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Can hector slam and rtabmap be done simultaneously on the robot

I have tried many methods suggested in Kinect + Odometry + 2D laser and changed odom and scan topics that suit my robot specifications. But, I could not get any data neither in RViz nor in Rtab GUI. I am getting this error

[ WARN] [1535549844.214860264]: /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"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10).
/rtabmap/rtabmap subscribed to (approx sync):
   /odom,
   /camera/rgb/image_rect_color,
   /camera/depth/image_rect,
   /camera/depth/camera_info,
   /scan

But when I echoed each topic some data is being published and I am able to get 2D map with this data. But I could not integrate 3D map to this odom and scan data. (odom = IMU and ENCODER data) I am actually trying to integrate gmapping and RTabmap and found a launch file that suits my requirements. I don't know whether it works. Here is the launch file I am using

<!-- Launch RTAB-map with Kinect2 and RPLidar A2 -->
<launch>
  <include file="$(find self_e)/launch/bringup.launch"/>
  <include file="$(find self_e)/launch/xbox.launch"/>
   <!-- Image resolution of the Kinect to process in rtabmap: sd, qhd, hd -->
   <arg name="resolution" default="qhd" />

   <!-- Fixed frame id -->
   <arg name="frame_id" default="base_link"/>  

   <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
    <remap from="scan" to="scan_filtered"/>
        <param name="base_frame" value="/base_footprint" />
        <param name="odom_frame" value="/odom" />
        <param name="map_update_interval" value="5.0"/>
        <param name="maxUrange" value="5.5"/>
        <param name="minRange" value="-0.5"/>
        <param name="sigma" value="0.05"/>
        <param name="kernelSize" value="1"/>
        <param name="lstep" value="0.05"/>
        <param name="astep" value="0.05"/>
        <param name="iterations" value="5"/>
        <param name="lsigma" value="0.075"/>
        <param name="ogain" value="3.0"/>
        <param name="lskip" value="0"/>
        <param name="minimumScore" value="50"/>
        <param name="srr" value="0.1"/>
        <param name="srt" value="0.2"/>
        <param name="str" value="0.1"/>
        <param name="stt" value="0.2"/>
        <param name="linearUpdate" value="0.2"/>
        <param name="angularUpdate" value="0.25"/>
        <param name="temporalUpdate" value="5.0"/>
        <param name="resampleThreshold" value="0.5"/>
        <param name="particles" value="50"/>
        <param name="xmin" value="-30.0"/>
        <param name="ymin" value="-30.0"/>
        <param name="xmax" value="30.0"/>
        <param name="ymax" value="30.0"/>
        <param name="delta" value="0.025"/>
        <param name="llsamplerange" value="0.01"/>
        <param name="llsamplestep" value="0.01"/>
        <param name="lasamplerange" value="0.005"/>
        <param name="lasamplestep" value="0.005"/>
        <param name="transform_publish_period" value="0.1"/>
   </node>

   <group ns="rtabmap">    
        <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
            <param name="subscribe_depth"      type="bool"    value="true"/>
            <param name="frame_id"             type="string"  value="$(arg frame_id)"/>
            <param name="subscribe_scan"       type="bool"    value="true"/>            
            <param name="Grid/DepthDecimation"                    value="2"/> 
            <param name="Grid/RangeMax"                     value="5.0"/> 
            <param name="Grid/CellSize"                    value="0.01"/> 
            <param name="map_cleanup"          type="bool"    value="false"/> 
        <param name="Grid/FromDepth" type="string" value="false"/> 
        <param name="RGBD/ProximityPathMaxNeighbors" type="string" value="10"/>     

            <remap from="rgb/image"            to="/camera/rgb/image_rect_color"/>
            <remap from="depth/image"          to="/camera/depth/image_rect"/>
            <remap from="rgb/camera_info"      to="/camera/depth/camera_info"/>
            <remap from="scan"                 to="/scan"/>
            <remap from="odom"                 to="/odom"/>

            <param name="approx_sync" type="bool" value="true"/>
            <param name="Reg/Strategy"       type="string" value="1"/>    <!-- 0=Visual, 1=ICP, 2=Visual+ICP -->
            <param name="Vis/MaxDepth"       type="string" value="8.0"/>  <!-- 3D visual words maximum depth 0=infinity -->
            <param name="Vis/InlierDistance" type="string" value="0.1"/>  <!-- 3D visual words correspondence distance -->
            <!--param name="Optimizer/Slam2D"   type="string" value="true"/-->
            <param name="Reg/Force3DoF"      type="string" value="true"/>
        </node>
   </group>


   <!-- Visualization in RVIZ -->
   <node pkg="rviz" type="rviz" name="rviz" args="-d $(find self_e)/rviz/2d_3d_slam.rviz"/>

   <node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap_ros/point_cloud_xyzrgb standalone_nodelet">
        <remap from="rgb/image"       to="data_odom_sync/image"/>
        <remap from="depth/image"     to="data_odom_sync/depth"/>
        <remap from="rgb/camera_info" to="data_odom_sync/camera_info"/>
        <remap from="cloud"           to="voxel_cloud" />
        <param name="voxel_size"      type="double" value="0.01"/>
   </node>

</launch>

I do not understand what voxel_cloud is here and I am a newbie to RTabmap. Could some one suggest me the right way to do this 2d + 3d integration or integrating 3d map with IMU and ENCODER data of my robot. I am ok if some one suggests me the way to integrate hector_slam and RTabmap.

