OccupancyGrid.cpp:380::createLocalMap() Cannot create local map, scan is empty (node=326, Grid/Sensor=0).

edit

Hello everyone. I am working on a pepper robot with rtabmap. the robot as a Xtion 3D camera. RGB cameras and a laser. I want to use all these three for generating map. this is my launch file.

<?xml version="1.0" encoding="UTF-8"?>

<launch>

<arg name="database_path" default="$(find my_robot)/launch/rtabmap.db"/> <arg name="rgb_topic" default="/pepper_robot/camera/front/image_raw"/> <arg name="depth_topic" default="/pepper_robot/camera/depth/image_raw"/> <arg name="camera_info_topic" default="/pepper_robot/camera/front/camera_info"/>
<arg name="scan" default="/pepper_robot/laser"/>

<group ns="rtabmap">

<node pkg="nodelet" type="nodelet" name="rgbd_sync" args="standalone rtabmap_ros/rgbd_sync" output="screen"> 
      <!-- RTAB-Map Inputs -->
  <remap from="scan"         to="$(arg scan)"/>
  <remap from="rgb/image"        to="$(arg rgb_topic)"/>
  <remap from="rgb/camera_info"  to="$(arg camera_info_topic)"/>
  <remap from="depth/image"      to="$(arg depth_topic)"/>  
  <remap from="rgbd_image"       to="rgbd_image"/> 
  <remap from="odom"         to="/pepper_robot/odom"/> 


  <!-- Should be true for not synchronized camera topics
       (e.g., false for kinectv2, zed, realsense, true for xtion, kinect360)-->
    <param name="approx_sync"       value="true"/>
</node>

<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen"  args="--delete_db_on_start">
<!-- RTAB-Map Inputs -->
  <remap from="scan" to="$(arg scan)"/>
  <remap from="rgb/image" to="$(arg rgb_topic)"/>
  <remap from="depth/image" to="$(arg depth_topic)"/>
  <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
  <remap from="odom"         to="/pepper_robot/odom"/> 


  <!-- Basic RTAB-Map Parameters -->
  <param name="database_path"             type="string" value="$(arg database_path)"/>
  <param name="frame_id"                  type="string" value="base_link"/>
  <param name="odom_frame_id"             type="string" value="odom"/>
  <param name="subscribe_depth"           type="bool"   value="false"/>
  <param name="subscribe_scan"            type="bool"   value="false"/>
  <param name="RGBD/AngularUpdate"            type="string" value="0.05"/>
  <param name="RGBD/LinearUpdate"             type="string" value="0.05"/>
  <param name="RGBD/OptimizeFromGraphEnd"     type="string" value="false"/>
<!--  <remap from="odom"              to="/pepper_robot/odom"/> -->


  <param name="Rtabmap/ImagesAlreadyRectified" value="true" />
  <param name="queue_size"            type="int" value="10"/>
<!-- RTAB-Map Output -->
  <remap from="/rtabmap/grid_proj_map" to="/map"/>




  <!-- RTAB-Map Output -->
  <remap from="/rtabmap/grid_proj_map" to="/map"/>
  <!-- Rate (Hz) at which new nodes are added to map -->
  <param name="Rtabmap/DetectionRate"    type="string" value="1"/>

  <!-- 2D SLAM -->
  <param name="Reg/Force3DoF"        type="string" value="true"/>
<!-- <param name="Reg/Force3DoF"                 type="string" value="true"/>-->

  <!-- Loop Closure Detection -->
  <!-- 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE -->
  <param name="Kp/DetectorStrategy" type="string" value="0"/>
  <param name="Vis/FeatureType"     type="string"      value="0"/>

  <!-- Maximum visual words per image (bag-of-words) -->
  <param name="Kp/MaxFeatures" type="string" value="400"/>

  <!-- Used to extract more or less SURF features -->
  <param name="SURF/HessianThreshold" type="string" value="100"/>


  <!-- Loop Closure Constraint -->
  <!-- 0=Visual ...