazebo (http://lenovo:32887/)
    * direction: inbound (57928 - lenovo:38151) [23]
    * transport: TCPROS
 * topic: /camera/depth/image_raw
    * to: /gazebo (http://lenovo:32887/)
    * direction: inbound (57926 - lenovo:38151) [22]
    * transport: TCPROS
 * topic: /camera/rgb/camera_info
    * to: /gazebo (http://lenovo:32887/)
    * direction: inbound (57930 - lenovo:38151) [24]
    * transport: TCPROS
 * topic: /scan
    * to: /gazebo (http://lenovo:32887/)
    * direction: inbound (57932 - lenovo:38151) [15]
    * transport: TCPROS

and this is my rtabmap launch file:

<include file="$(find myrtabmap)/launch/move_base.launch">

<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg args)">
      <param name="database_path"       type="string" value="$(arg database_path)"/>
      <param name="frame_id"            type="string" value="base_footprint"/>
      <param name="wait_for_transform_duration"  type="double"   value="$(arg wait_for_transform)"/>
      <param name="subscribe_depth"     type="bool"   value="true"/>
      <param name="subscribe_scan"      type="bool"   value="true"/>
      <param name="map_negative_poses_ignored" type="bool" value="true"/>

      <!-- When sending goals on /rtabmap/goal topic, use actionlib to communicate with move_base -->
      <param name="use_action_for_goal" type="bool" value="true"/>
      <remap from="move_base"            to="/move_base"/>

      <!-- inputs -->
      <remap from="scan"            to="/scan"/>
      <remap from="rgb/image"       to="/camera/rgb/image_raw"/>
      <remap from="depth/image"     to="/camera/depth/image_raw"/>
      <remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>

      <!-- output -->
      <remap from="grid_map" to="/map"/>

      <!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
      <param name="RGBD/ProximityBySpace"        type="string" value="true"/>   <!-- Local loop closure detection (using estimated position) with locations in WM -->
      <param name="RGBD/OptimizeFromGraphEnd"    type="string" value="false"/>  <!-- Set to false to generate map correction between /map and /odom -->
      <param name="Kp/MaxDepth"                  type="string" value="4.0"/>
      <param name="Reg/Strategy"                 type="string" value="0"/>      <!-- Loop closure transformation: 0=Visual, 1=ICP, 2=Visual+ICP -->
      <param name="Icp/CorrespondenceRatio"      type="string" value="0.3"/>
      <param name="Vis/MinInliers"               type="string" value="15"/>      <!-- 3D visual words minimum inliers to accept loop closure -->
      <param name="Vis/InlierDistance"           type="string" value="0.1"/>    <!-- 3D visual words correspondence distance -->
      <param name="RGBD/AngularUpdate"           type="string" value="0.1"/>    <!-- Update map only if the robot is moving -->
      <param name="RGBD/LinearUpdate"            type="string" value="0.1"/>    <!-- Update map only if the robot is moving -->
      <param name="RGBD/ProximityPathMaxNeighbors" type="string" value="0"/>
      <param name="Rtabmap/TimeThr"              type="string" value="0"/>
      <param name="Mem/RehearsalSimilarity"      type="string" value="0.30"/>
      <param name="Reg/Force3DoF"                type="string" value="true"/>
      <param name="GridGlobal/MinSize"           type="string" value="20"/>


      <!-- localization mode -->
      <param     if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
      <param unless="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="true"/>
      <param name="Mem/InitWMWithAllNodes" type="string" value="$(arg localization)"/>
</node>

and when i launch the file i get this :