Can hector slam and rtabmap be done simultaneously on the robot

I have tried many methods suggested in Kinect + Odometry + 2D laser and changed odom and scan topics that suit my robot specifications. But, I could not get any data neither in RViz nor in Rtab GUI. I am getting this error

[ WARN] [1535549844.214860264]: /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"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10).
/rtabmap/rtabmap subscribed to (approx sync):
   /odom,
   /camera/rgb/image_rect_color,
   /camera/depth/image_rect,
   /camera/depth/camera_info,
   /scan

But when I echoed each topic some data is being published and I am able to get 2D map with this data. But I could not integrate 3D map to this odom and scan data. (odom = IMU and ENCODER data) I am actually trying to integrate gmapping and RTabmap and found a launch file that suits my requirements. I don't know whether it works. Here is the launch file I am using

<!-- Launch RTAB-map with Kinect2 and RPLidar A2 -->
<launch>
  <include file="$(find self_e)/launch/bringup.launch"/>
  <include file="$(find self_e)/launch/xbox.launch"/>
   <!-- Image resolution of the Kinect to process in rtabmap: sd, qhd, hd -->
   <arg name="resolution" default="qhd" />

   <!-- Fixed frame id -->
   <arg name="frame_id" default="base_link"/>  

   <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
    <remap from="scan" to="scan_filtered"/>
        <param name="base_frame" value="/base_footprint" />
        <param name="odom_frame" value="/odom" />
        <param name="map_update_interval" value="5.0"/>
        <param name="maxUrange" value="5.5"/>
        <param name="minRange" value="-0.5"/>
        <param name="sigma" value="0.05"/>
        <param name="kernelSize" value="1"/>
        <param name="lstep" value="0.05"/>
        <param name="astep" value="0.05"/>
        <param name="iterations" value="5"/>
        <param name="lsigma" value="0.075"/>
        <param name="ogain" value="3.0"/>
        <param name="lskip" value="0"/>
        <param name="minimumScore" value="50"/>
        <param name="srr" value="0.1"/>
        <param name="srt" value="0.2"/>
        <param name="str" value="0.1"/>
        <param name="stt" value="0.2"/>
        <param name="linearUpdate" value="0.2"/>
        <param name="angularUpdate" value="0.25"/>
        <param name="temporalUpdate" value="5.0"/>
        <param name="resampleThreshold" value="0.5"/>
        <param name="particles" value="50"/>
        <param name="xmin" value="-30.0"/>
        <param name="ymin" value="-30.0"/>
        <param name="xmax" value="30.0"/>
        <param name="ymax" value="30.0"/>
        <param name="delta" value="0.025"/>
        <param name="llsamplerange" value="0.01"/>
        <param name="llsamplestep" value="0.01"/>
        <param name="lasamplerange" value="0.005"/>
        <param name="lasamplestep" value="0.005"/>
        <param name="transform_publish_period" value="0.1"/>
   </node>

   <group ns="rtabmap">    
        <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
            <param name="subscribe_depth"      type="bool"    value="true"/>
            <param name="frame_id"             type="string"  value="$(arg frame_id)"/>
            <param name="subscribe_scan"       type="bool"    value="true"/>            
            <param name="Grid/DepthDecimation"                    value="2"/> 
            <param name="Grid/RangeMax"                     value="5.0"/> 
            <param name="Grid/CellSize"                    value="0.01"/> 
            <param name="map_cleanup"          type="bool"    value="false"/> 
        <param name="Grid/FromDepth" type="string" value="false"/> 
        <param name="RGBD/ProximityPathMaxNeighbors" type="string" value="10"/>     

            <remap from="rgb/image"            to="/camera/rgb/image_rect_color"/>
            <remap from="depth/image"          to="/camera/depth/image_rect"/>
            <remap from="rgb/camera_info"      to="/camera/depth/camera_info"/>
            <remap from="scan"                 to="/scan"/>
            <remap from="odom"                 to="/odom"/>

            <param name="approx_sync" type="bool" value="true"/>
            <param name="Reg/Strategy"       type="string" value="1"/>    <!-- 0=Visual, 1=ICP, 2=Visual+ICP -->
            <param name="Vis/MaxDepth"       type="string" value="8.0"/>  <!-- 3D visual words maximum depth 0=infinity -->
            <param name="Vis/InlierDistance" type="string" value="0.1"/>  <!-- 3D visual words correspondence distance -->
            <!--param name="Optimizer/Slam2D"   type="string" value="true"/-->
            <param name="Reg/Force3DoF"      type="string" value="true"/>
        </node>
   </group>


   <!-- Visualization in RVIZ -->
   <node pkg="rviz" type="rviz" name="rviz" args="-d $(find self_e)/rviz/2d_3d_slam.rviz"/>

   <node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap_ros/point_cloud_xyzrgb standalone_nodelet">
        <remap from="rgb/image"       to="data_odom_sync/image"/>
        <remap from="depth/image"     to="data_odom_sync/depth"/>
        <remap from="rgb/camera_info" to="data_odom_sync/camera_info"/>
        <remap from="cloud"           to="voxel_cloud" />
        <param name="voxel_size"      type="double" value="0.01"/>
   </node>

</launch>

I do not understand what voxel_cloud is here and I am a newbie to RTabmap. Could some one suggest me the right way to do this 2d + 3d integration or integrating 3d map with IMU and ENCODER data of my robot. I am ok if some one suggests me the way to integrate hector_slam and RTabmap.

