Avner's profile - activity

Hi,

I am running RTABMAP against a stereo camera that provides left and right and depth images.

When I run RTABMAP in stereo_mode (based on left and right image pairs) RTABMAP is working OK (e.g. I can see the 3d point cloud being build in Rviz via the topic /rtabmap/mapData)

Now I want to test RTABMAP in rgbd mode (based on right and depth image pairs).

In this mode the rgbd_odometry runs OK, and produces odometry results (snippet1). I also echo the /rtabmap/odom topic and I can see published data.

But nothing is published for topic /rtabmap/mapData.

RTABMAP does publish data for topic /rtabmap/odom_local_map (see snippet2)

To debug the problem, I list odom_local_map in Rviz and set the field "Fixed Frame" to "odom", but nothing is displayed in the 3d pane.

How can I debug the problem, to see the accumulated 3d point cloud in Rviz?

Or, how can I debug the problem, to see intermediate results such as odom_local_map in Rviz?

Thanks,

Avner

EDIT:

The RTABMAP launch files are listed in snippet3, snippet4

The ros related processes are in snippet5

snippet1 - rgb_odometry runs ok

[ INFO] [1565916017.025276774, 1556057414.818000078]: Odom: quality=508, std dev=0.000465m|0.000032rad, update time=0.028195s
[ INFO] [1565916017.052003568, 1556057414.818000078]: Odom: quality=513, std dev=0.000365m|0.000032rad, update time=0.026503s
[ INFO] [1565916017.117518421, 1556057414.884999990]: Odom: quality=513, std dev=0.000324m|0.000032rad, update time=0.027049s...

snippet2 - I can echo topic from /rtabmap/odom_local_map

header: 
  seq: 6484
  stamp: 
    secs: 1556058813
    nsecs: 713999987
  frame_id: "odom"
height: 1
width: 550
fields: 
  - 
    name: "x"
    offset: 0
    datatype: 7
    count: 1
  - 
    name: "y"
    offset: 4
    datatype: 7
    count: 1
  - 
    name: "z"
    offset: 8
    datatype: 7
    count: 1
  - 
    name: "rgb"
    offset: 16
    datatype: 7
    count: 1
is_bigendian: False
point_step: 32
row_step: 17600
data: [55, 45, 144, 194, 0, 0, 0, 0, 14, 209, 130 ...

snapshot3 - RTABMAP launch file

<?xml version="1.0"?>
<launch>
    <!-- Choose visualization -->
    <arg name="rviz"       default="true" />
    <arg name="rtabmapviz" default="false" />

    <arg name="rate"       default="30" />

    <arg name="rviz_cfg"                default="/home/catkin_ws/src/slam_rtabmap/launch/slam.rtabmap.live2.rviz" />

    <param name="/use_sim_time" value="true"/>

    <arg name="pi/2" value="1.5707963267948966" />
    <include file="/home/catkin_ws/src/slam_rtabmap/launch/live1_tf.launch"></include>

    <include file="/home/catkin_ws/src/slam_rtabmap/launch/rtabmap.base.launch">
        <arg name="rtabmap_args" value="--delete_db_on_start" />
        <arg name="stereo"           value="false" />
        <arg name="subscribe_rgbd"           value="true" />

        <arg name="queue_size"           value="10" />
        <arg name="rgbd_sync"               default="true"/>
        <arg name="approx_rgbd_sync"        default="false"/>
        <!-- <arg name="frame_id"                default="censys_stern"/> -->

        <arg name="rviz"             value="$(arg rviz)" />
        <arg name="rtabmapviz"       value="$(arg rtabmapviz)" />
        <arg name="rviz_cfg"       value="$(arg rviz_cfg)" />
        <arg name="rgb_topic"               value="/rectified_right" />
        <arg name="depth_topic"             value="/3d_z_coords" />
        <arg name="camera_info_topic"       value="/right/camera_info" />
    </include>
</launch>

snippet4 - RTABMAP base launch file

<launch>
  <!-- Convenience launch file to launch ...

Hi,

I am running RTABMAP against a stereo camera that provides left and right and depth images.

When I run RTABMAP in stereo_mode (based on left and right image pairs) RTABMAP is working OK. (e.g. I can see the 3d point cloud being accumulated in Rviz)

Next, I want to test RTABMAP in rgbd mode (based on right and depth image pairs).

In this mode I'm getting error messages from RTABMAP (snippet1) I echo the /rtabmap/odom topic and indeed nothing is advertised.

To debug the problem, I kill the rgbd_odometry process that is triggered from the launch file, and run the same command from the command line. This time rgbd_odometry runs OK, and I can echo the topic (snippet3)

Why rgbd_odometry doesn't publish anything when it runs from the launch file, but publishes data when it runs separately?

The launch files that are related to RTABMAP is in snippet4

Thanks,

Avner

snippet1 - getting error messages from RTABMAP

[ WARN] [1565907237.759114913, 1556048635.546000004]: /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):
   /rtabmap/odom,
   /rtabmap/rgbd_image_relay,
   /rtabmap/odom_info

snippet2 - run rgb_odometry directly from the command line

ps aux | grep odometry
avnerm   22133  6.1  2.1 1805516 172020 ?      Ssl  15:22   0:00 /opt/ros/melodic/lib/rtabmap_ros/rgbd_odometry --delete_db_on_start rgb/image:=/rm_mapping_node/cameras/stern/rectified_right depth/image:=/rm_mapping_node/cameras/stern/3d_z_coords rgb/camera_info:=/rm_mapping_node/cameras/stern/right/camera_info rgbd_image:=rgbd_image_relay odom:=odom __name:=rgbd_odometry __log:=/home/avnerm/.ros/log/8d688094-bfa4-11e9-975a-74d02b912ce1/rtabmap-rgbd_odometry-5.log

snippet3 - echo the topic /odom

rostopic echo /odom
...
---
header: 
  seq: 8
  stamp: 
    secs: 1556049330
    nsecs:  88000059
  frame_id: "odom"
child_frame_id: "base_link"
pose: 
  pose: 
    position: 
      x: -1.05032432079
      y: -1.40366268158
      z: -0.831952929497
    orientation: 
      x: -0.00683327377029
      y: 0.00692438043004
      z: -0.00286356138948
      w: 0.999948578349
  covariance: [660.712180279541, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 660.712180279541, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 660.712180279541, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.00214658203125, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.00214658203125, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.00214658203125]
twist: 
  twist: 
    linear: 
      x: 0.823218107224
      y: -0.786256253719
      z: 0.694412589073
    angular: 
      x: -0.00885304901749
      y: -0.0140505637974
      z: -0.00202373345383
  covariance: [330.3560901397705, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 330.3560901397705, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 330.3560901397705, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.001073291015625, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ...