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Can I use a bag taken using zed2i? (I used compression.)

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beginner123
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Can I use a bag taken using zed2i? (I used compression.)

beginner123
This post was updated on .
hello! Sorry for always asking questions.
The bag recorded using realsense can be used in rtabmap, but I want to use the bag newly recorded using zed2i in rtabmap.launch, but it does not work. Below is my error.


roslaunch rtabmap_ros rtabmap.launch     rtabmap_args:="--delete_db_on_start"     rgb_topic:=/zed2i/zed_node/left/image_rect_color/compressed     depth_topic:=/zed2i/zed_node/depth/depth_registered     camera_info_topic:=/zed2i/zed_node/depth/camera_info     approx_sync:=false     wait_imu_to_init:=false     imu_topic:=/zed2i/zed_node/imu/data
... logging to /home/minsoo/.ros/log/9a0bc0d6-d3c3-11ed-9ac7-8ffbb74ea8ab/roslaunch-chominsoo-37587.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://chominsoo:33895/

SUMMARY
========

CLEAR PARAMETERS
 * /rtabmap/rgbd_odometry/
 * /rtabmap/rtabmap/
 * /rtabmap/rtabmapviz/

PARAMETERS
 * /rosdistro: noetic
 * /rosversion: 1.15.15
 * /rtabmap/rgbd_odometry/approx_sync: False
 * /rtabmap/rgbd_odometry/approx_sync_max_interval: 0.0
 * /rtabmap/rgbd_odometry/config_path:
 * /rtabmap/rgbd_odometry/expected_update_rate: 0.0
 * /rtabmap/rgbd_odometry/frame_id: camera_link
 * /rtabmap/rgbd_odometry/ground_truth_base_frame_id:
 * /rtabmap/rgbd_odometry/ground_truth_frame_id:
 * /rtabmap/rgbd_odometry/guess_frame_id:
 * /rtabmap/rgbd_odometry/guess_min_rotation: 0.0
 * /rtabmap/rgbd_odometry/guess_min_translation: 0.0
 * /rtabmap/rgbd_odometry/keep_color: False
 * /rtabmap/rgbd_odometry/max_update_rate: 0.0
 * /rtabmap/rgbd_odometry/odom_frame_id: odom
 * /rtabmap/rgbd_odometry/publish_tf: True
 * /rtabmap/rgbd_odometry/queue_size: 10
 * /rtabmap/rgbd_odometry/subscribe_rgbd: False
 * /rtabmap/rgbd_odometry/wait_for_transform_duration: 0.2
 * /rtabmap/rgbd_odometry/wait_imu_to_init: False
 * /rtabmap/rtabmap/Mem/IncrementalMemory: true
 * /rtabmap/rtabmap/Mem/InitWMWithAllNodes: false
 * /rtabmap/rtabmap/approx_sync: False
 * /rtabmap/rtabmap/config_path:
 * /rtabmap/rtabmap/database_path: ~/.ros/rtabmap.db
 * /rtabmap/rtabmap/frame_id: camera_link
 * /rtabmap/rtabmap/gen_depth: False
 * /rtabmap/rtabmap/gen_depth_decimation: 1
 * /rtabmap/rtabmap/gen_depth_fill_holes_error: 0.1
 * /rtabmap/rtabmap/gen_depth_fill_holes_size: 0
 * /rtabmap/rtabmap/gen_depth_fill_iterations: 1
 * /rtabmap/rtabmap/gen_scan: False
 * /rtabmap/rtabmap/ground_truth_base_frame_id:
 * /rtabmap/rtabmap/ground_truth_frame_id:
 * /rtabmap/rtabmap/initial_pose:
 * /rtabmap/rtabmap/landmark_angular_variance: 9999.0
 * /rtabmap/rtabmap/landmark_linear_variance: 0.0001
 * /rtabmap/rtabmap/map_frame_id: map
 * /rtabmap/rtabmap/odom_frame_id:
 * /rtabmap/rtabmap/odom_frame_id_init:
 * /rtabmap/rtabmap/odom_sensor_sync: False
 * /rtabmap/rtabmap/odom_tf_angular_variance: 0.001
 * /rtabmap/rtabmap/odom_tf_linear_variance: 0.001
 * /rtabmap/rtabmap/publish_tf: True
 * /rtabmap/rtabmap/queue_size: 10
 * /rtabmap/rtabmap/scan_cloud_max_points: 0
 * /rtabmap/rtabmap/subscribe_depth: True
 * /rtabmap/rtabmap/subscribe_odom_info: True
 * /rtabmap/rtabmap/subscribe_rgb: True
 * /rtabmap/rtabmap/subscribe_rgbd: False
 * /rtabmap/rtabmap/subscribe_scan: False
 * /rtabmap/rtabmap/subscribe_scan_cloud: False
 * /rtabmap/rtabmap/subscribe_scan_descriptor: False
 * /rtabmap/rtabmap/subscribe_stereo: False
 * /rtabmap/rtabmap/subscribe_user_data: False
 * /rtabmap/rtabmap/wait_for_transform_duration: 0.2
 * /rtabmap/rtabmapviz/approx_sync: False
 * /rtabmap/rtabmapviz/frame_id: camera_link
 * /rtabmap/rtabmapviz/odom_frame_id:
 * /rtabmap/rtabmapviz/queue_size: 10
 * /rtabmap/rtabmapviz/subscribe_depth: True
 * /rtabmap/rtabmapviz/subscribe_odom_info: True
 * /rtabmap/rtabmapviz/subscribe_rgb: True
 * /rtabmap/rtabmapviz/subscribe_rgbd: False
 * /rtabmap/rtabmapviz/subscribe_scan: False
 * /rtabmap/rtabmapviz/subscribe_scan_cloud: False
 * /rtabmap/rtabmapviz/subscribe_scan_descriptor: False
 * /rtabmap/rtabmapviz/subscribe_stereo: False
 * /rtabmap/rtabmapviz/wait_for_transform_duration: 0.2

NODES
  /rtabmap/
    rgbd_odometry (rtabmap_ros/rgbd_odometry)
    rtabmap (rtabmap_ros/rtabmap)
    rtabmapviz (rtabmap_ros/rtabmapviz)

ROS_MASTER_URI=http://localhost:11311

process[rtabmap/rgbd_odometry-1]: started with pid [37607]
process[rtabmap/rtabmap-2]: started with pid [37608]
process[rtabmap/rtabmapviz-3]: started with pid [37609]
[ INFO] [1680717220.083015836]: Starting node...
[ INFO] [1680717220.100167566]: Initializing nodelet with 6 worker threads.
[ INFO] [1680717220.104406169]: Initializing nodelet with 6 worker threads.
[ INFO] [1680717220.143230866]: Odometry: frame_id               = camera_link
[ INFO] [1680717220.143258317]: Odometry: odom_frame_id          = odom
[ INFO] [1680717220.143271271]: Odometry: publish_tf             = true
[ INFO] [1680717220.143283253]: Odometry: wait_for_transform     = true
[ INFO] [1680717220.143301777]: Odometry: wait_for_transform_duration  = 0.200000
[ INFO] [1680717220.143314361]: Odometry: log_to_rosout_level    = 4
[ INFO] [1680717220.143341131]: Odometry: initial_pose           = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000
[ INFO] [1680717220.143353754]: Odometry: ground_truth_frame_id  =
[ INFO] [1680717220.143365376]: Odometry: ground_truth_base_frame_id =
[ INFO] [1680717220.143376967]: Odometry: config_path            =
[ INFO] [1680717220.143388569]: Odometry: publish_null_when_lost = true
[ INFO] [1680717220.143399670]: Odometry: guess_frame_id         =
[ INFO] [1680717220.143411471]: Odometry: guess_min_translation  = 0.000000
[ INFO] [1680717220.143423514]: Odometry: guess_min_rotation     = 0.000000
[ INFO] [1680717220.143436318]: Odometry: guess_min_time         = 0.000000
[ INFO] [1680717220.143448180]: Odometry: expected_update_rate   = 0.000000 Hz
[ INFO] [1680717220.143460032]: Odometry: max_update_rate        = 0.000000 Hz
[ INFO] [1680717220.143471784]: Odometry: min_update_rate        = 0.000000 Hz
[ INFO] [1680717220.143483205]: Odometry: wait_imu_to_init       = false
[ INFO] [1680717220.143506318]: Odometry: stereoParams_=0 visParams_=1 icpParams_=0
[ INFO] [1680717220.158928300]: Starting node...
[ INFO] [1680717220.187731899]: /rtabmap/rtabmap(maps): map_filter_radius          = 0.000000
[ INFO] [1680717220.187768637]: /rtabmap/rtabmap(maps): map_filter_angle           = 30.000000
[ INFO] [1680717220.187784767]: /rtabmap/rtabmap(maps): map_cleanup                = true
[ INFO] [1680717220.187799214]: /rtabmap/rtabmap(maps): map_always_update          = false
[ INFO] [1680717220.187813330]: /rtabmap/rtabmap(maps): map_empty_ray_tracing      = true
[ INFO] [1680717220.187827296]: /rtabmap/rtabmap(maps): cloud_output_voxelized     = true
[ INFO] [1680717220.187856240]: /rtabmap/rtabmap(maps): cloud_subtract_filtering   = false
[ INFO] [1680717220.187871429]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1680717220.188157230]: /rtabmap/rtabmap(maps): octomap_tree_depth         = 16
[ INFO] [1680717220.216558681]: rtabmap: frame_id      = camera_link
[ INFO] [1680717220.216618413]: rtabmap: map_frame_id  = map
[ INFO] [1680717220.216659870]: rtabmap: log_to_rosout_level = 4
[ INFO] [1680717220.216703511]: rtabmap: initial_pose  =
[ INFO] [1680717220.216743315]: rtabmap: use_action_for_goal  = false
[ INFO] [1680717220.216784822]: rtabmap: tf_delay      = 0.050000
[ INFO] [1680717220.216825187]: rtabmap: tf_tolerance  = 0.100000
[ INFO] [1680717220.216863809]: rtabmap: odom_sensor_sync   = false
[ INFO] [1680717220.217788930]: rtabmap: gen_scan  = false
[ INFO] [1680717220.217841367]: rtabmap: gen_depth  = false
[ INFO] [1680717220.315254388]: rtabmapviz: Using configuration from "/home/minsoo/.ros/rtabmap_gui.ini"
[ INFO] [1680717220.422601924]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1680717220.422922050]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[ INFO] [1680717220.566819302]: RGBDOdometry: approx_sync    = false
[ INFO] [1680717220.566841554]: RGBDOdometry: queue_size     = 10
[ INFO] [1680717220.566852785]: RGBDOdometry: subscribe_rgbd = false
[ INFO] [1680717220.566863124]: RGBDOdometry: rgbd_cameras   = 1
[ INFO] [1680717220.566876258]: RGBDOdometry: keep_color     = false
[ WARN] [1680717220.570413918]: [image_transport] It looks like you are trying to subscribe directly to a transport-specific image topic '/zed2i/zed_node/left/image_rect_color/compressed', in which case you will likely get a connection error. Try subscribing to the base topic '/zed2i/zed_node/left/image_rect_color' instead with parameter ~image_transport set to 'compressed' (on the command line, _image_transport:=compressed). See http://ros.org/wiki/image_transport for details.
[ INFO] [1680717220.579472235]:
/rtabmap/rgbd_odometry subscribed to (exact sync):
   /zed2i/zed_node/left/image_rect_color/compressed \
   /zed2i/zed_node/depth/depth_registered \
   /zed2i/zed_node/depth/camera_info
[ INFO] [1680717220.682460634]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1680717220.682805595]: rtabmap: Deleted database "/home/minsoo/.ros/rtabmap.db" (--delete_db_on_start or -d are set).
[ INFO] [1680717220.682847063]: rtabmap: Using database from "/home/minsoo/.ros/rtabmap.db" (0 MB).
[ INFO] [1680717220.826390818]: rtabmap: Database version = "0.20.23".
[ INFO] [1680717220.826423148]: rtabmap: SLAM mode (Mem/IncrementalMemory=true)
[ INFO] [1680717220.840330012]: /rtabmap/rtabmap: subscribe_depth = true
[ INFO] [1680717220.840355309]: /rtabmap/rtabmap: subscribe_rgb = true
[ INFO] [1680717220.840369134]: /rtabmap/rtabmap: subscribe_stereo = false
[ INFO] [1680717220.840383151]: /rtabmap/rtabmap: subscribe_rgbd = false (rgbd_cameras=1)
[ INFO] [1680717220.840397988]: /rtabmap/rtabmap: subscribe_odom_info = true
[ INFO] [1680717220.840411183]: /rtabmap/rtabmap: subscribe_user_data = false
[ INFO] [1680717220.840424578]: /rtabmap/rtabmap: subscribe_scan = false
[ INFO] [1680717220.840439295]: /rtabmap/rtabmap: subscribe_scan_cloud = false
[ INFO] [1680717220.840455144]: /rtabmap/rtabmap: subscribe_scan_descriptor = false
[ INFO] [1680717220.840467848]: /rtabmap/rtabmap: queue_size    = 10
[ INFO] [1680717220.840480602]: /rtabmap/rtabmap: approx_sync   = false
[ INFO] [1680717220.840503625]: Setup depth callback
[ WARN] [1680717220.843662891]: [image_transport] It looks like you are trying to subscribe directly to a transport-specific image topic '/zed2i/zed_node/left/image_rect_color/compressed', in which case you will likely get a connection error. Try subscribing to the base topic '/zed2i/zed_node/left/image_rect_color' instead with parameter ~image_transport set to 'compressed' (on the command line, _image_transport:=compressed). See http://ros.org/wiki/image_transport for details.
[ INFO] [1680717220.876645071]:
/rtabmap/rtabmap subscribed to (exact sync):
   /rtabmap/odom \
   /zed2i/zed_node/left/image_rect_color/compressed \
   /zed2i/zed_node/depth/depth_registered \
   /zed2i/zed_node/depth/camera_info \
   /rtabmap/odom_info
[ INFO] [1680717220.948194611]: rtabmap 0.20.23 started...
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
[ INFO] [1680717221.153764272]: rtabmapviz: Reading parameters from the ROS server...
[ INFO] [1680717221.285350640]: rtabmapviz: Parameters read = 359
[ INFO] [1680717221.285374384]: rtabmapviz: Parameters successfully read.
[ INFO] [1680717221.567339808]: /rtabmap/rtabmapviz: subscribe_depth = true
[ INFO] [1680717221.567364614]: /rtabmap/rtabmapviz: subscribe_rgb = true
[ INFO] [1680717221.567375174]: /rtabmap/rtabmapviz: subscribe_stereo = false
[ INFO] [1680717221.567386044]: /rtabmap/rtabmapviz: subscribe_rgbd = false (rgbd_cameras=1)
[ INFO] [1680717221.567396644]: /rtabmap/rtabmapviz: subscribe_odom_info = true
[ INFO] [1680717221.567409087]: /rtabmap/rtabmapviz: subscribe_user_data = false
[ INFO] [1680717221.567418805]: /rtabmap/rtabmapviz: subscribe_scan = false
[ INFO] [1680717221.567429695]: /rtabmap/rtabmapviz: subscribe_scan_cloud = false
[ INFO] [1680717221.567443231]: /rtabmap/rtabmapviz: subscribe_scan_descriptor = false
[ INFO] [1680717221.567454021]: /rtabmap/rtabmapviz: queue_size    = 10
[ INFO] [1680717221.567464200]: /rtabmap/rtabmapviz: approx_sync   = false
[ INFO] [1680717221.567490759]: Setup depth callback
[ WARN] [1680717221.586636597]: [image_transport] It looks like you are trying to subscribe directly to a transport-specific image topic '/zed2i/zed_node/left/image_rect_color/compressed', in which case you will likely get a connection error. Try subscribing to the base topic '/zed2i/zed_node/left/image_rect_color' instead with parameter ~image_transport set to 'compressed' (on the command line, _image_transport:=compressed). See http://ros.org/wiki/image_transport for details.
[ INFO] [1680717221.616280048]:
/rtabmap/rtabmapviz subscribed to (exact sync):
   /rtabmap/odom \
   /zed2i/zed_node/left/image_rect_color/compressed \
   /zed2i/zed_node/depth/depth_registered \
   /zed2i/zed_node/depth/camera_info \
   /rtabmap/odom_info
[ INFO] [1680717221.616382418]: rtabmapviz started.
[ WARN] [1680717228.613786654, 1680143339.556442282]: /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 \
   /zed2i/zed_node/left/image_rect_color/compressed \
   /zed2i/zed_node/depth/depth_registered \
   /zed2i/zed_node/depth/camera_info \
   /rtabmap/odom_info
[ WARN] [1680717228.613933747, 1680143339.556442282]: /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):
   /rtabmap/odom \
   /zed2i/zed_node/left/image_rect_color/compressed \
   /zed2i/zed_node/depth/depth_registered \
   /zed2i/zed_node/depth/camera_info \
   /rtabmap/odom_info
[ WARN] [1680717228.613955578, 1680143339.556442282]: /rtabmap/rgbd_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/rgbd_odometry subscribed to (exact sync):
   /zed2i/zed_node/left/image_rect_color/compressed \
   /zed2i/zed_node/depth/depth_registered \
   /zed2i/zed_node/depth/camera_info
[ WARN] [1680717233.613834677, 1680143344.556560696]: /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):
   /rtabmap/odom \
   /zed2i/zed_node/left/image_rect_color/compressed \
   /zed2i/zed_node/depth/depth_registered \
   /zed2i/zed_node/depth/camera_info \
   /rtabmap/odom_info
[ WARN] [1680717233.613859423, 1680143344.556560696]: /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 \
   /zed2i/zed_node/left/image_rect_color/compressed \
   /zed2i/zed_node/depth/depth_registered \
   /zed2i/zed_node/depth/camera_info \
   /rtabmap/odom_info
[ WARN] [1680717233.614639424, 1680143344.556560696]: /rtabmap/rgbd_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/rgbd_odometry subscribed to (exact sync):
   /zed2i/zed_node/left/image_rect_color/compressed \
   /zed2i/zed_node/depth/depth_registered \
   /zed2i/zed_node/depth/camera_info
[ WARN] [1680717238.620441742, 1680143349.563269350]: /rtabmap/rgbd_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/rgbd_odometry subscribed to (exact sync):
   /zed2i/zed_node/left/image_rect_color/compressed \
   /zed2i/zed_node/depth/depth_registered \
   /zed2i/zed_node/depth/camera_info
[ WARN] [1680717238.620979391, 1680143349.563269350]: /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 \
   /zed2i/zed_node/left/image_rect_color/compressed \
   /zed2i/zed_node/depth/depth_registered \
   /zed2i/zed_node/depth/camera_info \
   /rtabmap/odom_info



