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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.

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MrDD90

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.

I've been trying to fix/debug this warning message for awhile now and I'm at a lost right now.

[ WARN] [1522357529.160766392]: /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

[ WARN] [1522357533.686427808]: /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.
/rtabmap/rgbd_odometry subscribed to:
/rtabmap/rgbd_image

Here is our setup

frames.pdf

Node Graph

Launch file on the MASTER computer
test.launch

I've already ran
$ rostopic hz /rtabmap/odom
$ rostopic hz /camera1/rgbd_image
$ rostopic hz /camera2/rgbd_image
$ rostopic hz /camera3/rgbd_image
And they all say no new message.

After searching, I have a good feeling it maybe a remapping issue or a queue_size issue.
P.S.- We are able to see PointCloud2 in RVIZ.

Any help would be appreciated!

matlabbe

Re: 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.

Administrator

Hi,

You can look if all topics to rgbd_sync nodelets are published:

rostopic hz /camera1/rgb/image_rect_color
rostopic hz /camera1/depth_registered/image_raw
rostopic hz /camera1/rgb/camera_info
rostopic hz /camera1/depth_registered/camera_info
rostopic hz /camera2/rgb/image_rect_color
rostopic hz /camera2/depth_registered/image_raw
rostopic hz /camera2/rgb/camera_info
rostopic hz /camera2/depth_registered/camera_info
rostopic hz /camera3/rgb/image_rect_color
rostopic hz /camera3/depth_registered/image_raw
rostopic hz /camera3/rgb/camera_info
rostopic hz /camera3/depth_registered/camera_info

MrDD90

Re: 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.

Matlabbe,

They all seem to be published except
rostopic hz /camera3/rgb/image_rect_color
rostopic hz /camera3/depth_registered/image_raw
rostopic hz /camera3/rgb/camera_info
rostopic hz /camera3/depth_registered/camera_info
It keeps going back and forth from saying "no new message" to showing the average rate information.

matlabbe

Re: 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.

Administrator

What are the cameras? For example, 3 Kinects on same computer won't work unless there is an USB hub (not port) for each camera. Some drivers don't publish images if nobody is subscribed. You may try do to "$ rostopic hz" on all topics at the same time, to make sure all drivers are actually publishing stuff at the same time. This can test if the machine is able to stream all cameras at the same time.

MrDD90

Re: 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.

3 Kinects (Xbox 360 version) connected to 3 Raspberry Pi's, all 3 raspberry pi's are then streaming to a master computer using the ROS export IP commands. And how would I "rostopic hz" on all topics? Cause when I ran the command
$ rostopic hz in the command terminal it needs a specified topic.

Thanks!

matlabbe

Re: 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.

Administrator

Hi,

"rostopic hz" can take multiple topics:

$ rostopic hz /camera/rgb/image_rect_color /camera/rgb/camera_info /camera/depth_registered/image_raw

subscribed to [/camera/rgb/image_rect_color]
subscribed to [/camera/rgb/camera_info]
subscribed to [/camera/depth_registered/image_raw]
              topic                   rate   min_delta   max_delta    std_dev    window
=======================================================================================
/camera/rgb/image_rect_color         30.95   0.005605    0.03415     0.005512    26    
/camera/rgb/camera_info              29.96   0.03182     0.03416     0.0009222   26    
/camera/depth_registered/image_raw   29.71   0.03189     0.03432     0.0008287   26    

              topic                   rate   min_delta   max_delta    std_dev    window
=======================================================================================
/camera/rgb/image_rect_color         30.42   0.005605    0.03415     0.003821    56    
/camera/rgb/camera_info              29.98   0.03182     0.03416     0.0009349   56    
/camera/depth_registered/image_raw   29.94   0.03188     0.03432     0.0009048   56
...

Otherwise, you would have to open 9 terminals and subscribe each topic separately.

You should fix the camera3 not publishing topics. Then, you will have to make sure that clock between RPIs and master computer is synchronized (like the warning said in the first post).

cheers,
Mathieu