Can't locate node [rgbd_odometry] in package [rtabmap_ros]
I installed rtabmap_ros (first the ROS distribution and then also built from source), but when I run roslaunch rtabmap_ros rtabmap.launch I get some errors that I do not manage to solve:
ERROR: cannot launch node of type [rtabmap_ros/rgbd_odometry]: Cannot locate node of type [rgbd_odometry] in package [rtabmap_ros]. Make sure file exists in package path and permission is set to executable (chmod +x)
ERROR: cannot launch node of type [rtabmap_ros/rtabmap]: Cannot locate node of type [rtabmap] in package [rtabmap_ros]. Make sure file exists in package path and permission is set to executable (chmod +x)
ERROR: cannot launch node of type [rtabmap_ros/rtabmapviz]: Cannot locate node of type [rtabmapviz] in package [rtabmap_ros]. Make sure file exists in package path and permission is set to executable (chmod +x)
When I search for the name rgbd_odometry in my catkin_ws, the following is found:
/home/clder/catkin_ws/install/lib/rtabmap_ros
/home/clder/catkin_ws/src/rtabmap_ros
/home/clder/catkin_ws/src/rtabmap_ros/src/nodelets
/home/clder/catkin_ws/build/rtabmap_ros/CMakeFiles
The full story of the roslaunch from the Terminal is:
clder@clder-desktop:~/catkin_ws/src/rtabmap_ros/launch$ roslaunch rtabmap.launch
... logging to /home/clder/.ros/log/3c07f776-25d1-11ec-80b9-31406a1073ae/roslaunch-clder-desktop-15112.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://clder-desktop:39753/
SUMMARY
========
CLEAR PARAMETERS
* /rtabmap/rgbd_odometry/
* /rtabmap/rtabmap/
* /rtabmap/rtabmapviz/
PARAMETERS
* /rosdistro: noetic
* /rosversion: 1.15.13
* /rtabmap/rgbd_odometry/approx_sync: True
* /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/keep_color: False
* /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: False
* /rtabmap/rtabmap/Mem/IncrementalMemory: true
* /rtabmap/rtabmap/Mem/InitWMWithAllNodes: false
* /rtabmap/rtabmap/approx_sync: True
* /rtabmap/rtabmap/config_path:
* /rtabmap/rtabmap/database_path: ~/.ros/rtabmap.db
* /rtabmap/rtabmap/frame_id: camera_link
* /rtabmap/rtabmap/gen_depth: False
* /rtabmap/rtabmap/gen_depth_decimation: 1
* /rtabmap/rtabmap/gen_depth_fill_holes_error: 0.1
* /rtabmap/rtabmap/gen_depth_fill_holes_size: 0
* /rtabmap/rtabmap/gen_depth_fill_iterations: 1
* /rtabmap/rtabmap/gen_scan: False
* /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_frame_id_init:
* /rtabmap/rtabmap/odom_sensor_sync: False
* /rtabmap/rtabmap/odom_tf_angular_variance: 1.0
* /rtabmap/rtabmap/odom_tf_linear_variance: 1.0
* /rtabmap/rtabmap/publish_tf: True
* /rtabmap/rtabmap/queue_size: 10
* /rtabmap/rtabmap/scan_cloud_max_points: 0
* /rtabmap/rtabmap/subscribe_depth: True
* /rtabmap/rtabmap/subscribe_odom_info: True
* /rtabmap/rtabmap/subscribe_rgb: True
* /rtabmap/rtabmap/subscribe_rgbd: False
* /rtabmap/rtabmap/subscribe_scan: False
* /rtabmap/rtabmap/subscribe_scan_cloud: False
* /rtabmap/rtabmap/subscribe_scan_descriptor: False
* /rtabmap/rtabmap/subscribe_stereo: False
* /rtabmap/rtabmap/subscribe_user_data: False
* /rtabmap/rtabmap/wait_for_transform_duration: 0.2
* /rtabmap/rtabmapviz/approx_sync: True
* /rtabmap/rtabmapviz/frame_id: camera_link
* /rtabmap/rtabmapviz/odom_frame_id:
* /rtabmap/rtabmapviz/queue_size: 10
* /rtabmap/rtabmapviz/subscribe_depth: True
* /rtabmap/rtabmapviz/subscribe_odom_info: True
* /rtabmap/rtabmapviz/subscribe_rgb: True
* /rtabmap/rtabmapviz/subscribe_rgbd: False
* /rtabmap/rtabmapviz/subscribe_scan: False
* /rtabmap/rtabmapviz/subscribe_scan_cloud: False
* /rtabmap/rtabmapviz/subscribe_scan_descriptor: False
* /rtabmap/rtabmapviz/subscribe_stereo ...
Can you show
env | grep ROS? You also have a localinstallspace, I would expect adevelspace instead. Here is wherergbd_odometryis installed:Then I have in my
.bashrc:source ~/catkin_ws/devel/setup.bash. If you build packages in yourinstallspace, you should callsource ~/catkin_ws/install/setup.bash.This is what
env | grep ROSreturns:I usually don't build the packages in the install space, but in the devel space.
Could it then be a problem with having installed it somehow in the wrong space?
The environment variables are okay. However, if you install in
installspace, you would have to also source thesetup.bashin install directory. I would try deleting the build/install/devel directories from yourcatkin_ws, then do a cleancatkin_maketo make sure all is indevelspace.