Can hector slam 2dslam and rtabmap be done simultaneously on the robot

I have tried many methods suggested in Kinect + Odometry + 2D laser and changed odom and scan topics that suit my robot specifications. But, I could not get any data neither in RViz nor in Rtab GUI. I am getting this error

[ WARN] [1535549844.214860264]: /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"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10).
/rtabmap/rtabmap subscribed to (approx sync):
   /odom,
   /camera/rgb/image_rect_color,
   /camera/depth/image_rect,
   /camera/depth/camera_info,
   /scan

But when I echoed each topic some data is being published and I am able to get 2D map with this data. But I could not integrate 3D map to this odom and scan data. (odom = IMU and ENCODER data) I am actually trying to integrate gmapping and RTabmap and found a launch file that suits my requirements. I don't know whether it works. Here is the launch file I am using

<!-- Launch RTAB-map with Kinect2 and RPLidar A2 -->
<launch>
  <include file="$(find self_e)/launch/bringup.launch"/>
  <include file="$(find self_e)/launch/xbox.launch"/>
   <!-- Image resolution of the Kinect to process in rtabmap: sd, qhd, hd -->
   <arg name="resolution" default="qhd" />

   <!-- Fixed frame id -->
   <arg name="frame_id" default="base_link"/>  

   <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
    <remap from="scan" to="scan_filtered"/>
        <param name="base_frame" value="/base_footprint" />
        <param name="odom_frame" value="/odom" />
        <param name="map_update_interval" value="5.0"/>
        <param name="maxUrange" value="5.5"/>
        <param name="minRange" value="-0.5"/>
        <param name="sigma" value="0.05"/>
        <param name="kernelSize" value="1"/>
        <param name="lstep" value="0.05"/>
        <param name="astep" value="0.05"/>
        <param name="iterations" value="5"/>
        <param name="lsigma" value="0.075"/>
        <param name="ogain" value="3.0"/>
        <param name="lskip" value="0"/>
        <param name="minimumScore" value="50"/>
        <param name="srr" value="0.1"/>
        <param name="srt" value="0.2"/>
        <param name="str" value="0.1"/>
        <param name="stt" value="0.2"/>
        <param name="linearUpdate" value="0.2"/>
        <param name="angularUpdate" value="0.25"/>
        <param name="temporalUpdate" value="5.0"/>
        <param name="resampleThreshold" value="0.5"/>
        <param name="particles" value="50"/>
        <param name="xmin" value="-30.0"/>
        <param name="ymin" value="-30.0"/>
        <param name="xmax" value="30.0"/>
        <param name="ymax" value="30.0"/>
        <param name="delta" value="0.025"/>
        <param name="llsamplerange" value="0.01"/>
        <param name="llsamplestep" value="0.01"/>
        <param name="lasamplerange" value="0.005"/>
        <param name="lasamplestep" value="0.005"/>
        <param name="transform_publish_period" value="0.1"/>
   </node>

   <group ns="rtabmap">    
        <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
            <param name="subscribe_depth"      type="bool"    value="true"/>
            <param name="frame_id"             type="string"  value="$(arg frame_id)"/>
            <param name="subscribe_scan"       type="bool"    value="true"/>            
            <param name="Grid/DepthDecimation"                    value="2"/> 
            <param name="Grid/RangeMax"                     value="5.0"/> 
            <param name="Grid/CellSize"                    value="0.01"/> 
            <param name="map_cleanup"          type="bool"    value="false"/> 
        <param name="Grid/FromDepth" type="string" value="false"/> 
        <param name="RGBD/ProximityPathMaxNeighbors" type="string" value="10"/>     

            <remap from="rgb/image"            to="/camera/rgb/image_rect_color"/>
            <remap from="depth/image"          to="/camera/depth/image_rect"/>
            <remap from="rgb/camera_info"      to="/camera/depth/camera_info"/>
            <remap from="scan"                 to="/scan"/>
            <remap from="odom"                 to="/odom"/>

            <param name="approx_sync" type="bool" value="true"/>
            <param name="Reg/Strategy"       type="string" value="1"/>    <!-- 0=Visual, 1=ICP, 2=Visual+ICP -->
            <param name="Vis/MaxDepth"       type="string" value="8.0"/>  <!-- 3D visual words maximum depth 0=infinity -->
            <param name="Vis/InlierDistance" type="string" value="0.1"/>  <!-- 3D visual words correspondence distance -->
            <!--param name="Optimizer/Slam2D"   type="string" value="true"/-->
            <param name="Reg/Force3DoF"      type="string" value="true"/>
        </node>
   </group>


   <!-- Visualization in RVIZ -->
   <node pkg="rviz" type="rviz" name="rviz" args="-d $(find self_e)/rviz/2d_3d_slam.rviz"/>

   <node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap_ros/point_cloud_xyzrgb standalone_nodelet">
        <remap from="rgb/image"       to="data_odom_sync/image"/>
        <remap from="depth/image"     to="data_odom_sync/depth"/>
        <remap from="rgb/camera_info" to="data_odom_sync/camera_info"/>
        <remap from="cloud"           to="voxel_cloud" />
        <param name="voxel_size"      type="double" value="0.01"/>
   </node>

</launch>

but I get this error again

[ WARN] [1535557635.247852489]: /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"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=100).
/rtabmap/rtabmap subscribed to (approx sync):
   /odom,
   /camera/rgb/image_rect_color,
   /camera/depth/image_rect,
   /camera/rgb/camera_info,
   /scan_filtered

and gmapping is working. i have done rostopic hz /odom /camera/rgb/image_rect_color /camera/depth/image_rect /camera/rgb/camera_info /scan_filtered and i get

subscribed to [/odom]
subscribed to [/camera/rgb/image_rect_color]
subscribed to [/camera/depth/image_rect]
subscribed to [/camera/rgb/camera_info]
subscribed to [/scan_filtered]
           topic                rate   min_delta   max_delta    std_dev    window
=================================================================================
/odom                          10.0    0.09988     0.1001      6.796e-05   10    
/camera/rgb/image_rect_color   30.06   0.03095     0.03517     0.001068    10    
/camera/rgb/camera_info        30.1    0.03078     0.03476     0.001108    31    
/scan_filtered                 7.25    0.1376      0.1381      0.0001548   31

I do not know how to overcome the errors and I do not understand what voxel_cloud is here and I am a newbie to RTabmap. Could some one suggest me the right way to do this 2d + 3d integration or integrating 3d map with IMU and ENCODER data of my robot. I am ok if some one suggests me the way to integrate hector_slam and RTabmap.

