no map received while using rtabmap
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 ...