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no map received while using rtabmap

asked 2021-01-29 09:23:47 -0500

sherifesam gravatar image

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 ...
(more)
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answered 2021-01-30 03:02:43 -0500

sherifesam gravatar image

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!!

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Asked: 2021-01-29 09:23:47 -0500

Seen: 685 times

Last updated: Jan 30 '21