Can 2dslam and rtabmap be done simultaneously on the robot

I have tried many methods suggested in Kinect + Odometry + 2D laser and changed odom and scan topics that suit my robot specifications. But, I could not get any data neither in RViz nor in Rtab GUI. I am getting this error

 [ WARN] [1535549844.214860264]: /rtabmap/rtabmap: [1535559564.824509798]: /rtabmap/rtabmapviz: 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"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10).
/rtabmap/rtabmap /rtabmap/rtabmapviz subscribed to (approx sync):
   /odom,
/rtabmap/odom,
   /camera/rgb/image_rect_color,
   /camera/depth/image_rect,
   /camera/depth/camera_info,
   /scan
/camera/depth_registered/image_raw,
   /camera/rgb/camera_info,
   /rtabmap/odom_info

But when I echoed each topic some data is being published and I am able to get 2D map with this data. But I could not integrate 3D map to this odom and scan data. (odom = IMU and ENCODER data) I am actually trying to integrate gmapping and RTabmap and found a launch file that suits my requirements. I don't know whether it works. Here is the launch file I am using

<!-- Launch RTAB-map with Kinect2 and RPLidar A2 -->
<launch>
  <include file="$(find self_e)/launch/bringup.launch"/>
  <include file="$(find self_e)/launch/xbox.launch"/>
   <!-- Image resolution of the Kinect to process in rtabmap: sd, qhd, hd -->
   <arg name="resolution" default="qhd" />

   <!-- Fixed frame id -->
   <arg name="frame_id" default="base_link"/>  

   <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
    <remap from="scan" to="scan_filtered"/>
        <param name="base_frame" value="/base_footprint" />
        <param name="odom_frame" value="/odom" />
        <param name="map_update_interval" value="5.0"/>
        <param name="maxUrange" value="5.5"/>
        <param name="minRange" value="-0.5"/>
        <param name="sigma" value="0.05"/>
        <param name="kernelSize" value="1"/>
        <param name="lstep" value="0.05"/>
        <param name="astep" value="0.05"/>
        <param name="iterations" value="5"/>
        <param name="lsigma" value="0.075"/>
        <param name="ogain" value="3.0"/>
        <param name="lskip" value="0"/>
        <param name="minimumScore" value="50"/>
        <param name="srr" value="0.1"/>
        <param name="srt" value="0.2"/>
        <param name="str" value="0.1"/>
        <param name="stt" value="0.2"/>
        <param name="linearUpdate" value="0.2"/>
        <param name="angularUpdate" value="0.25"/>
        <param name="temporalUpdate" value="5.0"/>
        <param name="resampleThreshold" value="0.5"/>
        <param name="particles" value="50"/>
        <param name="xmin" value="-30.0"/>
        <param name="ymin" value="-30.0"/>
        <param name="xmax" value="30.0"/>
        <param name="ymax" value="30.0"/>
        <param name="delta" value="0.025"/>
        <param name="llsamplerange" value="0.01"/>
        <param name="llsamplestep" value="0.01"/>
        <param name="lasamplerange" value="0.005"/>
        <param name="lasamplestep" value="0.005"/>
        <param name="transform_publish_period" value="0.1"/>
   </node>

   <group ns="rtabmap">    
        <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
            <param name="subscribe_depth"      type="bool"    value="true"/>
            <param name="frame_id"             type="string"  value="$(arg frame_id)"/>
            <param name="subscribe_scan"       type="bool"    value="true"/>            
            <param name="Grid/DepthDecimation"                    value="2"/> 
            <param name="Grid/RangeMax"                     value="5.0"/> 
            <param name="Grid/CellSize"                    value="0.01"/> 
            <param name="map_cleanup"          type="bool"    value="false"/> 
        <param name="Grid/FromDepth" type="string" value="false"/> 
        <param name="RGBD/ProximityPathMaxNeighbors" type="string" value="10"/>     

            <remap from="rgb/image"            to="/camera/rgb/image_rect_color"/>
            <remap from="depth/image"          to="/camera/depth/image_rect"/>
            <remap from="rgb/camera_info"      to="/camera/depth/camera_info"/>
            <remap from="scan"                 to="/scan"/>
            <remap from="odom"                 to="/odom"/>

            <param name="approx_sync" type="bool" value="true"/>
            <param name="Reg/Strategy"       type="string" value="1"/>    <!-- 0=Visual, 1=ICP, 2=Visual+ICP -->
            <param name="Vis/MaxDepth"       type="string" value="8.0"/>  <!-- 3D visual words maximum depth 0=infinity -->
            <param name="Vis/InlierDistance" type="string" value="0.1"/>  <!-- 3D visual words correspondence distance -->
            <!--param name="Optimizer/Slam2D"   type="string" value="true"/-->
            <param name="Reg/Force3DoF"      type="string" value="true"/>
        </node>
   </group>


