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RTAB-Map using realsense R200, Did not receive data since 5 seconds! Make sure the input topics are published

Hi, i'm new to RTAB-Map and ros. i follow the tutorial in how to use intel realsense R200 to do rtabmap. the robot i use is turtlebot3 with intel realsense R200 with ubuntu 16.04 (amd64) ros kinetic. i already run the realsense_camera R200_nodelet_rgbd.launch in the robot. the error i get are :

/rtabmap/rtabmap subscribed to (approx sync): /odom, /camera/rgb/image_rect_color, /camera/depth_registered/sw_registered/image_rect, /camera/rgb/camera_info, /scan

the display in rviz show nothing but black screen with blue green lines.

i have check the rostopic hz for each of the topic there. the results for /camera is a bit delayed like 1 - 3 no data then data received.

the launch file i use for rtabmap :

<launch> <group ns="rtabmap"> <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">

        <span style="color: #333333">&lt;</span>param name<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;frame_id&quot;</span> <span style="color: #007020">type</span><span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;string&quot;</span> value<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;base_link&quot;</span><span style="color: #333333">/&gt;</span>

        <span style="color: #333333">&lt;</span>param name<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;subscribe_depth&quot;</span> <span style="color: #007020">type</span><span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;bool&quot;</span> value<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;true&quot;</span><span style="color: #333333">/&gt;</span>
        <span style="color: #333333">&lt;</span>param name<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;subscribe_scan&quot;</span> <span style="color: #007020">type</span><span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;bool&quot;</span> value<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;true&quot;</span><span style="color: #333333">/&gt;</span>

        <span style="color: #333333">&lt;</span>remap from<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;odom&quot;</span> to<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;/odom&quot;</span><span style="color: #333333">/&gt;</span>
        <span style="color: #333333">&lt;</span>remap from<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;scan&quot;</span> to<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;/scan&quot;</span><span style="color: #333333">/&gt;</span>

        <span style="color: #333333">&lt;</span>remap from<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;rgb/image&quot;</span> to<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;/camera/rgb/image_rect_color&quot;</span><span style="color: #333333">/&gt;</span>
        <span style="color: #333333">&lt;</span>remap from<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;depth/image&quot;</span> to<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;/camera/depth_registered/sw_registered/image_rect&quot;</span><span style="color: #333333">/&gt;</span>
        <span style="color: #333333">&lt;</span>remap from<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;rgb/camera_info&quot;</span> to<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;/camera/rgb/camera_info&quot;</span><span style="color: #333333">/&gt;</span>

        <span style="color: #333333">&lt;</span>param name<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;queue_size&quot;</span> <span style="color: #007020">type</span><span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;int&quot;</span> value<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;10&quot;</span><span style="color: #333333">/&gt;</span>

        <span style="color: #333333">&lt;</span><span style="color: #FF0000; background-color: #FFAAAA">!</span><span style="color: #333333">--</span> rtabmap parameters <span style="color: #333333">--&gt;</span>

        <span style="color: #333333">&lt;</span>param name<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;RGBD/NeighborLinkRefining&quot;</span>  <span style="color: #007020">type</span><span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;string&quot;</span> value<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;true&quot;</span><span style="color: #333333">/&gt;</span>
        <span style="color: #333333">&lt;</span>param name<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;RGBD/ProximityBySpace&quot;</span>      <span style="color: #007020">type</span><span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;string&quot;</span> value<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;true&quot;</span><span style="color: #333333">/&gt;</span>
        <span style="color: #333333">&lt;</span>param name<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;RGBD/ProximityPathMaxNeighbors&quot;</span>         <span style="color: #007020">type</span><span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;string&quot;</span> value<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;10&quot;</span><span style="color: #333333">/&gt;</span>
        <span style="color: #333333">&lt;</span>param name<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;RGBD/AngularUpdate&quot;</span>         <span style="color: #007020">type</span><span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;string&quot;</span> value<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;0.01&quot;</span><span style="color: #333333">/&gt;</span>
        <span style="color: #333333">&lt;</span>param name<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;RGBD/LinearUpdate&quot;</span>          <span style="color: #007020">type</span><span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;string&quot;</span> value<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;0.01&quot;</span><span style="color: #333333">/&gt;</span>
        <span style="color: #333333">&lt;</span>param name<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;RGBD/OptimizeFromGraphEnd&quot;</span>  <span style="color: #007020">type</span><span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;string&quot;</span> value<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;false&quot;</span><span style="color: #333333">/&gt;</span>
        <span style="color: #333333">&lt;</span>param name<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;Reg/Force3DoF&quot;</span>              <span style="color: #007020">type</span><span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;string&quot;</span> value<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;true&quot;</span><span style="color: #333333">/&gt;</span>
        <span style="color: #333333">&lt;</span>param name<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;Reg/Strategy&quot;</span>               <span style="color: #007020">type</span><span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;string&quot;</span> value<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;1&quot;</span><span style="color: #333333">/&gt;</span>
        <span style="color: #333333">&lt;</span>param name<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;Vis/MinInliers&quot;</span>             <span style="color: #007020">type</span><span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;string&quot;</span> value<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;5&quot;</span><span style="color: #333333">/&gt;</span>
        <span style="color: #333333">&lt;</span>param name<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;Vis/InlierDistance&quot;</span>         <span style="color: #007020">type</span><span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;string&quot;</span> value<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;0.1&quot;</span><span style="color: #333333">/&gt;</span>
        <span style="color: #333333">&lt;</span>param name<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;Rtabmap/TimeThr&quot;</span>            <span style="color: #007020">type</span><span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;string&quot;</span> value<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;700&quot;</span><span style="color: #333333">/&gt;</span>
        <span style="color: #333333">&lt;</span>param name<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;Mem/RehearsalSimilarity&quot;</span>    <span style="color: #007020">type</span><span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;string&quot;</span> value<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;0.45&quot;</span><span style="color: #333333">/&gt;</span>
        <span style="color: #333333">&lt;</span>param name<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;Grid/FromDepth&quot;</span>             <span style="color: #007020">type</span><span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;string&quot;</span> value<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;false&quot;</span><span style="color: #333333">/&gt;</span>