!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!

I want to use only compressed bags. What should I do? This is my bag file.


rosbag info my_bag_record4_2023-03-30-11-28-54.bag
path:        my_bag_record4_2023-03-30-11-28-54.bag
version:     2.0
duration:    5:22s (322s)
start:       Mar 30 2023 11:28:54.55 (1680143334.55)
end:         Mar 30 2023 11:34:16.89 (1680143656.89)
size:        6.7 GB
messages:    126521
compression: none [5138/5138 chunks]
types:       geometry_msgs/PoseStamped   [d3812c3cbc69362b77dc0b19b345f8f5]
             nav_msgs/Odometry           [cd5e73d190d741a2f92e81eda573aca7]
             sensor_msgs/CameraInfo      [c9a58c1b0b154e0e6da7578cb991d214]
             sensor_msgs/CompressedImage [8f7a12909da2c9d3332d540a0977563f]
             sensor_msgs/Image           [060021388200f6f0f447d0fcd9c64743]
             sensor_msgs/Imu             [6a62c6daae103f4ff57a132d6f95cec2]
             sensor_msgs/PointCloud2     [1158d486dd51d683ce2f1be655c3c181]
             tf2_msgs/TFMessage          [94810edda583a504dfda3829e70d7eec]
topics:      /ouster/imu                                              32232 msgs    : sensor_msgs/Imu            
             /ouster/points                                            3224 msgs    : sensor_msgs/PointCloud2    
             /tf_static                                                   2 msgs    : tf2_msgs/TFMessage          (2 connections)
             /zed2i/zed_node/depth/camera_info                         1914 msgs    : sensor_msgs/CameraInfo    
             /zed2i/zed_node/depth/depth_registered                    1914 msgs    : sensor_msgs/Image          
             /zed2i/zed_node/depth/depth_registered/compressedDepth    1914 msgs    : sensor_msgs/CompressedImage
             /zed2i/zed_node/imu/data                                 64172 msgs    : sensor_msgs/Imu            
             /zed2i/zed_node/left/camera_info                          3828 msgs    : sensor_msgs/CameraInfo    
             /zed2i/zed_node/left/image_rect_color/compressed          1914 msgs    : sensor_msgs/CompressedImage
             /zed2i/zed_node/odom                                      4834 msgs    : nav_msgs/Odometry          
             /zed2i/zed_node/pose                                      4834 msgs    : geometry_msgs/PoseStamped  
             /zed2i/zed_node/right/camera_info                         3826 msgs    : sensor_msgs/CameraInfo    
             /zed2i/zed_node/right/image_rect_color/compressed         1913 msgs    : sensor_msgs/CompressedImage




-------------------------------------------------------------------------------------
topic hz



------------------------------------------------------------------------------------


Bag file information if you need more! Please tell me how to upload bag file.
thank you

matlabbe
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Re: Can I use a bag taken using zed2i? (I used compression.)

matlabbe
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You have this warning:

"[ WARN] [1680717220.570413918]: [image_transport] It looks like you are trying to subscribe directly to a transport-specific image topic '/zed2i/zed_node/left/image_rect_color/compressed', in which case you will likely get a connection error. Try subscribing to the base topic '/zed2i/zed_node/left/image_rect_color' instead with parameter ~image_transport set to 'compressed' (on the command line, _image_transport:=compressed). See http://ros.org/wiki/image_transport for details. "

You should launch rtabmap.launch like: 
roslaunch rtabmap_ros rtabmap.launch    \
   rtabmap_args:="--delete_db_on_start"   \
   rgb_topic:=/zed2i/zed_node/left/image_rect_color  \
   depth_topic:=/zed2i/zed_node/depth/depth_registered \
   camera_info_topic:=/zed2i/zed_node/depth/camera_info \
   approx_sync:=false   \
   wait_imu_to_init:=false   \
   imu_topic:=/zed2i/zed_node/imu/data \
   compressed:=true
   ...
beginner123
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Re: Can I use a bag taken using zed2i? (I used compression.)

beginner123
Thank you for your kind reply.
I ran the command as you said, but the following error occurred.
I think it doesn't support depth format. May I know what the rtabmap depth format is? I would be grateful if you could give me feedback on how to resolve it.


matlabbe
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Re: Can I use a bag taken using zed2i? (I used compression.)

matlabbe
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Hi,

rtabmap does support depth 32FC1 (meters) format or 16UC1 (mm) format. Your error seems related to image_transport issue. Here is another similar issue where image_transform compressedDepth plugin naming changed between ros versions: https://github.com/introlab/rtabmap_ros/issues/509#issuecomment-733869451

