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2020-09-23 02:20:03 -0500 received badge  Taxonomist
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2020-04-26 22:04:30 -0500 marked best answer kitti rosbag rtabmap_ros

i download kitti kitti_2011_09_26_drive_0001_synced and use kitti2bag python make it become kitti_2011_09_26_drive_0001_synced.bag In ORBslam2 ,it works well. So i try to us rtabmap_ros my roslanuch:

< launch>
< node pkg="rosbag" type="play" name="stereo_camera" output="screen" args="--loop --clock /home/harold/rosbag/kitti_2011_09_26_drive_0001_synced.bag">
< remap from="/kitti/camera_color_left/image_raw" to="/stereo_camera/left/image_raw"/>
< remap from="/kitti/camera_color_right/image_raw" to="/stereo_camera/right/image_raw"/>
< remap from="/kitti/camera_color_left/camera_info" to="/stereo_camera/left/camera_info"/>
< remap from="/kitti/camera_color_right/camera_info" to="/stereo_camera/right/camera_info"/>
< remap from="/tf" to="/stereo_camera/tf"/>
< remap from="/tf_static" to="/stereo_camera/tf_static"/>
< /node>
< !-- Rotate the camera frame. -->
  < arg name="pi/2" value="1.5707963267948966" />
  < arg name="optical_rotate" value="0 0 0 -$(arg pi/2) 0 -$(arg pi/2)" />
  < node pkg="tf" type="static_transform_publisher" name="camera_base_link" output="screen"
         args="$(arg optical_rotate) base_link stereo_camera 100"  />  
    < group ns="/stereo_camera" > 
    < node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc"/>
  < /group>
< /launch>

(some space becuase it will disappear) i run rtab_map:

roslaunch rtabmap_ros stereo_mapping.launch stereo_namespace:="/stereo_camera" rtabmap_args:="--delete_db_on_start" approximate_sync:=true

then i get:

[ WARN] [1563896739.041306891]: /rtabmap/stereo_odometry: 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. Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
/rtabmap/stereo_odometry subscribed to (exact sync):
   /stereo_camera/left/image_rect_color,
   /stereo_camera/right/image_rect,
   /stereo_camera/left/camera_info,
   /stereo_camera/right/camera_info

[ WARN] [1563896735.981168926]: /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"). Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
/rtabmap/rtabmapviz subscribed to (exact sync):
   /odom,
   /stereo_camera/left/image_rect_color,
   /stereo_camera/right/image_rect,
   /stereo_camera/left/camera_info,
   /stereo_camera/right/camera_info,
   /rtabmap/odom_info

[ WARN] [1563896736.761637361]: /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):
   /odom,
   /stereo_camera/left/image_rect_color,
   /stereo_camera/right/image_rect,
   /stereo_camera/left/camera_info,
   /stereo_camera/right/camera_info,
   /rtabmap/odom_info

*i have every topic it mentioned But /odom and /odom_info have no new message *

rqt_graph

2020-01-25 23:37:02 -0500 received badge  Famous Question (source)
2019-11-23 20:44:00 -0500 edited question bag from D435i cannot run rtabmap_ros

bag from D435i cannot run rtabmap_ros The SDK of D435i can save bag files (from PC without ROS). And i use(pc with ROS)

2019-11-21 22:29:34 -0500 commented question bag from D435i cannot run rtabmap_ros

But when i try rostopic echo /device_0/sensor_1/Color_0/info/camera_info ,it has messages! Maybe i will try other camera

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2019-11-20 23:12:16 -0500 commented question bag from D435i cannot run rtabmap_ros

I have post that, the rate is different.Is that i problem?

2019-11-20 23:11:41 -0500 edited question bag from D435i cannot run rtabmap_ros

bag from D435i cannot run rtabmap_ros The SDK of D435i can save bag files (from PC without ROS). And i use(pc with ROS)

2019-11-20 23:10:19 -0500 edited question bag from D435i cannot run rtabmap_ros

bag from D435i cannot run rtabmap_ros The SDK of D435i can save bag files (from PC without ROS). And i use(pc with ROS)

2019-11-18 23:40:11 -0500 asked a question bag from D435i cannot run rtabmap_ros

bag from D435i cannot run rtabmap_ros The SDK of D435i can save bag files (from PC without ROS). And i use(pc with ROS)

2019-11-18 23:15:11 -0500 answered a question rtabmap Export 3D clouds(map) problems

I found that in Export 3D clouds meus .If i set "Set the number of K nearest.." and "Set the search radius..." and "Voxe

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2019-10-13 04:08:19 -0500 edited question rtabmap Export 3D clouds(map) problems

rtabmap Export 3D clouds(map) problems Hi! When i use kinect2 camera to run rtabmap , the .ply file i export looks good.