  <span style="color: #333333">&lt;/</span>node<span style="color: #333333">&gt;</span>
<span style="color: #333333">&lt;/</span>group<span style="color: #333333">&gt;</span>

</launch>

click to hide/show revision 2
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RTAB-Map using realsense R200, Did not receive data since 5 seconds! Make sure the input topics are published

Hi, i'm new to RTAB-Map and ros. i follow the tutorial in how to use intel realsense R200 to do rtabmap. the robot i use is turtlebot3 with intel realsense R200 with ubuntu 16.04 (amd64) ros kinetic. i already run the realsense_camera R200_nodelet_rgbd.launch in the robot. the error i get are :

/rtabmap/rtabmap subscribed to (approx sync): /odom, /camera/rgb/image_rect_color, /camera/depth_registered/sw_registered/image_rect, /camera/rgb/camera_info, /scan

the display in rviz show nothing but black screen with blue green lines.

i have check the rostopic hz for each of the topic there. the results for /camera is a bit delayed like 1 - 3 no data then data received.

the launch file i use for rtabmap :

<launch> <group ns="rtabmap"> <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">

        <span style="color: #333333">&lt;</span>param name<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;frame_id&quot;</span> <span style="color: #007020">type</span><span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;string&quot;</span> value<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;base_link&quot;</span><span style="color: #333333">/&gt;</span>

        <span style="color: #333333">&lt;</span>param name<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;subscribe_depth&quot;</span> <span style="color: #007020">type</span><span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;bool&quot;</span> value<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;true&quot;</span><span style="color: #333333">/&gt;</span>
        <span style="color: #333333">&lt;</span>param name<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;subscribe_scan&quot;</span> <span style="color: #007020">type</span><span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;bool&quot;</span> value<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;true&quot;</span><span style="color: #333333">/&gt;</span>

        <span style="color: #333333">&lt;</span>remap from<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;odom&quot;</span> to<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;/odom&quot;</span><span style="color: #333333">/&gt;</span>
        <span style="color: #333333">&lt;</span>remap from<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;scan&quot;</span> to<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;/scan&quot;</span><span style="color: #333333">/&gt;</span>

        <span style="color: #333333">&lt;</span>remap from<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;rgb/image&quot;</span> to<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;/camera/rgb/image_rect_color&quot;</span><span style="color: #333333">/&gt;</span>
        <span style="color: #333333">&lt;</span>remap from<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;depth/image&quot;</span> to<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;/camera/depth_registered/sw_registered/image_rect&quot;</span><span style="color: #333333">/&gt;</span>
        <span style="color: #333333">&lt;</span>remap from<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;rgb/camera_info&quot;</span> to<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;/camera/rgb/camera_info&quot;</span><span style="color: #333333">/&gt;</span>

        <span style="color: #333333">&lt;</span>param name<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;queue_size&quot;</span> <span style="color: #007020">type</span><span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;int&quot;</span> value<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;10&quot;</span><span style="color: #333333">/&gt;</span>

        <span style="color: #333333">&lt;</span><span style="color: #FF0000; background-color: #FFAAAA">!</span><span style="color: #333333">--</span> <launch>
    <group ns="rtabmap">
      <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">

            <param name="frame_id" type="string" value="base_link"/>

            <param name="subscribe_depth" type="bool" value="true"/>
            <param name="subscribe_scan" type="bool" value="true"/>

            <remap from="odom" to="/odom"/>
            <remap from="scan" to="/scan"/>

            <remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
            <remap from="depth/image" to="/camera/depth_registered/sw_registered/image_rect"/>
            <remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>

            <param name="queue_size" type="int" value="10"/>

            <!-- rtabmap parameters <span style="color: #333333">--&gt;</span>

        <span style="color: #333333">&lt;</span>param name<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;RGBD/NeighborLinkRefining&quot;</span>  <span style="color: #007020">type</span><span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;string&quot;</span> value<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;true&quot;</span><span style="color: #333333">/&gt;</span>
        <span style="color: #333333">&lt;</span>param name<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;RGBD/ProximityBySpace&quot;</span>      <span style="color: #007020">type</span><span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;string&quot;</span> value<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;true&quot;</span><span style="color: #333333">/&gt;</span>
        <span style="color: #333333">&lt;</span>param name<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;RGBD/ProximityPathMaxNeighbors&quot;</span>         <span style="color: #007020">type</span><span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;string&quot;</span> value<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;10&quot;</span><span style="color: #333333">/&gt;</span>
        <span style="color: #333333">&lt;</span>param name<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;RGBD/AngularUpdate&quot;</span>         <span style="color: #007020">type</span><span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;string&quot;</span> value<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;0.01&quot;</span><span style="color: #333333">/&gt;</span>
        <span style="color: #333333">&lt;</span>param name<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;RGBD/LinearUpdate&quot;</span>          <span style="color: #007020">type</span><span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;string&quot;</span> value<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;0.01&quot;</span><span style="color: #333333">/&gt;</span>
        <span style="color: #333333">&lt;</span>param name<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;RGBD/OptimizeFromGraphEnd&quot;</span>  <span style="color: #007020">type</span><span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;string&quot;</span> value<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;false&quot;</span><span style="color: #333333">/&gt;</span>
        <span style="color: #333333">&lt;</span>param name<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;Reg/Force3DoF&quot;</span>              <span style="color: #007020">type</span><span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;string&quot;</span> value<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;true&quot;</span><span style="color: #333333">/&gt;</span>
        <span style="color: #333333">&lt;</span>param name<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;Reg/Strategy&quot;</span>               <span style="color: #007020">type</span><span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;string&quot;</span> value<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;1&quot;</span><span style="color: #333333">/&gt;</span>
        <span style="color: #333333">&lt;</span>param name<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;Vis/MinInliers&quot;</span>             <span style="color: #007020">type</span><span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;string&quot;</span> value<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;5&quot;</span><span style="color: #333333">/&gt;</span>
        <span style="color: #333333">&lt;</span>param name<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;Vis/InlierDistance&quot;</span>         <span style="color: #007020">type</span><span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;string&quot;</span> value<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;0.1&quot;</span><span style="color: #333333">/&gt;</span>
        <span style="color: #333333">&lt;</span>param name<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;Rtabmap/TimeThr&quot;</span>            <span style="color: #007020">type</span><span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;string&quot;</span> value<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;700&quot;</span><span style="color: #333333">/&gt;</span>
        <span style="color: #333333">&lt;</span>param name<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;Mem/RehearsalSimilarity&quot;</span>    <span style="color: #007020">type</span><span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;string&quot;</span> value<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;0.45&quot;</span><span style="color: #333333">/&gt;</span>
        <span style="color: #333333">&lt;</span>param name<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;Grid/FromDepth&quot;</span>             <span style="color: #007020">type</span><span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;string&quot;</span> value<span style="color: #333333">=</span><span style="background-color: #fff0f0">&quot;false&quot;</span><span style="color: #333333">/&gt;</span>

  <span style="color: #333333">&lt;/</span>node<span style="color: #333333">&gt;</span>
<span style="color: #333333">&lt;/</span>group<span style="color: #333333">&gt;</span>
-->

            <param name="RGBD/NeighborLinkRefining"  type="string" value="true"/>
            <param name="RGBD/ProximityBySpace"      type="string" value="true"/>
            <param name="RGBD/ProximityPathMaxNeighbors"         type="string" value="10"/>
            <param name="RGBD/AngularUpdate"         type="string" value="0.01"/>
            <param name="RGBD/LinearUpdate"          type="string" value="0.01"/>
            <param name="RGBD/OptimizeFromGraphEnd"  type="string" value="false"/>
            <param name="Reg/Force3DoF"              type="string" value="true"/>
            <param name="Reg/Strategy"               type="string" value="1"/>
            <param name="Vis/MinInliers"             type="string" value="5"/>
            <param name="Vis/InlierDistance"         type="string" value="0.1"/>
            <param name="Rtabmap/TimeThr"            type="string" value="700"/>
            <param name="Mem/RehearsalSimilarity"    type="string" value="0.45"/>
            <param name="Grid/FromDepth"             type="string" value="false"/>

      </node>
    </group>
</launch>

</launch>