SUMMARY
========

PARAMETERS
 * /move_base/DWAPlannerROS/acc_lim_theta: 3.2
 * /move_base/DWAPlannerROS/acc_lim_x: 2.5
 * /move_base/DWAPlannerROS/acc_lim_y: 0.0
 * /move_base/DWAPlannerROS/controller_frequency: 10.0
 * /move_base/DWAPlannerROS/forward_point_distance: 0.325
 * /move_base/DWAPlannerROS/goal_distance_bias: 20.0
 * /move_base/DWAPlannerROS/latch_xy_goal_tolerance: False
 * /move_base/DWAPlannerROS/max_scaling_factor: 0.2
 * /move_base/DWAPlannerROS/max_vel_theta: 1.82
 * /move_base/DWAPlannerROS/max_vel_trans: 0.26
 * /move_base/DWAPlannerROS/max_vel_x: 0.26
 * /move_base/DWAPlannerROS/max_vel_y: 0.0
 * /move_base/DWAPlannerROS/min_vel_theta: 0.9
 * /move_base/DWAPlannerROS/min_vel_trans: 0.13
 * /move_base/DWAPlannerROS/min_vel_x: -0.26
 * /move_base/DWAPlannerROS/min_vel_y: 0.0
 * /move_base/DWAPlannerROS/occdist_scale: 0.02
 * /move_base/DWAPlannerROS/oscillation_reset_dist: 0.05
 * /move_base/DWAPlannerROS/path_distance_bias: 32.0
 * /move_base/DWAPlannerROS/publish_cost_grid_pc: True
 * /move_base/DWAPlannerROS/publish_traj_pc: True
 * /move_base/DWAPlannerROS/scaling_speed: 0.25
 * /move_base/DWAPlannerROS/sim_time: 2.0
 * /move_base/DWAPlannerROS/stop_time_buffer: 0.2
 * /move_base/DWAPlannerROS/vth_samples: 40
 * /move_base/DWAPlannerROS/vx_samples: 20
 * /move_base/DWAPlannerROS/vy_samples: 0
 * /move_base/DWAPlannerROS/xy_goal_tolerance: 0.05
 * /move_base/DWAPlannerROS/yaw_goal_tolerance: 0.17
 * /move_base/base_local_planner: dwa_local_planner...
 * /move_base/conservative_reset_dist: 3.0
 * /move_base/controller_frequency: 10.0
 * /move_base/controller_patience: 15.0
 * /move_base/global_costmap/cost_scaling_factor: 3.0
 * /move_base/global_costmap/footprint: [[-0.205, -0.155]...
 * /move_base/global_costmap/global_frame: map
 * /move_base/global_costmap/inflation_radius: 1.0
 * /move_base/global_costmap/map_type: costmap
 * /move_base/global_costmap/observation_sources: scan
 * /move_base/global_costmap/obstacle_range: 3.0
 * /move_base/global_costmap/publish_frequency: 10.0
 * /move_base/global_costmap/raytrace_range: 3.5
 * /move_base/global_costmap/robot_base_frame: base_footprint
 * /move_base/global_costmap/scan/clearing: True
 * /move_base/global_costmap/scan/data_type: LaserScan
 * /move_base/global_costmap/scan/marking: True
 * /move_base/global_costmap/scan/sensor_frame: base_scan
 * /move_base/global_costmap/scan/topic: scan
 * /move_base/global_costmap/static_map: True
 * /move_base/global_costmap/transform_tolerance: 0.5
 * /move_base/global_costmap/update_frequency: 10.0
 * /move_base/local_costmap/cost_scaling_factor: 3.0
 * /move_base/local_costmap/footprint: [[-0.205, -0.155]...
 * /move_base/local_costmap/global_frame: odom
 * /move_base/local_costmap/height: 3
 * /move_base/local_costmap/inflation_radius: 1.0
 * /move_base/local_costmap/map_type: costmap
 * /move_base/local_costmap/observation_sources: scan
 * /move_base/local_costmap/obstacle_range: 3.0
 * /move_base/local_costmap/publish_frequency: 10.0
 * /move_base/local_costmap/raytrace_range: 3.5
 * /move_base/local_costmap/resolution: 0.05
 * /move_base/local_costmap/robot_base_frame: base_footprint
 * /move_base/local_costmap/rolling_window: True
 * /move_base/local_costmap/scan/clearing: True
 * /move_base/local_costmap/scan/data_type: LaserScan
 * /move_base/local_costmap/scan/marking: True
 * /move_base/local_costmap/scan/sensor_frame: base_scan
 * /move_base/local_costmap/scan/topic: scan
 * /move_base/local_costmap/static_map: False
 * /move_base/local_costmap/transform_tolerance: 0.5
 * /move_base/local_costmap/update_frequency: 10.0
 * /move_base/local_costmap/width: 3
 * /move_base/oscillation_distance: 0.2
 * /move_base/oscillation_timeout: 10.0
 * /move_base/planner_frequency: 5.0
 * /move_base/planner_patience: 5.0
 * /move_base/shutdown_costmaps: False
 * /robot_description: <?xml version="1....
 * /robot_state_publisher/publish_frequency: 50.0
 * /robot_state_publisher/tf_prefix: 
 * /rosdistro: noetic
 * /rosversion: 1.15.8
 * /rtabmap/rtabmap/GridGlobal/MinSize: 20
 * /rtabmap/rtabmap/Icp/CorrespondenceRatio: 0.3
 * /rtabmap/rtabmap/Kp/MaxDepth: 4.0
 * /rtabmap/rtabmap/Mem/IncrementalMemory: true
 * /rtabmap/rtabmap/Mem/InitWMWithAllNodes: false
 * /rtabmap/rtabmap/Mem/RehearsalSimilarity: 0.30
 * /rtabmap/rtabmap/RGBD/AngularUpdate: 0.1
 * /rtabmap/rtabmap/RGBD/LinearUpdate: 0.1
 * /rtabmap/rtabmap/RGBD/OptimizeFromGraphEnd: false
 * /rtabmap/rtabmap/RGBD/ProximityBySpace: true
 * /rtabmap/rtabmap/RGBD/ProximityPathMaxNeighbors: 0
 * /rtabmap/rtabmap/Reg/Force3DoF: true
 * /rtabmap/rtabmap/Reg/Strategy: 0
 * /rtabmap/rtabmap/Rtabmap/TimeThr: 0
 * /rtabmap/rtabmap/Vis/InlierDistance: 0.1
 * /rtabmap/rtabmap/Vis/MinInliers: 15
 * /rtabmap/rtabmap/database_path: rtabmap.db
 * /rtabmap/rtabmap/frame_id: base_footprint
 * /rtabmap/rtabmap/subscribe_depth: True
 * /rtabmap/rtabmap/subscribe_scan: True
 * /rtabmap/rtabmap/use_action_for_goal: True
 * /rtabmap/rtabmap/wait_for_transform_duration: 0.2