   <!-- Visualization in RVIZ -->
   <node pkg="rviz" type="rviz" name="rviz" args="-d $(find self_e)/rviz/2d_3d_slam.rviz"/>

   <node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap_ros/point_cloud_xyzrgb standalone_nodelet">
        <remap from="rgb/image"       to="data_odom_sync/image"/>
        <remap from="depth/image"     to="data_odom_sync/depth"/>
        <remap from="rgb/camera_info" to="data_odom_sync/camera_info"/>
        <remap from="cloud"           to="voxel_cloud" />
        <param name="voxel_size"      type="double" value="0.01"/>
   </node>

</launch>

but I get this error again

[ WARN] [1535557635.247852489]: /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"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=100).
/rtabmap/rtabmap subscribed to (approx sync):
   /odom,
   /camera/rgb/image_rect_color,
   /camera/depth/image_rect,
   /camera/rgb/camera_info,
   /scan_filtered

and gmapping is working. i have done rostopic hz /odom /camera/rgb/image_rect_color /camera/depth/image_rect /camera/rgb/camera_info /scan_filtered and i get

subscribed to [/odom]
subscribed to [/camera/rgb/image_rect_color]
subscribed to [/camera/depth/image_rect]
subscribed to [/camera/rgb/camera_info]
subscribed to [/scan_filtered]
           topic                rate   min_delta   max_delta    std_dev    window
=================================================================================
/odom                          10.0    0.09988     0.1001      6.796e-05   10    
/camera/rgb/image_rect_color   30.06   0.03095     0.03517     0.001068    10    
/camera/rgb/camera_info        30.1    0.03078     0.03476     0.001108    31    
/scan_filtered                 7.25    0.1376      0.1381      0.0001548   31

I do not know how to overcome the errors and I do not understand what voxel_cloud is here and I am a newbie to RTabmap. Could some one suggest me the right way to do this 2d + 3d integration or integrating 3d map with IMU and ENCODER data of my robot. I am ok if some one suggests me the way to integrate hector_slam and RTabmap.

Can 2dslam and rtabmap be done simultaneously on the robot

I have tried many methods suggested in Kinect + Odometry + 2D laser and changed odom and scan topics that suit my robot specifications. But, I could not get any data neither in RViz nor in Rtab GUI. I and my launch file is rtabmap.launch.I am getting this error

    [ WARN] [1535559564.824509798]: /rtabmap/rtabmapviz: 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"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10).
/rtabmap/rtabmapviz subscribed to (approx sync):
   /rtabmap/odom,
   /camera/rgb/image_rect_color,
   /camera/depth_registered/image_raw,
   /camera/rgb/camera_info,
   /rtabmap/odom_info

But when I echoed each topic some data is being published and I am able to get 2D map with this data. But I could not integrate 3D map to this odom and scan data. (odom = IMU and ENCODER data) I am actually trying to integrate gmapping and RTabmap and found a launch file that suits my requirements. I don't know whether it works. Here is the launch file I am using

<!-- Launch RTAB-map with Kinect2 and RPLidar A2 -->
<launch>
  <include file="$(find self_e)/launch/bringup.launch"/>
  <include file="$(find self_e)/launch/xbox.launch"/>
   <!-- Image resolution of the Kinect to process in rtabmap: sd, qhd, hd -->
   <arg name="resolution" default="qhd" />

   <!-- Fixed frame id -->
   <arg name="frame_id" default="base_link"/>  

   <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
    <remap from="scan" to="scan_filtered"/>
        <param name="base_frame" value="/base_footprint" />
        <param name="odom_frame" value="/odom" />
        <param name="map_update_interval" value="5.0"/>
        <param name="maxUrange" value="5.5"/>
        <param name="minRange" value="-0.5"/>
        <param name="sigma" value="0.05"/>
        <param name="kernelSize" value="1"/>
        <param name="lstep" value="0.05"/>
        <param name="astep" value="0.05"/>
        <param name="iterations" value="5"/>
        <param name="lsigma" value="0.075"/>
        <param name="ogain" value="3.0"/>
        <param name="lskip" value="0"/>
        <param name="minimumScore" value="50"/>
        <param name="srr" value="0.1"/>
        <param name="srt" value="0.2"/>
        <param name="str" value="0.1"/>
        <param name="stt" value="0.2"/>
        <param name="linearUpdate" value="0.2"/>
        <param name="angularUpdate" value="0.25"/>
        <param name="temporalUpdate" value="5.0"/>
        <param name="resampleThreshold" value="0.5"/>
        <param name="particles" value="50"/>
        <param name="xmin" value="-30.0"/>
        <param name="ymin" value="-30.0"/>
        <param name="xmax" value="30.0"/>
        <param name="ymax" value="30.0"/>
        <param name="delta" value="0.025"/>
        <param name="llsamplerange" value="0.01"/>
        <param name="llsamplestep" value="0.01"/>
        <param name="lasamplerange" value="0.005"/>
        <param name="lasamplestep" value="0.005"/>
        <param name="transform_publish_period" value="0.1"/>
   </node>

   <group ns="rtabmap">    
        <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
            <param name="subscribe_depth"      type="bool"    value="true"/>
            <param name="frame_id"             type="string"  value="$(arg frame_id)"/>
            <param name="subscribe_scan"       type="bool"    value="true"/>            
            <param name="Grid/DepthDecimation"                    value="2"/> 
            <param name="Grid/RangeMax"                     value="5.0"/> 
            <param name="Grid/CellSize"                    value="0.01"/> 
            <param name="map_cleanup"          type="bool"    value="false"/> 
        <param name="Grid/FromDepth" type="string" value="false"/> 
        <param name="RGBD/ProximityPathMaxNeighbors" type="string" value="10"/>     

            <remap from="rgb/image"            to="/camera/rgb/image_rect_color"/>
            <remap from="depth/image"          to="/camera/depth/image_rect"/>
            <remap from="rgb/camera_info"      to="/camera/depth/camera_info"/>
            <remap from="scan"                 to="/scan"/>
            <remap from="odom"                 to="/odom"/>

            <param name="approx_sync" type="bool" value="true"/>
            <param name="Reg/Strategy"       type="string" value="1"/>    <!-- 0=Visual, 1=ICP, 2=Visual+ICP -->
            <param name="Vis/MaxDepth"       type="string" value="8.0"/>  <!-- 3D visual words maximum depth 0=infinity -->
            <param name="Vis/InlierDistance" type="string" value="0.1"/>  <!-- 3D visual words correspondence distance -->
            <!--param name="Optimizer/Slam2D"   type="string" value="true"/-->
            <param name="Reg/Force3DoF"      type="string" value="true"/>
        </node>
   </group>


   <!-- Visualization in RVIZ -->
   <node pkg="rviz" type="rviz" name="rviz" args="-d $(find self_e)/rviz/2d_3d_slam.rviz"/>

   <node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap_ros/point_cloud_xyzrgb standalone_nodelet">
        <remap from="rgb/image"       to="data_odom_sync/image"/>
        <remap from="depth/image"     to="data_odom_sync/depth"/>
        <remap from="rgb/camera_info" to="data_odom_sync/camera_info"/>
        <remap from="cloud"           to="voxel_cloud" />
        <param name="voxel_size"      type="double" value="0.01"/>
   </node>

</launch>

but I get this error again

[ WARN] [1535557635.247852489]: /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"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=100).
/rtabmap/rtabmap subscribed to (approx sync):
   /odom,
   /camera/rgb/image_rect_color,
   /camera/depth/image_rect,
   /camera/rgb/camera_info,
   /scan_filtered

and gmapping is working. i have done rostopic hz /odom /camera/rgb/image_rect_color /camera/depth/image_rect /camera/rgb/camera_info /scan_filtered and i get

subscribed to [/odom]
subscribed to [/camera/rgb/image_rect_color]
subscribed to [/camera/depth/image_rect]
subscribed to [/camera/rgb/camera_info]
subscribed to [/scan_filtered]
           topic                rate   min_delta   max_delta    std_dev    window
=================================================================================
/odom                          10.0    0.09988     0.1001      6.796e-05   10    
/camera/rgb/image_rect_color   30.06   0.03095     0.03517     0.001068    10    
/camera/rgb/camera_info        30.1    0.03078     0.03476     0.001108    31    
/scan_filtered                 7.25    0.1376      0.1381      0.0001548   31

I do not know how to overcome the errors and I do not understand what voxel_cloud is here and I am a newbie to RTabmap. Could some one suggest me the right way to do this 2d + 3d integration or integrating 3d map with IMU and ENCODER data of my robot. I am ok if some one suggests me the way to integrate hector_slam and RTabmap.

Can 2dslam and rtabmap be done simultaneously on the robot

I have tried many methods suggested in Kinect + Odometry + 2D laser and changed odom and scan topics that suit my robot specifications. But, I could not get any data neither in RViz nor in Rtab GUI. and my launch file is rtabmap.launch.I am getting this error

    [ WARN] [1535559564.824509798]: /rtabmap/rtabmapviz: 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"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10).
/rtabmap/rtabmapviz subscribed to (approx sync):
   /rtabmap/odom,
   /camera/rgb/image_rect_color,
   /camera/depth_registered/image_raw,
   /camera/rgb/camera_info,
   /rtabmap/odom_info

But when I echoed each topic some data is being published and I am able to get 2D map with this data. But I could not integrate 3D map to this odom and scan data. (odom = IMU and ENCODER data) I am actually trying to integrate gmapping and RTabmap and found a launch file that suits my requirements. I don't know whether it works. Here is the launch file I am using

<!-- Launch RTAB-map with Kinect2 and RPLidar A2 -->
<launch>
  <include file="$(find self_e)/launch/bringup.launch"/>
  <include file="$(find self_e)/launch/xbox.launch"/>
   <!-- Image resolution of the Kinect to process in rtabmap: sd, qhd, hd -->
   <arg name="resolution" default="qhd" />

   <!-- Fixed frame id -->
   <arg name="frame_id" default="base_link"/>  

   <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
    <remap from="scan" to="scan_filtered"/>
        <param name="base_frame" value="/base_footprint" />
        <param name="odom_frame" value="/odom" />
        <param name="map_update_interval" value="5.0"/>
        <param name="maxUrange" value="5.5"/>
        <param name="minRange" value="-0.5"/>
        <param name="sigma" value="0.05"/>
        <param name="kernelSize" value="1"/>
        <param name="lstep" value="0.05"/>
        <param name="astep" value="0.05"/>
        <param name="iterations" value="5"/>
        <param name="lsigma" value="0.075"/>
        <param name="ogain" value="3.0"/>
        <param name="lskip" value="0"/>
        <param name="minimumScore" value="50"/>
        <param name="srr" value="0.1"/>
        <param name="srt" value="0.2"/>
        <param name="str" value="0.1"/>
        <param name="stt" value="0.2"/>
        <param name="linearUpdate" value="0.2"/>
        <param name="angularUpdate" value="0.25"/>
        <param name="temporalUpdate" value="5.0"/>
        <param name="resampleThreshold" value="0.5"/>
        <param name="particles" value="50"/>
        <param name="xmin" value="-30.0"/>
        <param name="ymin" value="-30.0"/>
        <param name="xmax" value="30.0"/>
        <param name="ymax" value="30.0"/>
        <param name="delta" value="0.025"/>
        <param name="llsamplerange" value="0.01"/>
        <param name="llsamplestep" value="0.01"/>
        <param name="lasamplerange" value="0.005"/>
        <param name="lasamplestep" value="0.005"/>
        <param name="transform_publish_period" value="0.1"/>
   </node>

