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RTABMAP problems with Turtlebot2

asked 2022-03-16 22:06:52 -0600

distro gravatar image

updated 2022-03-16 22:07:47 -0600

Does RTABMAP require a kinect camera? My turtlebot2 has different model of camera. I installed the ROS kinetic version of rtabmap-ros. I am trying to follow the instructions from the rtab-map ROS wiki. I put in the following command for mapping in RVIZ:

roslaunch rtabmap_ros demo_robot_mapping.launch rviz:=true rtabmapviz:=false

I get this as a result:

process[rtabmap/rtabmap-1]: started with pid [5055]
process[rviz-2]: started with pid [5056]
process[points_xyzrgb-3]: started with pid [5057]
QXcbConnection: Could not connect to display 
[ INFO] [1647482776.248565386]: Starting node...
[ INFO] [1647482776.417708363]: Initializing nodelet with 4 worker threads.
[ INFO] [1647482776.777906091]: /rtabmap/rtabmap(maps): map_filter_radius          = 0.000000
[ INFO] [1647482776.777977848]: /rtabmap/rtabmap(maps): map_filter_angle           = 30.000000
[ INFO] [1647482776.778018951]: /rtabmap/rtabmap(maps): map_cleanup                = true
[ INFO] [1647482776.778057888]: /rtabmap/rtabmap(maps): map_always_update          = false
[ INFO] [1647482776.778099100]: /rtabmap/rtabmap(maps): map_empty_ray_tracing      = true
[ INFO] [1647482776.778137790]: /rtabmap/rtabmap(maps): cloud_output_voxelized     = true
[ INFO] [1647482776.778180610]: /rtabmap/rtabmap(maps): cloud_subtract_filtering   = false
[ INFO] [1647482776.778220574]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1647482776.802018001]: /rtabmap/rtabmap(maps): octomap_tree_depth         = 16
[ INFO] [1647482776.845843450]: rtabmap: frame_id      = base_footprint
[ INFO] [1647482776.845905574]: rtabmap: odom_frame_id = odom
[ INFO] [1647482776.845962735]: rtabmap: map_frame_id  = map
[ INFO] [1647482776.846005998]: rtabmap: use_action_for_goal  = false
[ INFO] [1647482776.846056815]: rtabmap: tf_delay      = 0.050000
[ INFO] [1647482776.846102556]: rtabmap: tf_tolerance  = 0.100000
[ INFO] [1647482776.846145424]: rtabmap: odom_sensor_sync   = false
[ INFO] [1647482776.847155235]: rtabmap: gen_scan  = false
[ INFO] [1647482776.847199478]: rtabmap: gen_depth  = false
[ INFO] [1647482777.005215514]: Setting RTAB-Map parameter "Grid/FromDepth"="false"
[ INFO] [1647482777.095074314]: Setting RTAB-Map parameter "Icp/CorrespondenceRatio"="0.2"
[ INFO] [1647482777.107023110]: Setting RTAB-Map parameter "Icp/MaxCorrespondenceDistance"="0.05"
[ INFO] [1647482777.127037131]: Setting RTAB-Map parameter "Icp/PointToPlane"="false"
[ INFO] [1647482777.150835779]: Setting RTAB-Map parameter "Icp/VoxelSize"="0.05"
[ INFO] [1647482777.293845616]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1647482777.294775076]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[ INFO] [1647482777.334131948]: Setting RTAB-Map parameter "Mem/STMSize"="30"
[ INFO] [1647482777.439849005]: Setting RTAB-Map parameter "RGBD/LocalRadius"="5"
[ INFO] [1647482777.459867701]: Setting RTAB-Map parameter "RGBD/NeighborLinkRefining"="true"
[ INFO] [1647482777.463624132]: Setting RTAB-Map parameter "RGBD/OptimizeFromGraphEnd"="false"
[ INFO] [1647482777.464586942]: Setting RTAB-Map parameter "RGBD/OptimizeMaxError"="4"
[ INFO] [1647482777.476480904]: Setting RTAB-Map parameter "RGBD/ProximityBySpace"="true"
[ INFO] [1647482777.477365421]: Setting RTAB-Map parameter "RGBD/ProximityByTime"="false"
[ INFO] [1647482777.489614859]: Setting RTAB-Map parameter "RGBD/ProximityPathMaxNeighbors"="10"
[ INFO] [1647482777.498687861]: Setting RTAB-Map parameter "Reg/Force3DoF"="true"
[ INFO] [1647482777.502359325]: Setting RTAB-Map parameter "Reg/Strategy"="1"
[ INFO] [1647482777.779966849]: Setting RTAB-Map parameter "Vis/MinInliers"="12"
[ WARN] [1647482777.861114501]: Rtabmap: Parameter name changed: "Icp/PM" -> "Icp/Strategy". Please update your launch file accordingly. Value "false" is still set to the new parameter name.
[rviz-2] process has died [pid 5056, exit code -6, cmd /opt/ros/kinetic/lib/rviz/rviz -d /home/turtlebot/catkin_ws/src/rtabmap_ros/launch/config/demo_robot_mapping.rviz __name:=rviz __log:=/home/turtlebot/.ros/log/fd7c7f06-a594-11ec-97d5-a0510b03a27d/rviz-2.log].
log file: /home/turtlebot/.ros/log/fd7c7f06-a594-11ec-97d5-a0510b03a27d/rviz-2*.log
[ INFO] [1647482778.236528887]: Setting "Grid/RangeMax" parameter to 0 (default 5.000000) as "subscribe_scan", "subscribe_scan_cloud" or "gen_scan" is true and Grid/FromDepth is false.
[ INFO] [1647482778.238815186]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1647482778.239261842 ...
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answered 2022-04-10 13:04:09 -0600

matlabbe gravatar image

You may start rviz alone and add displays you want. RTAB-Map can work with any RGB-D cameras, but you have to adjust the color/depth topic names. The launch file you used is very specific to corresponding demo rosbag and cannot be used on your robot "as is".

If you are on turtlebot2, look at this page instead: http://wiki.ros.org/rtabmap_ros/Tutor...

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@matlabbe This is the page I have been using to try to figure this out, it didn't help me. Here is what I do,

 $ roslaunch turtlebot_bringup minimal.launch
 $ roslaunch rtabmap_ros demo_turtlebot_mapping.launch
Visualization (turtlebot_navigation.rviz):

 $ roslaunch rtabmap_ros demo_turtlebot_rviz.launch
or
 $ rosrun rviz rviz -d turtlebot_navigation.rviz

I'm guessing when the terminal displays rtabmap 0.20.10 started..., I should open another terminal and run roslaunch rtabmap_ros demo_turtlebot_rviz.launch ?

distro gravatar image distro  ( 2022-04-10 15:05:13 -0600 )edit

Yes, you should launch in a second terminal. If the rviz launch is crashing, it is maybe because of the RobotModel plugin (I saw it crashing on some computers, don't remember exactly the reason). Edit the rviz config and remove RobotModel plugin (or set enabledat false): https://github.com/introlab/rtabmap_r...

matlabbe gravatar image matlabbe  ( 2022-04-10 16:38:29 -0600 )edit

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Asked: 2022-03-16 22:06:52 -0600

Seen: 90 times

Last updated: Apr 10