The error is thrown from here:
https://github.com/ros-perception/image_transport_plugins/blob/cca6781d47732e7fca078df950780c09dfca9225/compressed_depth_image_transport/src/codec.cpp#L72-L91

In your case, maybe compressedDepth plugin doesn't support 32FC1 format, only 16UC1. Try subscribing to not compressed depth image, or the compressed depth image topic using 16UC1 format if available form the camera driver.

cheers,
Mathieu
beginner123
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Re: Can I use a bag taken using zed2i? (I used compression.)

beginner123
Sorry for my belated reply!!!
I can't solve it no matter what...
I decided not to use compressed images. So, /zed2i/zed_node/left/image_rect_color/compressed was decompressed and saved using the following code.


##################################################################################################



import rosbag
from sensor_msgs.msg import Image, CameraInfo

input_bag = '/home/minsoo/catkin_ws/src/open3d/scripts/output1.bag'
output_bag = '/home/minsoo/bagfiles/result1.bag'

with rosbag.Bag(output_bag, 'w') as outbag:
    for topic, msg, t in rosbag.Bag(input_bag).read_messages():
        if topic == '/zed2i/zed_node/left/image_rect_color/compressed':
            # Decompress the compressed image message
            from io import BytesIO
            from PIL import Image as PILImage
            import numpy as np
            import cv2

            pil_img = PILImage.open(BytesIO(msg.data))
            cv_img = np.array(pil_img)
            img = cv2.cvtColor(cv_img, cv2.COLOR_RGB2BGR)

            # Create an image message with the uncompressed image
            img_msg = Image()
            img_msg.header = msg.header
            img_msg.encoding = 'bgr8'
            img_msg.width = img.shape[1]
            img_msg.height = img.shape[0]
            img_msg.step = img.shape[1] * 3
            img_msg.data = img.tostring()

            # Write the uncompressed image and its corresponding camera info to the output bag file
            outbag.write('/zed2i/zed_node/left/image_rect_color', img_msg, t)
            outbag.write('/zed2i/zed_node/left/camera_info', msg.header, t)

        elif topic in ['/zed2i/zed_node/depth/depth_registered',
                       '/zed2i/zed_node/depth/camera_info',
                       '/zed2i/zed_node/imu/data'
                       '//tf_static']:
            # Write these topics as is to the output bag file
            outbag.write(topic, msg, t)


###########################################################################################


And when I ran the rtabmap command you said, I got the following result. I searched for this error and it says that I need to fix the tf tree, but I don't know what to do. I would appreciate it if you could let me know.











The picture below is the error content and hz. If possible, can you run my bag file directly? Sorry for asking too many questions. I will definitely do my best to become an advanced person. thank you




beginner123
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Re: Can I use a bag taken using zed2i? (I used compression.)

beginner123
Apart from the problem above, I have an additional question.
Why do I only use half of the key points when I run a bag taken with zed in rtabmap?


Below is a picture.













and If an incorrect pointcloud was created due to an incorrect key point, how can I correct it?

Even after using the post-processing function, there is not much difference from before use.
matlabbe
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Re: Can I use a bag taken using zed2i? (I used compression.)

matlabbe
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Hi,

Looking at the left graph view, it looks like you have two nodes publishing on same TF. Maybe rtabmap odom and Zed odom?

For the keypoints on the bottom half, show the depth image, I suspect that your current zed config limit the depth range.

cheers,
Mathieu
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Re: Can I use a bag taken using zed2i? (I used compression.)

beginner123
Thank you very much for your reply.

Both problems above have been resolved. thank you.

My skills are better than before, but I'm still a beginner.
I have a few more questions. I would be grateful if you could let me know!!

The closeLoop function could not be used when rtabmap was executed in binary. So, I built rtabmap from the source.








I succeeded in building g2o and gtsam together, and I tried to use it, but an error occurs when I run the command below...







roslaunch rtabmap_ros rtabmap.launch       rtabmap_args:="--delete_db_on_start"      rgb_topic:=/zed2i/zed_node/rbg/image_rect_color     depth_topic:=/zed2i/zed_node/depth/depth_registered    camera_info_topic:=/zed2i/zed_node/depth/camera_info    approx_sync:=false      wait_imu_to_init:=false      imu_topic:=/zed2i/zed_node/imu/data
... logging to /home/minsoo/.ros/log/5f20ec74-f328-11ed-a97f-4b14571dcd02/roslaunch-chominsoo-31546.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://chominsoo:39401/

SUMMARY
========

CLEAR PARAMETERS
 * /rtabmap/rgbd_odometry/
 * /rtabmap/rtabmap/
 * /rtabmap/rtabmap_viz/