   <group ns="rtabmap">    
        <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
            <param name="subscribe_depth"      type="bool"    value="true"/>
            <param name="frame_id"             type="string"  value="$(arg frame_id)"/>
            <param name="subscribe_scan"       type="bool"    value="true"/>            
            <param name="Grid/DepthDecimation"                    value="2"/> 
            <param name="Grid/RangeMax"                     value="5.0"/> 
            <param name="Grid/CellSize"                    value="0.01"/> 
            <param name="map_cleanup"          type="bool"    value="false"/> 
        <param name="Grid/FromDepth" type="string" value="false"/> 
        <param name="RGBD/ProximityPathMaxNeighbors" type="string" value="10"/>     

            <remap from="rgb/image"            to="/camera/rgb/image_rect_color"/>
            <remap from="depth/image"          to="/camera/depth/image_rect"/>
            <remap from="rgb/camera_info"      to="/camera/depth/camera_info"/>
            <remap from="scan"                 to="/scan"/>
            <remap from="odom"                 to="/odom"/>

            <param name="approx_sync" type="bool" value="true"/>
            <param name="Reg/Strategy"       type="string" value="1"/>    <!-- 0=Visual, 1=ICP, 2=Visual+ICP -->
            <param name="Vis/MaxDepth"       type="string" value="8.0"/>  <!-- 3D visual words maximum depth 0=infinity -->
            <param name="Vis/InlierDistance" type="string" value="0.1"/>  <!-- 3D visual words correspondence distance -->
            <!--param name="Optimizer/Slam2D"   type="string" value="true"/-->
            <param name="Reg/Force3DoF"      type="string" value="true"/>
        </node>
   </group>


   <!-- Visualization in RVIZ -->
   <node pkg="rviz" type="rviz" name="rviz" args="-d $(find self_e)/rviz/2d_3d_slam.rviz"/>

   <node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap_ros/point_cloud_xyzrgb standalone_nodelet">
        <remap from="rgb/image"       to="data_odom_sync/image"/>
        <remap from="depth/image"     to="data_odom_sync/depth"/>
        <remap from="rgb/camera_info" to="data_odom_sync/camera_info"/>
        <remap from="cloud"           to="voxel_cloud" />
        <param name="voxel_size"      type="double" value="0.01"/>
   </node>

</launch>

but I get this error again

[ WARN] [1535557635.247852489]: /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"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=100).
/rtabmap/rtabmap subscribed to (approx sync):
   /odom,
   /camera/rgb/image_rect_color,
   /camera/depth/image_rect,
   /camera/rgb/camera_info,
   /scan_filtered

and gmapping is working. i have done rostopic hz /odom /camera/rgb/image_rect_color /camera/depth/image_rect /camera/rgb/camera_info /scan_filtered and i get

subscribed to [/odom]
subscribed to [/camera/rgb/image_rect_color]
subscribed to [/camera/depth/image_rect]
subscribed to [/camera/rgb/camera_info]
subscribed to [/scan_filtered]
           topic                rate   min_delta   max_delta    std_dev    window
=================================================================================
/odom                          10.0    0.09988     0.1001      6.796e-05   10    
/camera/rgb/image_rect_color   30.06   0.03095     0.03517     0.001068    10    
/camera/rgb/camera_info        30.1    0.03078     0.03476     0.001108    31    
/scan_filtered                 7.25    0.1376      0.1381      0.0001548   31

I do not know how to overcome the errors and I do not understand what voxel_cloud is here and I am a newbie to RTabmap. Could some one suggest me the right way to do this 2d + 3d integration or integrating 3d map with IMU and ENCODER data of my robot. I am ok if some one suggests me the way to integrate hector_slam and RTabmap.

Can 2dslam and rtabmap be done simultaneously on the robotErrors using Rtabmap and also running gmapping and Rtabmap simultaneously.

I have tried many methods suggested in Kinect + Odometry + 2D laser and changed odom and scan topics that suit my robot specifications. But, I could not get any data neither in RViz nor in Rtab GUI. and my launch file is rtabmap.launch.I am getting this error

    [ WARN] [1535559564.824509798]: /rtabmap/rtabmapviz: 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"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10).
/rtabmap/rtabmapviz subscribed to (approx sync):
   /rtabmap/odom,
   /camera/rgb/image_rect_color,
   /camera/depth_registered/image_raw,
   /camera/rgb/camera_info,
   /rtabmap/odom_info

But when I echoed each topic some data is being published and I am able to get 2D map with this data. But I could not integrate 3D map to this odom and scan data. (odom = IMU and ENCODER data) I am actually trying to integrate gmapping and RTabmap and found a launch file that suits my requirements. I don't know whether it works. Here is the launch file I am using

<!-- Launch RTAB-map with Kinect2 and RPLidar A2 -->
<launch>
  <include file="$(find self_e)/launch/bringup.launch"/>
  <include file="$(find self_e)/launch/xbox.launch"/>
   <!-- Image resolution of the Kinect to process in rtabmap: sd, qhd, hd -->
   <arg name="resolution" default="qhd" />

