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Why can't rtabmap_ros access the published zed camera topics?

Hi,

I'm new to ROS and currently working on using rtabmap with move_base and the zed camera on a jetston-tx2 for Navigation.

I start the roscore on the Host machine.

Than I start the zed node on the robot.

$ roslaunch zed_wrapper zed.launch

During the start the following error comes up:

...[ INFO] [1582724028.740786655]: depth_frame: depth_frame
Couldn't find an AF_INET address for [hostname]
Couldn't find an AF_INET address for [hostname]
Couldn't find an AF_INET address for [hostname]
ZED (Init) >> Depth mode: PERFORMANCE
ZED (Init) >> Video mode: HD720@30

At this point I can see the topcis published by the zed camere via rostopic list and via rqt, but any rtabmap or rviz application I start returns something similar to this:

...[ WARN] [1582724056.543819469]: /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,
   /zed/zed_node/left/image_rect_color,
   /zed/zed_node/right/image_rect_color,
   /zed/zed_node/left/camera_info,
   /zed/zed_node/right/camera_info,
   /rtabmap/odom_info

Meanwhile in the zed node terminal:

...[ WARN] [1582724033.052059891]: The tf from 'base_frame' to 'camera_frame' does not seem to be available, will assume it as identity!
Couldn't find an AF_INET address for [hostname]
Couldn't find an AF_INET address for [hostname]
Couldn't find an AF_INET address for [hostname]
Couldn't find an AF_INET address for [hostname]
Couldn't find an AF_INET address for [hostname]...

Additional Information:

On host machine: ros_kinetic, Ubuntu 16.04, 4.15.0-76-generic

On jetson-tx2: ros_kinetic, Ubuntu 16.04, 4.4.38-tegra, zed_wrapper: 2.8.x

Regarding the AF_INET address error i already tried this: https://answers.ros.org/question/163556/how-to-solve-couldnt-find-an-af_inet-address-for-problem/

But that didnt change anything for me.

I also wrote two tf static_transform_publisher which added the camera_frame and base_frame into the existingt tf_tree. After I had done that the frames where in the tf_tree and there was a transform between them but the error message still appeared. I would rather change that directly in the zed_urdf but I can't find where they're defined.

It would be very much appreciated if You could give me some idea on what to look into.

Best regards, Uwe

Why can't rtabmap_ros access the published zed camera topics?

Hi,

I'm new to ROS and currently working on using rtabmap with move_base and the zed camera on a jetston-tx2 for Navigation.

I start the roscore on the Host machine.

Than I start the zed node on the robot.

$ roslaunch zed_wrapper zed.launch

During the start the following error comes up:

...[ INFO] [1582724028.740786655]: depth_frame: depth_frame
Couldn't find an AF_INET address for [hostname]
Couldn't find an AF_INET address for [hostname]
Couldn't find an AF_INET address for [hostname]
ZED (Init) >> Depth mode: PERFORMANCE
ZED (Init) >> Video mode: HD720@30

At this point I can see the topcis published by the zed camere via rostopic list and via rqt, but any rtabmap or rviz application I start returns something similar to this:

...[ WARN] [1582724056.543819469]: /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,
   /zed/zed_node/left/image_rect_color,
   /zed/zed_node/right/image_rect_color,
   /zed/zed_node/left/camera_info,
   /zed/zed_node/right/camera_info,
   /rtabmap/odom_info

Meanwhile in the zed node terminal:

...[ WARN] [1582724033.052059891]: The tf from 'base_frame' to 'camera_frame' does not seem to be available, will assume it as identity!
Couldn't find an AF_INET address for [hostname]
Couldn't find an AF_INET address for [hostname]
Couldn't find an AF_INET address for [hostname]
Couldn't find an AF_INET address for [hostname]
Couldn't find an AF_INET address for [hostname]...

Additional Information:

On host machine: ros_kinetic, Ubuntu 16.04, 4.15.0-76-generic

On jetson-tx2: ros_kinetic, Ubuntu 16.04, 4.4.38-tegra, zed_wrapper: 2.8.x

Regarding the AF_INET address error i already tried this: https://answers.ros.org/question/163556/how-to-solve-couldnt-find-an-af_inet-address-for-problem/

But that didnt change anything for me.