PARAMETERS
 * /rosdistro: noetic
 * /rosversion: 1.16.0
 * /rtabmap/rgbd_odometry/approx_sync: False
 * /rtabmap/rgbd_odometry/approx_sync_max_interval: 0.0
 * /rtabmap/rgbd_odometry/config_path:
 * /rtabmap/rgbd_odometry/expected_update_rate: 0.0
 * /rtabmap/rgbd_odometry/frame_id: camera_link
 * /rtabmap/rgbd_odometry/ground_truth_base_frame_id:
 * /rtabmap/rgbd_odometry/ground_truth_frame_id:
 * /rtabmap/rgbd_odometry/guess_frame_id:
 * /rtabmap/rgbd_odometry/guess_min_rotation: 0.0
 * /rtabmap/rgbd_odometry/guess_min_translation: 0.0
 * /rtabmap/rgbd_odometry/keep_color: False
 * /rtabmap/rgbd_odometry/max_update_rate: 0.0
 * /rtabmap/rgbd_odometry/odom_frame_id: odom
 * /rtabmap/rgbd_odometry/publish_tf: True
 * /rtabmap/rgbd_odometry/queue_size: 10
 * /rtabmap/rgbd_odometry/subscribe_rgbd: False
 * /rtabmap/rgbd_odometry/wait_for_transform_duration: 0.2
 * /rtabmap/rgbd_odometry/wait_imu_to_init: False
 * /rtabmap/rtabmap/Mem/IncrementalMemory: true
 * /rtabmap/rtabmap/Mem/InitWMWithAllNodes: false
 * /rtabmap/rtabmap/approx_sync: False
 * /rtabmap/rtabmap/config_path:
 * /rtabmap/rtabmap/database_path: ~/.ros/rtabmap.db
 * /rtabmap/rtabmap/frame_id: camera_link
 * /rtabmap/rtabmap/gen_depth: False
 * /rtabmap/rtabmap/gen_depth_decimation: 1
 * /rtabmap/rtabmap/gen_depth_fill_holes_error: 0.1
 * /rtabmap/rtabmap/gen_depth_fill_holes_size: 0
 * /rtabmap/rtabmap/gen_depth_fill_iterations: 1
 * /rtabmap/rtabmap/gen_scan: False
 * /rtabmap/rtabmap/ground_truth_base_frame_id:
 * /rtabmap/rtabmap/ground_truth_frame_id:
 * /rtabmap/rtabmap/initial_pose:
 * /rtabmap/rtabmap/landmark_angular_variance: 9999.0
 * /rtabmap/rtabmap/landmark_linear_variance: 0.0001
 * /rtabmap/rtabmap/map_frame_id: map
 * /rtabmap/rtabmap/odom_frame_id:
 * /rtabmap/rtabmap/odom_frame_id_init:
 * /rtabmap/rtabmap/odom_sensor_sync: False
 * /rtabmap/rtabmap/odom_tf_angular_variance: 0.001
 * /rtabmap/rtabmap/odom_tf_linear_variance: 0.001
 * /rtabmap/rtabmap/publish_tf: True
 * /rtabmap/rtabmap/queue_size: 10
 * /rtabmap/rtabmap/scan_cloud_max_points: 0
 * /rtabmap/rtabmap/subscribe_depth: True
 * /rtabmap/rtabmap/subscribe_odom_info: True
 * /rtabmap/rtabmap/subscribe_rgb: True
 * /rtabmap/rtabmap/subscribe_rgbd: False
 * /rtabmap/rtabmap/subscribe_scan: False
 * /rtabmap/rtabmap/subscribe_scan_cloud: False
 * /rtabmap/rtabmap/subscribe_scan_descriptor: False
 * /rtabmap/rtabmap/subscribe_stereo: False
 * /rtabmap/rtabmap/subscribe_user_data: False
 * /rtabmap/rtabmap/wait_for_transform_duration: 0.2
 * /rtabmap/rtabmap_viz/approx_sync: False
 * /rtabmap/rtabmap_viz/frame_id: camera_link
 * /rtabmap/rtabmap_viz/odom_frame_id:
 * /rtabmap/rtabmap_viz/queue_size: 10
 * /rtabmap/rtabmap_viz/subscribe_depth: True
 * /rtabmap/rtabmap_viz/subscribe_odom_info: True
 * /rtabmap/rtabmap_viz/subscribe_rgb: True
 * /rtabmap/rtabmap_viz/subscribe_rgbd: False
 * /rtabmap/rtabmap_viz/subscribe_scan: False
 * /rtabmap/rtabmap_viz/subscribe_scan_cloud: False
 * /rtabmap/rtabmap_viz/subscribe_scan_descriptor: False
 * /rtabmap/rtabmap_viz/subscribe_stereo: False
 * /rtabmap/rtabmap_viz/wait_for_transform_duration: 0.2

