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Rtabmap topics are not published

asked 2022-05-05 04:21:47 -0500

Koeut1 gravatar image

Hi everyone !

I work on a project with : Realsense D435, OrangeCube IMU, Raspberry Pi4 (Ubuntu 18.04, ROS Melodic), mavros, robot localization and RtabMap_ROS. The goal of this project is to make SLAM for drone indoor localisation without GPS.

The main difficulty is that the camera don't has IMU so I need to fuse odometry from the camera and IMU data from the OrangeCube. I see that post , it help me a lot to understand at the begining of my work. So, my problem is that when I launch rtabmap.launch from RtabMap_ROS package, nothing appears on RtabMap window. And I have a warning message in the shell :

    [ WARN] [1651740874.396789961]: /rtabmap/rgbd_odometry: 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. Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
     /rtabmap/rgbd_odometry subscribed to (exact sync):
     /camera/color/image_raw \
     /camera/aligned_depth_to_color/image_raw \
     /rtabmap/rgb/camera_info
    [ WARN] [1651740874.938344006]: /rtabmap/rtabmap: 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/rtabmap subscribed to (exact sync):
       /rtabmap/odom \
       /camera/color/image_raw \
       /camera/aligned_depth_to_color/image_raw \
       /rtabmap/rgb/camera_info \
       /rtabmap/odom_info

This message appears many times in the shell from launch to shutdown. I saw many peoples with the same warning but all suggestions to resolve it don't work for me. I try to listen these topics and I find something weird. All the topics of RtabMap are not published :

~$ rostopic hz /rtabmap/cloud_ground /rtabmap/cloud_map /rtabmap/cloud_obstacles /rtabmap/global_path /rtabmap/global_path_nodes /rtabmap/global_pose /rtabmap/goal /rtabmap/goal_node /rtabmap/goal_out /rtabmap/goal_reached /rtabmap/grid_map /rtabmap/grid_prob_map /rtabmap/info /rtabmap/initialpose /rtabmap/labels /rtabmap/landmarks /rtabmap/local_grid_empty /rtabmap/local_grid_ground /rtabmap/local_grid_obstacle /rtabmap/local_path /rtabmap/local_path_nodes /rtabmap/localization_pose /rtabmap/mapData /rtabmap/mapGraph /rtabmap/mapOdomCache /rtabmap/mapPath /rtabmap/octomap_binary /rtabmap/octomap_empty_space /rtabmap/octomap_full /rtabmap/octomap_global_frontier_space /rtabmap/octomap_grid /rtabmap/octomap_ground /rtabmap/octomap_obstacles /rtabmap/octomap_occupied_space /rtabmap/odom /rtabmap/odom_info /rtabmap/odom_info_lite /rtabmap/odom_last_frame /rtabmap/odom_local_map /rtabmap/odom_local_scan_map /rtabmap/odom_rgbd_image /rtabmap/proj_map /rtabmap/republish_node_data /rtabmap/rgb/camera_info /rtabmap/scan_map
subscribed to [/rtabmap/cloud_ground]
subscribed to [/rtabmap/cloud_map]
subscribed to [/rtabmap/cloud_obstacles]
subscribed to [/rtabmap/global_path]
subscribed to [/rtabmap/global_path_nodes]
subscribed to [/rtabmap/global_pose]
subscribed to [/rtabmap/goal]
subscribed to [/rtabmap/goal_node]
subscribed to [/rtabmap/goal_out]
subscribed to [/rtabmap/goal_reached]
subscribed to [/rtabmap/grid_map]
subscribed to [/rtabmap/grid_prob_map]
subscribed to [/rtabmap/info]
subscribed to [/rtabmap/initialpose]
subscribed to [/rtabmap/labels]
subscribed to [/rtabmap/landmarks]
subscribed to [/rtabmap/local_grid_empty]
subscribed to [/rtabmap/local_grid_ground]
subscribed to [/rtabmap/local_grid_obstacle]
subscribed to [/rtabmap/local_path]
subscribed to [/rtabmap/local_path_nodes]
subscribed to [/rtabmap/localization_pose]
subscribed to [/rtabmap/mapData]
subscribed to [/rtabmap ...
(more)
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Comments

You should check the input topics from the camera:

rostopic hz /camera/color/image_raw \
     /camera/aligned_depth_to_color/image_raw \
     /rtabmap/rgb/camera_info
matlabbe gravatar image matlabbe  ( 2022-05-10 13:41:10 -0500 )edit

I, thanks for the response ! I'm sorry I must answer my post to show you the differents output of the shell.

Koeut1 gravatar image Koeut1  ( 2022-05-13 09:15:08 -0500 )edit

1 Answer

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answered 2022-05-13 09:08:08 -0500

Koeut1 gravatar image

updated 2022-05-13 09:10:55 -0500

Thanks for the response ! Actually I remap topics subscribed by /rtabmap/* topics and it's work ! But only in my PC, on the RPi4 some topics of the camera are not published.

The new output, from RPi4, of my opentracking.launch modified file (which work perfectly on my PC)

    roslaunch realsense2_camera opensource_tracking_corrige.launch ... logging to /home/apsync/.ros/log/2fa115ae-d2c3-11ec-9d0b-b827eb4669aa/roslaunch-apsync-7142.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://apsync:42061/

SUMMARY
========

CLEAR PARAMETERS
 * /rtabmap/rgbd_odometry/
 * /rtabmap/rtabmap/
 * /ukf_se/

PARAMETERS
 * /ImuFilter/_publish_tf: False
 * /ImuFilter/_world_frame: enu
 * /ImuFilter/use_mag: False
 * /camera/realsense2_camera/accel_fps: 100
 * /camera/realsense2_camera/accel_frame_id: camera_accel_frame
 * /camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti...
 * /camera/realsense2_camera/align_depth: True
 * /camera/realsense2_camera/aligned_depth_to_color_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_fisheye1_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_fisheye2_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_fisheye_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_infra1_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_infra2_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/allow_no_texture_points: False
 * /camera/realsense2_camera/base_frame_id: camera_link
 * /camera/realsense2_camera/calib_odom_file: ~/HighAccuracy.json
 * /camera/realsense2_camera/clip_distance: -2.0
 * /camera/realsense2_camera/color_fps: 5
 * /camera/realsense2_camera/color_frame_id: camera_color_frame
 * /camera/realsense2_camera/color_height: 480
 * /camera/realsense2_camera/color_optical_frame_id: camera_color_opti...
 * /camera/realsense2_camera/color_width: 848
 * /camera/realsense2_camera/confidence_fps: 5
 * /camera/realsense2_camera/confidence_height: 480
 * /camera/realsense2_camera/confidence_width: 848
 * /camera/realsense2_camera/depth_fps: 5
 * /camera/realsense2_camera/depth_frame_id: camera_depth_frame
 * /camera/realsense2_camera/depth_height: 480
 * /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti...
 * /camera/realsense2_camera/depth_width: 848
 * /camera/realsense2_camera/device_type:
 * /camera/realsense2_camera/enable_accel: True
 * /camera/realsense2_camera/enable_color: True
 * /camera/realsense2_camera/enable_confidence: False
 * /camera/realsense2_camera/enable_depth: True
 * /camera/realsense2_camera/enable_fisheye1: False
 * /camera/realsense2_camera/enable_fisheye2: False
 * /camera/realsense2_camera/enable_fisheye: False
 * /camera/realsense2_camera/enable_gyro: True
 * /camera/realsense2_camera/enable_infra1: False
 * /camera/realsense2_camera/enable_infra2: False
 * /camera/realsense2_camera/enable_infra: False
 * /camera/realsense2_camera/enable_pointcloud: True
 * /camera/realsense2_camera/enable_pose: False
 * /camera/realsense2_camera/enable_sync: False
 * /camera/realsense2_camera/filters: pointcloud
 * /camera/realsense2_camera/fisheye1_frame_id: camera_fisheye1_f...
 * /camera/realsense2_camera/fisheye1_optical_frame_id: camera_fisheye1_o...
 * /camera/realsense2_camera/fisheye2_frame_id: camera_fisheye2_f...
 * /camera/realsense2_camera/fisheye2_optical_frame_id: camera_fisheye2_o...
 * /camera/realsense2_camera/fisheye_fps: 5
 * /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame
 * /camera/realsense2_camera/fisheye_height: 480
 * /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op...
 * /camera/realsense2_camera/fisheye_width: 848
 * /camera/realsense2_camera/gyro_fps: 200
 * /camera/realsense2_camera/gyro_frame_id: camera_gyro_frame
 * /camera/realsense2_camera/gyro_optical_frame_id: camera_gyro_optic...
 * /camera/realsense2_camera/imu_optical_frame_id: camera_imu_optica...
 * /camera/realsense2_camera/infra1_frame_id: camera_infra1_frame
 * /camera/realsense2_camera/infra1_optical_frame_id: camera_infra1_opt...
 * /camera/realsense2_camera/infra2_frame_id: camera_infra2_frame
 * /camera/realsense2_camera/infra2_optical_frame_id: camera_infra2_opt...
 * /camera/realsense2_camera/infra_fps: 5
 * /camera/realsense2_camera/infra_height: 480
 * /camera/realsense2_camera/infra_rgb: False
 * /camera/realsense2_camera/infra_width: 848
 * /camera/realsense2_camera/initial_reset: False
 * /camera/realsense2_camera/json_file_path:
 * /camera/realsense2_camera/linear_accel_cov: 1.0
 * /camera/realsense2_camera/odom_frame_id: camera_odom_frame
 * /camera/realsense2_camera/ordered_pc: False
 * /camera/realsense2_camera/pointcloud_texture_index: 0
 * /camera/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
 * /camera/realsense2_camera/pose_frame_id: camera_pose_frame
 * /camera/realsense2_camera/pose_optical_frame_id: camera_pose_optic...
 * /camera/realsense2_camera/publish_odom_tf: True
 * /camera/realsense2_camera/publish_tf: True
 * /camera/realsense2_camera/reconnect_timeout: 6.0
 * /camera/realsense2_camera/rosbag_filename:
 * /camera/realsense2_camera/serial_no:
 * /camera/realsense2_camera/stereo_module/exposure/1: 7500
 * /camera/realsense2_camera/stereo_module/exposure/2: 1
 * /camera/realsense2_camera/stereo_module/gain/1: 16
 * /camera/realsense2_camera/stereo_module/gain/2: 16
 * /camera/realsense2_camera/tf_publish_rate: 30.0
 * /camera/realsense2_camera/topic_odom_in: odom_in
 * /camera/realsense2_camera/unite_imu_method: linear_interpolation
 * /camera/realsense2_camera/usb_port_id:
 * /camera/realsense2_camera/wait_for_device_timeout: -1.0
 * /rosdistro: melodic
 * /rosversion: 1.14.13
 * /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 ...
(more)
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Asked: 2022-05-05 04:21:47 -0500

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Last updated: May 13 '22