   <!-- Fixed frame id -->
   <arg name="frame_id" default="base_link"/>  

   <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
    <remap from="scan" to="scan_filtered"/>
        <param name="base_frame" value="/base_footprint" />
        <param name="odom_frame" value="/odom" />
        <param name="map_update_interval" value="5.0"/>
        <param name="maxUrange" value="5.5"/>
        <param name="minRange" value="-0.5"/>
        <param name="sigma" value="0.05"/>
        <param name="kernelSize" value="1"/>
        <param name="lstep" value="0.05"/>
        <param name="astep" value="0.05"/>
        <param name="iterations" value="5"/>
        <param name="lsigma" value="0.075"/>
        <param name="ogain" value="3.0"/>
        <param name="lskip" value="0"/>
        <param name="minimumScore" value="50"/>
        <param name="srr" value="0.1"/>
        <param name="srt" value="0.2"/>
        <param name="str" value="0.1"/>
        <param name="stt" value="0.2"/>
        <param name="linearUpdate" value="0.2"/>
        <param name="angularUpdate" value="0.25"/>
        <param name="temporalUpdate" value="5.0"/>
        <param name="resampleThreshold" value="0.5"/>
        <param name="particles" value="50"/>
        <param name="xmin" value="-30.0"/>
        <param name="ymin" value="-30.0"/>
        <param name="xmax" value="30.0"/>
        <param name="ymax" value="30.0"/>
        <param name="delta" value="0.025"/>
        <param name="llsamplerange" value="0.01"/>
        <param name="llsamplestep" value="0.01"/>
        <param name="lasamplerange" value="0.005"/>
        <param name="lasamplestep" value="0.005"/>
        <param name="transform_publish_period" value="0.1"/>
   </node>

   <group ns="rtabmap">    
        <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
            <param name="subscribe_depth"      type="bool"    value="true"/>
            <param name="frame_id"             type="string"  value="$(arg frame_id)"/>
            <param name="subscribe_scan"       type="bool"    value="true"/>            
            <param name="Grid/DepthDecimation"                    value="2"/> 
            <param name="Grid/RangeMax"                     value="5.0"/> 
            <param name="Grid/CellSize"                    value="0.01"/> 
            <param name="map_cleanup"          type="bool"    value="false"/> 
        <param name="Grid/FromDepth" type="string" value="false"/> 
        <param name="RGBD/ProximityPathMaxNeighbors" type="string" value="10"/>     

            <remap from="rgb/image"            to="/camera/rgb/image_rect_color"/>
            <remap from="depth/image"          to="/camera/depth/image_rect"/>
            <remap from="rgb/camera_info"      to="/camera/depth/camera_info"/>
            <remap from="scan"                 to="/scan"/>
            <remap from="odom"                 to="/odom"/>

            <param name="approx_sync" type="bool" value="true"/>
            <param name="Reg/Strategy"       type="string" value="1"/>    <!-- 0=Visual, 1=ICP, 2=Visual+ICP -->
            <param name="Vis/MaxDepth"       type="string" value="8.0"/>  <!-- 3D visual words maximum depth 0=infinity -->
            <param name="Vis/InlierDistance" type="string" value="0.1"/>  <!-- 3D visual words correspondence distance -->
            <!--param name="Optimizer/Slam2D"   type="string" value="true"/-->
            <param name="Reg/Force3DoF"      type="string" value="true"/>
        </node>
   </group>


   <!-- Visualization in RVIZ -->
   <node pkg="rviz" type="rviz" name="rviz" args="-d $(find self_e)/rviz/2d_3d_slam.rviz"/>

   <node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap_ros/point_cloud_xyzrgb standalone_nodelet">
        <remap from="rgb/image"       to="data_odom_sync/image"/>
        <remap from="depth/image"     to="data_odom_sync/depth"/>
        <remap from="rgb/camera_info" to="data_odom_sync/camera_info"/>
        <remap from="cloud"           to="voxel_cloud" />
        <param name="voxel_size"      type="double" value="0.01"/>
   </node>

</launch>

but I get this error again

[ WARN] [1535557635.247852489]: /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"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=100).
/rtabmap/rtabmap subscribed to (approx sync):
   /odom,
   /camera/rgb/image_rect_color,
   /camera/depth/image_rect,
   /camera/rgb/camera_info,
   /scan_filtered

and gmapping is working. i have done rostopic hz /odom /camera/rgb/image_rect_color /camera/depth/image_rect /camera/rgb/camera_info /scan_filtered and i get

subscribed to [/odom]
subscribed to [/camera/rgb/image_rect_color]
subscribed to [/camera/depth/image_rect]
subscribed to [/camera/rgb/camera_info]
subscribed to [/scan_filtered]
           topic                rate   min_delta   max_delta    std_dev    window
=================================================================================
/odom                          10.0    0.09988     0.1001      6.796e-05   10    
/camera/rgb/image_rect_color   30.06   0.03095     0.03517     0.001068    10    
/camera/rgb/camera_info        30.1    0.03078     0.03476     0.001108    31    
/scan_filtered                 7.25    0.1376      0.1381      0.0001548   31

I do not know how to overcome the errors and I do not understand what voxel_cloud is here and I am a newbie to RTabmap. Could some one suggest me the right way to do this 2d + 3d integration or integrating 3d map with IMU and ENCODER data of my robot. I am ok if some one suggests me the way to integrate hector_slam and RTabmap.