NODES
  /
    move_base (move_base/move_base)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rviz (rviz/rviz)
  /rtabmap/
    rtabmap (rtabmap_ros/rtabmap)

ROS_MASTER_URI=http://localhost:11311

process[move_base-1]: started with pid [18227]
process[robot_state_publisher-2]: started with pid [18228]
process[rviz-3]: started with pid [18230]
process[rtabmap/rtabmap-4]: started with pid [18235]
[ INFO] [1611933389.852344451]: Starting node...
[ INFO] [1611933390.060091348]: Initializing nodelet with 4 worker threads.
[ WARN] [1611933391.292270486, 36.534000000]: Parameter "map_negative_poses_ignored" has been removed. Use "map_always_update" instead.
[ INFO] [1611933391.330973506, 36.538000000]: /rtabmap/rtabmap(maps): map_filter_radius          = 0.000000
[ INFO] [1611933391.331296001, 36.538000000]: /rtabmap/rtabmap(maps): map_filter_angle           = 30.000000
[ INFO] [1611933391.331535898, 36.538000000]: /rtabmap/rtabmap(maps): map_cleanup                = true
[ INFO] [1611933391.331682899, 36.538000000]: /rtabmap/rtabmap(maps): map_always_update          = false
[ INFO] [1611933391.331786308, 36.538000000]: /rtabmap/rtabmap(maps): map_empty_ray_tracing      = true
[ INFO] [1611933391.331926179, 36.538000000]: /rtabmap/rtabmap(maps): cloud_output_voxelized     = true
[ INFO] [1611933391.332132876, 36.538000000]: /rtabmap/rtabmap(maps): cloud_subtract_filtering   = false
[ INFO] [1611933391.332343893, 36.538000000]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1611933391.338107695, 36.538000000]: /rtabmap/rtabmap(maps): octomap_tree_depth         = 16
[ INFO] [1611933391.494664863, 36.556000000]: rtabmap: frame_id      = base_footprint
[ INFO] [1611933391.494757120, 36.556000000]: rtabmap: map_frame_id  = map
[ INFO] [1611933391.494801986, 36.556000000]: rtabmap: use_action_for_goal  = true
[ INFO] [1611933391.494847036, 36.556000000]: rtabmap: tf_delay      = 0.050000
[ INFO] [1611933391.494884656, 36.556000000]: rtabmap: tf_tolerance  = 0.100000
[ INFO] [1611933391.494922916, 36.556000000]: rtabmap: odom_sensor_sync   = false
[ INFO] [1611933392.378271773, 36.817000000]: Setting RTAB-Map parameter "GridGlobal/MinSize"="20"
[ INFO] [1611933392.430738637, 36.840000000]: Setting RTAB-Map parameter "Icp/CorrespondenceRatio"="0.3"
[ INFO] [1611933393.075184885, 36.980000000]: Setting RTAB-Map parameter "Kp/MaxDepth"="4.0"
[ INFO] [1611933393.447862939, 37.108000000]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1611933393.448901927, 37.108000000]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[ INFO] [1611933393.692885587, 37.186000000]: Setting RTAB-Map parameter "Mem/RehearsalSimilarity"="0.30"
[ INFO] [1611933394.237343850, 37.306000000]: Setting RTAB-Map parameter "RGBD/AngularUpdate"="0.1"
[ INFO] [1611933394.314490680, 37.310000000]: Setting RTAB-Map parameter "RGBD/LinearUpdate"="0.1"
[ INFO] [1611933394.533790309, 37.358000000]: Setting RTAB-Map parameter "RGBD/OptimizeFromGraphEnd"="false"
[ INFO] [1611933394.582519640, 37.375000000]: Setting RTAB-Map parameter "RGBD/ProximityBySpace"="true"
[ INFO] [1611933394.652429047, 37.400000000]: Setting RTAB-Map parameter "RGBD/ProximityPathMaxNeighbors"="0"
[ INFO] [1611933394.682603158, 37.405000000]: Setting RTAB-Map parameter "Reg/Force3DoF"="true"
