Rtabmap not working
I'm using a realsense d435 on a raspberry pi 4 running ROS melodic. If follow the rtabmap tutorials I am able to perform handheld mapping successfully. Now I am trying to set this up on my turtlebot. I have installed the realsense-ros package on the raspberry pi. I imagine that I would run the realsense node on the pi, and then the rtabmap launch file on my remote pc. This results in an error:
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
This warning repeats and no map is generated.
I can view the pointcloud data in rviz, so data is definitely being published. Also when I echo the topics I can view the data (not the rtabmap topics but the camera topics). Is there something I am missing?
