rgbd_odometry(in rtabmap_ros) does not work
I am trying to use rtabmap using rgbd_image with two realsenseD435i. My environment is as follows
- ROS melodic
- ubuntu 18.04
- Desktop PC
- Memory 64GB
In order to use two rgbdimage, I did the following steps to Build from source.
- sudo apt install ros-melodic-rtabmap-ros (done 1 year ago)
- sudo apt remove ros-noetic-rtabmap ros-mellodic-rtabmap-ros (from below, done today)
- cd ~
- git clone https://github.com/introlab/rtabmap.git rtabmap
- cd rtabmap/build
- make ..
- make
- sudo make install
- cd ~/catkin_ws
- git clone https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros
- catkin build rtabmap_ros -j4 -DRTABMAP_SYNC_MULTI_RGBD=ON
"catkin build" was successful. However, when I launch rtabmap.launch with one D435i as a test, I get the following error regarding rgbd_odometry.
~~~~~~~~~~~~~~roslaunch~~~~~~~~~~~~~~~~~
- roslaunch realsense2_camera rs_aligned_depth.launch
- roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/camera/aligned_depth_to_color/image_raw rgb_topic:=/camera/color/image_raw camera_info_topic:=/camera/color/camera_info
~~~~~~~~~~~~~~roslaunch~~~~~~~~~~~~~~~~~
~~~~~~~~~~~~~~error~~~~~~~~~~~~~~~~~
/rtabmap/rtabmap subscribed to (approx sync):
/rtabmap/odom \
/camera/color/image_raw \
/camera/aligned_depth_to_color/image_raw \
/camera/color/camera_info \
/rtabmap/odom_info
[ INFO] [1634124659.584384224]: rtabmap 0.20.14 started...
[ INFO] [1634124659.592516302]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.007711s
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
[ INFO] [1634124659.644639885]: Odom: quality=249, std dev=0.017062m|0.051274rad, update time=0.050933s
[ INFO] [1634124659.666894133]: Odom: quality=304, std dev=0.014334m|0.048989rad, update time=0.021454s
[FATAL] (2021-10-13 20:30:59.689) MsgConversion.cpp:1517::odomInfoToROS() Condition (info.localBundleModels.size() == info.localBundlePoses.size()) not met!
terminate called after throwing an instance of 'UException'
what(): [FATAL] (2021-10-13 20:30:59.689) MsgConversion.cpp:1517::odomInfoToROS() Condition (info.localBundleModels.size() == info.localBundlePoses.size()) not met!
[rtabmap/rgbd_odometry-1] process has died [pid 4742, exit code -6, cmd /home/srl-limb-ws2/catkin_ws/devel/lib/rtabmap_ros/rgbd_odometry --delete_db_on_start rgb/image:=/camera/color/image_raw depth/image:=/camera/aligned_depth_to_color/image_raw rgb/camera_info:=/camera/color/camera_info rgbd_image:=rgbd_image_relay odom:=odom imu:=/imu/data __name:=rgbd_odometry __log:=/home/srl-limb-ws2/.ros/log/f4dd6a6e-2c17-11ec-8462-7085c2dc3c5f/rtabmap-rgbd_odometry-1.log].
log file: /home/srl-limb-ws2/.ros/log/f4dd6a6e-2c17-11ec-8462-7085c2dc3c5f/rtabmap-rgbd_odometry-1*.log
~~~~~~~~~~~~~~error~~~~~~~~~~~~~~~~~
Could you give me some hints on how to solve this?
If I am missing some information, please point it out to me.
Asked by KOTEMEN on 2021-10-13 07:12:42 UTC
Comments
You may comment this for now to make it work. I'll try to fix this as soon as possible.
Asked by matlabbe on 2021-10-13 09:01:19 UTC
I cannot reproduce the assert with two realsense cameras. Can you share the launch file you used?
Asked by matlabbe on 2021-10-13 20:46:10 UTC
With multi-camera,
rostopic echo /rtabmap/odom_info/localBundlePosesandrostopic echo /rtabmap/odom_info/localBundleModelsshould be empty.Asked by matlabbe on 2021-10-13 20:53:07 UTC
Hi matlabbe, Thanks for the advice.
When I commented out the part you pointed out, the number of errors was reduced. However, "[rtabmap/rgbd_odometry-1] process has died" did not disappear. After consulting the discussion on this link, I "sudo apt install" rtabmap (standalone) again and "sudo apt remove" it again.
Then rgbd_odometry worked properly, and I was able to run visual SLAM properly. This image's terrain map is unified cloud_map.
I think the reason is that when I first "sudo apt remove" rtabmap(standalone), the command was wrong. I had typed not "melodic" but "noetic".
Regarding your additional advice about multi-camera, the relevant topic has not been published in my case. Is that correct? I send you the launch file I'm using just in case. launch
Asked by KOTEMEN on 2021-10-14 06:57:57 UTC
You have
<param name="subscribe_odom_info" type="bool" value="true"/>in the launch. Set it to false to avoid generating this topic. Is there another assert involved in the "process has died" error? Step A of this issue could give more info about the process has died if there is no assert shown. Also your launch doesn't containrgbd_odometrystuff, so I cannot really test it.Asked by matlabbe on 2021-10-14 07:12:50 UTC
Thank you for your advice.
When I set "subscribe_odom_info" to false, WARNING was reduced, thank you.
Also, from the beginning of this problem, the "process has died" error was only rgbd_odometry.
Well, my system is a bit complicated, it is a mobile manipulator with multiple arms. There are two types of cameras: one fixed to the base for Localization, and one fixed to the end of the arm for building a wide area map. "rgbd_odometry" is executed by the camera fixed to the base_link, and since "robot_localization" is used, "rgbd_odometry node" is described in a separate launch file.
The "rgbd_odometry node" is written in a separate launch file. Based on the result of the Localization of the base frame (/tf_tree_publisher/base_pose), Mapping is performed with multiple cameras in that attached launch file.
Asked by KOTEMEN on 2021-10-14 21:57:21 UTC