[ INFO] [1611933394.717846518, 37.409000000]: Setting RTAB-Map parameter "Reg/Strategy"="0"
[ INFO] [1611933395.088579223, 37.470000000]: Setting RTAB-Map parameter "Rtabmap/TimeThr"="0"
[ INFO] [1611933396.289915003, 37.851000000]: Setting RTAB-Map parameter "Vis/InlierDistance"="0.1"
[ INFO] [1611933396.359955841, 37.866000000]: Setting RTAB-Map parameter "Vis/MinInliers"="15"
[ WARN] [1611933399.106831285, 38.520000000]: 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] [1611933399.107511510, 38.520000000]: Setting "Grid/RangeMax" parameter to 0 (default 5.000000) as "subscribe_scan" or "subscribe_scan_cloud" is true and Grid/FromDepth is false.
[ INFO] [1611933399.114104765, 38.522000000]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1611933399.114487239, 38.522000000]: rtabmap: Deleted database "/home/sherif/.ros/rtabmap.db" (--delete_db_on_start or -d are set).
[ INFO] [1611933399.114638217, 38.522000000]: rtabmap: Using database from "/home/sherif/.ros/rtabmap.db" (0 MB).
[ INFO] [1611933399.632529938, 38.621000000]: rtabmap: Database version = "0.20.7".
[ INFO] [1611933399.898586408, 38.682000000]: /rtabmap/rtabmap: subscribe_depth = true
[ INFO] [1611933399.898686700, 38.682000000]: /rtabmap/rtabmap: subscribe_rgb = true
[ INFO] [1611933399.898740653, 38.682000000]: /rtabmap/rtabmap: subscribe_stereo = false
[ INFO] [1611933399.898776643, 38.682000000]: /rtabmap/rtabmap: subscribe_rgbd = false (rgbd_cameras=1)
[ INFO] [1611933399.898818907, 38.682000000]: /rtabmap/rtabmap: subscribe_odom_info = false
[ INFO] [1611933399.898859789, 38.682000000]: /rtabmap/rtabmap: subscribe_user_data = false
[ INFO] [1611933399.898892449, 38.682000000]: /rtabmap/rtabmap: subscribe_scan = true
[ INFO] [1611933399.898935863, 38.682000000]: /rtabmap/rtabmap: subscribe_scan_cloud = false
[ INFO] [1611933399.898982469, 38.682000000]: /rtabmap/rtabmap: subscribe_scan_descriptor = false
[ INFO] [1611933399.899023483, 38.682000000]: /rtabmap/rtabmap: queue_size    = 10
[ INFO] [1611933399.899069431, 38.682000000]: /rtabmap/rtabmap: approx_sync   = true
[ INFO] [1611933399.899200400, 38.682000000]: Setup depth callback
[ INFO] [1611933400.047371105, 38.723000000]: 
/rtabmap/rtabmap subscribed to (approx sync):
   /rtabmap/odom \
   /camera/rgb/image_raw \
   /camera/depth/image_raw \
   /camera/rgb/camera_info \
   /scan
[ INFO] [1611933402.627817266, 39.071000000]: rtabmap 0.20.7 started...
[ WARN] [1611933412.356769369, 40.806000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.1 timeout was 0.1.
[ WARN] [1611933430.202099238, 43.723000000]: /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"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10).
/rtabmap/rtabmap subscribed to (approx sync):
   /rtabmap/odom \
   /camera/rgb/image_raw \
   /camera/depth/image_raw \
   /camera/rgb/camera_info \
   /scan

so if anyone could tell me what am i missing so that i could receive the /map topic correctly and complete my rtabmap navigation?

Asked by sherifesam on 2021-01-29 10:23:47 UTC

Answer 1

The rtabmap node wasn't receiving the odometry as it was subscriping to rtabmap/odom So, i made a remap from rtabmap/odom - - > odom And it worked!!

Asked by sherifesam on 2021-01-30 04:02:43 UTC

no map received while using rtabmap

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