I also wrote two tf static_transform_publisher which added the camera_frame and base_frame into the existingt tf_tree. After I had done that the frames where in the tf_tree and there was a transform between them but the error message still appeared. I would rather change that directly in the zed_urdf but I can't find where they're defined.

It would be very much appreciated if You could give me some idea on what to look into.

Best regards, Uwe

Things I tryed so fa, but didn't work out: -Reinstall rtabmap -Built rtabmap from source -Run diffrent examples -Turn approx sync = true

Edit: I now have tried running the example (http://wiki.ros.org/rtabmap_ros/Tutorials/StereoHandHeldMapping) on the jetson itself and I got the same error message. The Topics are being publish and aren't empty.

Why can't rtabmap_ros access the published zed camera topics?

Hi,

I'm new to ROS and currently working on using rtabmap with move_base and the zed camera on a jetston-tx2 for Navigation.

I start the roscore on the Host machine.

Than I start the zed node on the robot.

$ roslaunch zed_wrapper zed.launch

During the start the following error comes up:

...[ INFO] [1582724028.740786655]: depth_frame: depth_frame
Couldn't find an AF_INET address for [hostname]
Couldn't find an AF_INET address for [hostname]
Couldn't find an AF_INET address for [hostname]
ZED (Init) >> Depth mode: PERFORMANCE
ZED (Init) >> Video mode: HD720@30

At this point I can see the topcis published by the zed camere via rostopic list and via rqt, but any rtabmap or rviz application I start returns something similar to this:

...[ WARN] [1582724056.543819469]: /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,
   /zed/zed_node/left/image_rect_color,
   /zed/zed_node/right/image_rect_color,
   /zed/zed_node/left/camera_info,
   /zed/zed_node/right/camera_info,
   /rtabmap/odom_info

Meanwhile in the zed node terminal:

...[ WARN] [1582724033.052059891]: The tf from 'base_frame' to 'camera_frame' does not seem to be available, will assume it as identity!
Couldn't find an AF_INET address for [hostname]
Couldn't find an AF_INET address for [hostname]
Couldn't find an AF_INET address for [hostname]
Couldn't find an AF_INET address for [hostname]
Couldn't find an AF_INET address for [hostname]...

Additional Information:

On host machine: ros_kinetic, Ubuntu 16.04, 4.15.0-76-generic

On jetson-tx2: ros_kinetic, Ubuntu 16.04, 4.4.38-tegra, zed_wrapper: 2.8.x

Regarding the AF_INET address error i already tried this: https://answers.ros.org/question/163556/how-to-solve-couldnt-find-an-af_inet-address-for-problem/

But that didnt change anything for me.

I also wrote two tf static_transform_publisher which added the camera_frame and base_frame into the existingt tf_tree. After I had done that the frames where in the tf_tree and there was a transform between them but the error message still appeared. I would rather change that directly in the zed_urdf but I can't find where they're defined.

It would be very much appreciated if You could give me some idea on what to look into.

Best regards, Uwe

Things I tryed so fa, but didn't work out: -Reinstall rtabmap -Built rtabmap from source -Run diffrent examples -Turn approx sync = true

Edit: I now have tried running the example (http://wiki.ros.org/rtabmap_ros/Tutorials/StereoHandHeldMapping) on the jetson itself and I got the same error message. The Topics are being publish and aren't empty.

Edit: After editing the urdf (https://github.com/stereolabs/zed-ros-wrapper/blob/3c643fc9f75f1053db31931542fda7ac149a2ff3/zed_wrapper/urdf/zed_descr.urdf.xacro#L51) and deleting a static tf transform (which I forgit about) I could run the rtabmap example (http://wiki.ros.org/rtabmap_ros/Tutorials/StereoHandHeldMapping) on the jetson. If I try to do remote mapping now, I wont get any error messages about not receiving messages, but rtabmapviz wont show any output.