NODES
  /rtabmap/
    rgbd_odometry (rtabmap_odom/rgbd_odometry)
    rtabmap (rtabmap_slam/rtabmap)
    rtabmap_viz (rtabmap_viz/rtabmap_viz)

ROS_MASTER_URI=http://localhost:11311

process[rtabmap/rgbd_odometry-1]: started with pid [31566]
process[rtabmap/rtabmap-2]: started with pid [31567]
process[rtabmap/rtabmap_viz-3]: started with pid [31568]
[ INFO] [1684165812.513523011]: Starting node...
[ INFO] [1684165812.537593649]: Initializing nodelet with 6 worker threads.
[ INFO] [1684165812.543174222]: Initializing nodelet with 6 worker threads.
[ INFO] [1684165812.578043501]: Starting node...
[ INFO] [1684165812.712573563]: rtabmap_viz: Using configuration from "/home/minsoo/.ros/rtabmap_gui.ini"
[rtabmap/rgbd_odometry-1] process has died [pid 31566, exit code -11, cmd /home/minsoo/catkin_ws/devel/lib/rtabmap_odom/rgbd_odometry --delete_db_on_start rgb/image:=/zed2i/zed_node/rbg/image_rect_color depth/image:=/zed2i/zed_node/depth/depth_registered rgb/camera_info:=/zed2i/zed_node/depth/camera_info rgbd_image:=rgbd_image_relay odom:=odom imu:=/zed2i/zed_node/imu/data __name:=rgbd_odometry __log:=/home/minsoo/.ros/log/5f20ec74-f328-11ed-a97f-4b14571dcd02/rtabmap-rgbd_odometry-1.log].
log file: /home/minsoo/.ros/log/5f20ec74-f328-11ed-a97f-4b14571dcd02/rtabmap-rgbd_odometry-1*.log
[rtabmap/rtabmap-2] process has died [pid 31567, exit code -11, cmd /home/minsoo/catkin_ws/devel/lib/rtabmap_slam/rtabmap --delete_db_on_start rgb/image:=/zed2i/zed_node/rbg/image_rect_color depth/image:=/zed2i/zed_node/depth/depth_registered rgb/camera_info:=/zed2i/zed_node/depth/camera_info rgbd_image:=rgbd_image_relay left/image_rect:=/stereo_camera/left/image_rect_color right/image_rect:=/stereo_camera/right/image_rect left/camera_info:=/stereo_camera/left/camera_info right/camera_info:=/stereo_camera/right/camera_info scan:=/scan scan_cloud:=/scan_cloud scan_descriptor:=/scan_descriptor user_data:=/user_data user_data_async:=/user_data_async gps/fix:=/gps/fix tag_detections:=/tag_detections fiducial_transforms:=/fiducial_transforms odom:=odom imu:=/zed2i/zed_node/imu/data __name:=rtabmap __log:=/home/minsoo/.ros/log/5f20ec74-f328-11ed-a97f-4b14571dcd02/rtabmap-rtabmap-2.log].
log file: /home/minsoo/.ros/log/5f20ec74-f328-11ed-a97f-4b14571dcd02/rtabmap-rtabmap-2*.log
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
[ INFO] [1684165813.581277958]: rtabmap_viz: Reading parameters from the ROS server...
[ INFO] [1684165813.581900024]: rtabmap_viz: Cannot get rtabmap's parameters, waiting max 5 seconds in case the node has just been launched.
^C[rtabmap/rtabmap_viz-3] killing on exit
[rtabmap/rtabmap_viz-3] escalating to SIGTERM
shutting down processing monitor...
... shutting down processing monitor complete
done
beginner123
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Re: Can I use a bag taken using zed2i? (I used compression.)

beginner123
rbg -> rgb

But still getting this error
matlabbe
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Re: Can I use a bag taken using zed2i? (I used compression.)

matlabbe
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Loop closure detection works with rtabmap binaries. You would need to build from source (opencv with xfeatures2d and nonfree modules, or even superpoint) only for large scale and more challenging environments.

You may try with the ros binaries. Those Seg faults errors are often related to bad compilation.
beginner123
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Re: Can I use a bag taken using zed2i? (I used compression.)

beginner123
thanks for the reply!
I built it as a source to use the functions of gtsam.
I tried the following site,


https://github.com/introlab/rtabmap_ros/issues/529


but I got the error as above.
Anything wrong?
matlabbe
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Re: Can I use a bag taken using zed2i? (I used compression.)

matlabbe
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To get more info about process has died, you would need to launch the nodes in gdb, see https://github.com/introlab/rtabmap_ros/issues/28 (A)
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