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rtabmap realsense imu frame id changed

Hi all,

I am running rtabmap as described in http://wiki.ros.org/rtabmap_ros/Tutorials/HandHeldMapping, using a D435i. I am getting the following error many times a second:

IMU frame_id has changed from d400_gyro_frame to d400_accel_frame! Are multiple nodes publishing on same topic /rtabmap/imu? IMU buffer is cleared!

The setup is this:

roslaunch realsense2_camera rs_camera.launch camera:=d400 align_depth:=true unite_imu_method:=linear_interpolation enable_gyro:=true enable_accel:=true initial_reset:=true

rosrun imu_filter_madgwick imu_filter_node _use_mag:=false _publish_tf:=false _world_frame:="enu" /imu/data_raw:=/d400/imu /imu/data:=/rtabmap/imu

roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start --Optimizer/GravitySigma 0.3" depth_topic:=/d400/aligned_depth_to_color/image_raw rgb_topic:=/d40\ 0/color/image_raw camera_info_topic:=/d400/color/camera_info approx_sync:=false wait_imu_to_init:=true imu_topic:=/rtabmap/imu frame_id:=d400_link

According to rostopic /rtabmap/imu is only published by one publisher:

$ rostopic list -v | grep -i imu * /d400/imu [sensor_msgs/Imu] 1 publisher * /ImuFilter/parameter_updates [dynamic_reconfigure/Config] 1 publisher * /ImuFilter/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher * /rtabmap/imu [sensor_msgs/Imu] 1 publisher * /d400/imu_info [realsense2_camera/IMUInfo] 1 publisher * /rtabmap/imu [sensor_msgs/Imu] 2 subscribers * /d400/imu [sensor_msgs/Imu] 1 subscriber

Thanks for any help.

G

rtabmap realsense imu frame id changed

Hi all,

I am running rtabmap as described in http://wiki.ros.org/rtabmap_ros/Tutorials/HandHeldMapping, using a D435i. I am getting the following error many times a second:

IMU frame_id has changed from d400_gyro_frame to d400_accel_frame! Are multiple nodes publishing on same topic /rtabmap/imu? IMU buffer is cleared!

The setup is this:

roslaunch realsense2_camera rs_camera.launch camera:=d400 align_depth:=true unite_imu_method:=linear_interpolation enable_gyro:=true enable_accel:=true initial_reset:=true

rosrun imu_filter_madgwick imu_filter_node _use_mag:=false _publish_tf:=false _world_frame:="enu" /imu/data_raw:=/d400/imu /imu/data:=/rtabmap/imu

roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start --Optimizer/GravitySigma 0.3" depth_topic:=/d400/aligned_depth_to_color/image_raw rgb_topic:=/d40\ 0/color/image_raw rgb_topic:=/d400/color/image_raw camera_info_topic:=/d400/color/camera_info approx_sync:=false wait_imu_to_init:=true imu_topic:=/rtabmap/imu frame_id:=d400_link

According to rostopic /rtabmap/imu is only published by one publisher:

$ rostopic list -v | grep -i imu * /d400/imu [sensor_msgs/Imu] 1 publisher * /ImuFilter/parameter_updates [dynamic_reconfigure/Config] 1 publisher * /ImuFilter/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher * /rtabmap/imu [sensor_msgs/Imu] 1 publisher * /d400/imu_info [realsense2_camera/IMUInfo] 1 publisher * /rtabmap/imu [sensor_msgs/Imu] 2 subscribers * /d400/imu [sensor_msgs/Imu] 1 subscriber

Thanks for any help.

G