2019-10-13 04:06:03 -0500 edited question rtabmap Export 3D clouds(map) problems

rtabmap Export 3D clouds problems Hi! When i use kinect2 camera to run rtabmap , the .ply file i export looks good.But w

2019-10-13 02:52:24 -0500 asked a question rtabmap Export 3D clouds(map) problems

rtabmap Export 3D clouds problems Hi! When i use kinect2 camera to run rtabmap , the .ply file i export looks good.But w

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2019-08-28 01:03:50 -0500 edited question ros opencv cannot recive kinect2's depth image

ros opencv cannot recive kinect2's depth image I am trying to make a ros to recive kinect2's depth image.But it show err

2019-08-27 05:50:09 -0500 asked a question ros opencv cannot recive kinect2's depth image

ros opencv cannot recive kinect2's depth image I am trying to make a ros to recive kinect2's depth image.But it show err

2019-08-27 05:27:40 -0500 commented answer CvBridgeError: [8SC1] is not a color format. but [mono8] is. The conversion does not make sense

Did you find reason?My question : cv_bridge exception: [16UC1] is not a color format. but [mono16] is. The conversion do

2019-08-22 22:08:06 -0500 received badge  Commentator
2019-08-22 22:08:06 -0500 commented answer large kitti data map(or LoopClosure) make rtabmap_ros and the whole ubuntu crash!

Sorry! A new question appears! When i add the frame of rtabmap ,it stocked again! I updated the details in my question

2019-08-22 22:04:54 -0500 edited question large kitti data map(or LoopClosure) make rtabmap_ros and the whole ubuntu crash!

large kitti data map(or LoopClosure) make rtabmap_ros and the whole ubuntu crash! I successfuly run rtabmap_ros by kitti

2019-08-22 21:32:01 -0500 edited question large kitti data map(or LoopClosure) make rtabmap_ros and the whole ubuntu crash!

large map(or LoopClosure) make rtabmap_ros and the whole ubuntu crash! I successfuly run rtabmap_ros by kitti2rosbag(kit

2019-08-19 20:59:03 -0500 marked best answer large kitti data map(or LoopClosure) make rtabmap_ros and the whole ubuntu crash!

I successfuly run rtabmap_ros by kitti2rosbag(kitti_to_rosbag),if kitti data is not such large.(less than 2500 pictures) But i want do "Visual Odometry / SLAM Evaluation 2012".So i download odometry data set sequence 00 which is "2011_10_03_drive_0027 (17.6 GB) Length: 4550 frames (07:35 minutes)" ,make it to rosbag( it is 25.8G by kitti2rosbag,37G!!!!!by kitti_to_rosbag). And i run it by Mathieu ' code (thanks to him again and again and agin)

roslaunch rtabmap_ros rtabmap.launch stereo:="true" left_image_topic:=/kitti/camera_color_left/image_raw right_image_topic:=/kitti/camera_color_right/image_raw left_camera_info_topic:=/kitti/camera_color_left/camera_info right_camera_info_topic:=/kitti/camera_color_right/camera_info rtabmap_args:="--delete_db_on_start" approx_sync:=true use_sim_time:=true frame_id:=base_link

it is normal in first 2000 pictures ,but when it comes to 2400.it just stocked! And my whole ubuntu system die ,sometime my mouse can move.But and keboard is useless.Even the numlock is useless! The light of numlock is not change ,if i press it .I try to wait ,but 3hours passed ,nothing changes . And ,i change some parameter of launch files like:

<!-- maximum features map size, default 2000 -->
<param name="OdomF2M/MaxSize" type="string" value="5000"/>

But it is useless too. And i use ORB2-slam as odom too.But both orb mode and rgbd_odom mode are useless.

----------------------------------------------------------sovled------------------------------------------------------------ new question : image description

----------------------------------------------------------sovled------------------------------------------------------------ -------------new questions:!!! I try to export the poses and compare with kitti ground truth(4541 frames).I find the poses i exported from rtabmap are key frames(454 frames).But mostly every tools need same frame number,when they compare the ground truth. So I try to change some settings : settings First i set the rate in picture to 10,and run it .The whole ubuntu system stocked again.(I have changed set the ROI ratios to "0.001 0.0 0.0 0.0")And i try to another way: uncheck "Show 3D clouds map" .It worked in some kind of way .But it seems not be LoopClosure optimization or something.It looks bad and has a some breakpoints .I think maybe uncheck "show 3D clouds map" will close loopclosure optimization. Next i try set the rate and buffer size in picutre to 0,and open the "Show 3D clouds map" and "Create intermediate nodes if odometry is faster than the detection rate.".In case the suddenly stock ,i use htop to watch the RAM .Guess what ? picture below is the last picture of ubuntu .It stock when i remain 10G free ram! I cannot understand why? last picture My teacher tells me ,it is unnecessary to make every frames because key frames,is it possible for rtabmap? If it can ,It is also unnecessary to know why system stocked.But if it cannot , i think i have to know how to avoid system stocked. Any suggestion about it is OK ! Thanks!