RGBDSLAM black screen, not receving data, not building model
I have been trying to use RGBDSLAM to build a 3d model using a kinect sensor on a Turtlebot 2 running on Groovy and have so far been unable to get more than one image from the camera.
On the Turtlebot, I do: roslaunch turtlebot_bringup minimal.launch and roslaunch openni_launch openni.launch
I am running RGBDSLAM on my own workstation. When I start RGBDSLAM (using 'rosrun rgbdslam rgbdslam'), the GUI starts correctly and shows a black screen with two blue and red axes. I think hit the space bar and nothing happens, nothing is updated, even when I move the Turtlebot around. When I look at the terminal output for RGBDSLAM, I see the following (and it doesn't change at all):
[user]@[machine]:~$ rosrun rgbdslam rgbdslam Initializing Node... [ INFO] [1373404458.387233301]: Connected to roscore [ INFO] [1373404459.920681061]: Publishing latched (single publish will take longer, all topics are prepared) [ INFO] [1373404460.197975256]: Listening to /camera/rgb/image_rect_color and /camera/depth_registered/image_rect [ INFO] [1373404464.410408126]: Pause toggled to: false
Which shows that RGBDSLAM is not processing any data. I've checked to make sure openni.launch is producing nodes that publish to /camera/rgb/image_rect_color and /camera/depth_registered/image_rect and rostopic echo /camera/rgb/image_rect_color prints out an infinite series of numbers, as expected. The only other warning I receive is from the terminal that launched openni, which says (repeatedly):
[ WARN] [1373405079.849237881]: TF exception: The tf tree is invalid because it contains a loop. Frame /camera_depth_frame exists with parent /camera_rgb_frame. Frame /camera_link exists with parent /camera_rgb_frame. Frame /camera_rgb_frame exists with parent /base_link. Frame /camera_rgb_optical_frame exists with parent /camera_rgb_frame. Frame /wheel_left_link exists with parent /base_link. Frame /base_link exists with parent /base_footprint. Frame /wheel_right_link exists with parent /base_link. Frame /base_footprint exists with parent /odom. Frame /odom exists with parent NO_PARENT. Frame /camera_depth_optical_frame exists with parent /camera_depth_frame. Frame /caster_back_link exists with parent /base_link. Frame /caster_front_link exists with parent /base_link. Frame /cliff_sensor_front_link exists with parent /base_link. Frame /cliff_sensor_left_link exists with parent /base_link. Frame /cliff_sensor_right_link exists with parent /base_link. Frame /gyro_link exists with parent /base_link. Frame /plate_bottom_link exists with parent /base_link. Frame /plate_middle_link exists with parent /base_link. Frame /plate_top_link exists with parent /base_link. Frame /pole_bottom_0_link exists with parent /base_link. Frame /pole_bottom_1_link exists with parent /base_link. Frame /pole_bottom_2_link exists with parent /base_link. Frame /pole_bottom_3_link exists with parent /base_link. Frame /pole_bottom_4_link exists with parent /base_link. Frame /pole_bottom_5_link exists with parent /base_link. Frame /pole_kinect_0_link exists with parent /base_link. Frame /pole_kinect_1_link exists with parent /base_link. Frame /pole_middle_0_link exists with parent /base_link. Frame /pole_middle_1_link exists with parent /base_link. Frame /pole_middle_2_link exists with parent /base_link. Frame /pole_middle_3_link exists with parent /base_link. Frame /pole_top_0_link exists with parent /base_link. Frame /pole_top_1_link exists with parent /base_link. Frame /pole_top_2_link exists with parent /base_link. Frame /pole_top_3_link exists with parent /base_link.
What could be wrong? Any help is greatly appreciated.
