Handheld mapping tutorial not working - Zed camera
Locked
 
|
Hi,
Can you please help. I continually come across the did receive data since 5 seconds. This happens for pretty much every set of instructions provided ie depth image to laser, hand held mapping, outdoor mapping etc. The Zed example (roslaunch zed_rtabmap_example zed_rtabmap.launch) is the only one which which does work along with the standalone Rtabmap. I have tried a variety of variations in the launch commands, have looked at every available article, message and reply to see where im going wrong. I have reinstalled the whole jetpack over and over again, tried ROS melodic (even worse). Below i have added just one of my many attempts. Please can you help? nvidia@tegra-ubuntu:~$ export ROS_NAMESPACE=stereo_camera nvidia@tegra-ubuntu:~$ roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/camera/depth/depth_registered frame_id:=zed_camera_center approx_sync:=false ... logging to /home/nvidia/.ros/log/31ee8e6c-9f3c-11e9-9011-00044bc55ed6/roslaunch-tegra-ubuntu-25476.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://tegra-ubuntu:35653/ SUMMARY ======== PARAMETERS * /rosdistro: kinetic * /rosversion: 1.12.14 * /stereo_camera/rtabmap/rgbd_odometry/approx_sync: False * /stereo_camera/rtabmap/rgbd_odometry/config_path: * /stereo_camera/rtabmap/rgbd_odometry/frame_id: zed_camera_center * /stereo_camera/rtabmap/rgbd_odometry/ground_truth_base_frame_id: * /stereo_camera/rtabmap/rgbd_odometry/ground_truth_frame_id: * /stereo_camera/rtabmap/rgbd_odometry/guess_frame_id: * /stereo_camera/rtabmap/rgbd_odometry/guess_min_rotation: 0.0 * /stereo_camera/rtabmap/rgbd_odometry/guess_min_translation: 0.0 * /stereo_camera/rtabmap/rgbd_odometry/odom_frame_id: odom * /stereo_camera/rtabmap/rgbd_odometry/publish_tf: True * /stereo_camera/rtabmap/rgbd_odometry/queue_size: 10 * /stereo_camera/rtabmap/rgbd_odometry/subscribe_rgbd: False * /stereo_camera/rtabmap/rgbd_odometry/wait_for_transform_duration: 0.2 * /stereo_camera/rtabmap/rgbd_odometry/wait_imu_to_init: False * /stereo_camera/rtabmap/rtabmap/Mem/IncrementalMemory: true * /stereo_camera/rtabmap/rtabmap/Mem/InitWMWithAllNodes: false * /stereo_camera/rtabmap/rtabmap/approx_sync: False * /stereo_camera/rtabmap/rtabmap/config_path: * /stereo_camera/rtabmap/rtabmap/database_path: ~/.ros/rtabmap.db * /stereo_camera/rtabmap/rtabmap/frame_id: zed_camera_center * /stereo_camera/rtabmap/rtabmap/ground_truth_base_frame_id: * /stereo_camera/rtabmap/rtabmap/ground_truth_frame_id: * /stereo_camera/rtabmap/rtabmap/landmark_angular_variance: 9999.0 * /stereo_camera/rtabmap/rtabmap/landmark_linear_variance: 0.0001 * /stereo_camera/rtabmap/rtabmap/map_frame_id: map * /stereo_camera/rtabmap/rtabmap/odom_frame_id: * /stereo_camera/rtabmap/rtabmap/odom_sensor_sync: False * /stereo_camera/rtabmap/rtabmap/odom_tf_angular_variance: 1.0 * /stereo_camera/rtabmap/rtabmap/odom_tf_linear_variance: 1.0 * /stereo_camera/rtabmap/rtabmap/publish_tf: True * /stereo_camera/rtabmap/rtabmap/queue_size: 10 * /stereo_camera/rtabmap/rtabmap/scan_normal_k: 0 * /stereo_camera/rtabmap/rtabmap/subscribe_depth: True * /stereo_camera/rtabmap/rtabmap/subscribe_odom_info: True * /stereo_camera/rtabmap/rtabmap/subscribe_rgbd: False * /stereo_camera/rtabmap/rtabmap/subscribe_scan: False * /stereo_camera/rtabmap/rtabmap/subscribe_scan_cloud: False * /stereo_camera/rtabmap/rtabmap/subscribe_stereo: False * /stereo_camera/rtabmap/rtabmap/subscribe_user_data: False * /stereo_camera/rtabmap/rtabmap/wait_for_transform_duration: 0.2 * /stereo_camera/rtabmap/rtabmapviz/approx_sync: False * /stereo_camera/rtabmap/rtabmapviz/frame_id: zed_camera_center * /stereo_camera/rtabmap/rtabmapviz/odom_frame_id: * /stereo_camera/rtabmap/rtabmapviz/queue_size: 10 * /stereo_camera/rtabmap/rtabmapviz/subscribe_depth: True * /stereo_camera/rtabmap/rtabmapviz/subscribe_odom_info: True * /stereo_camera/rtabmap/rtabmapviz/subscribe_rgbd: False * /stereo_camera/rtabmap/rtabmapviz/subscribe_scan: False * /stereo_camera/rtabmap/rtabmapviz/subscribe_scan_cloud: False * /stereo_camera/rtabmap/rtabmapviz/subscribe_stereo: False * /stereo_camera/rtabmap/rtabmapviz/wait_for_transform_duration: 0.2 NODES /stereo_camera/rtabmap/ rgbd_odometry (rtabmap_ros/rgbd_odometry) rtabmap (rtabmap_ros/rtabmap) rtabmapviz (rtabmap_ros/rtabmapviz) auto-starting new master process[master]: started with pid [25486] ROS_MASTER_URI=http://localhost:11311 setting /run_id to 31ee8e6c-9f3c-11e9-9011-00044bc55ed6 process[rosout-1]: started with pid [25499] started core service [/rosout] process[stereo_camera/rtabmap/rgbd_odometry-2]: started with pid [25516] process[stereo_camera/rtabmap/rtabmap-3]: started with pid [25517] process[stereo_camera/rtabmap/rtabmapviz-4]: started with pid [25518] [ INFO] [1562341652.085238644]: Starting node... [ INFO] [1562341652.243627520]: Initializing nodelet with 6 worker threads. [ INFO] [1562341652.292209072]: Initializing nodelet with 6 worker threads. [ INFO] [1562341652.446132765]: Starting node... [ INFO] [1562341652.764361364]: rtabmapviz: Using configuration from "/home/nvidia/.ros/rtabmap_gui.ini" [ INFO] [1562341653.077866028]: Odometry: frame_id = zed_camera_center [ INFO] [1562341653.077969068]: Odometry: odom_frame_id = odom [ INFO] [1562341653.078026028]: Odometry: publish_tf = true [ INFO] [1562341653.078087820]: Odometry: wait_for_transform = true [ INFO] [1562341653.078147820]: Odometry: wait_for_transform_duration = 0.200000 [ INFO] [1562341653.078273388]: Odometry: initial_pose = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 [ INFO] [1562341653.078328716]: Odometry: ground_truth_frame_id = [ INFO] [1562341653.078376396]: Odometry: ground_truth_base_frame_id = [ INFO] [1562341653.078433068]: Odometry: config_path = [ INFO] [1562341653.078491756]: Odometry: publish_null_when_lost = true [ INFO] [1562341653.078568716]: Odometry: guess_frame_id = [ INFO] [1562341653.078619692]: Odometry: guess_min_translation = 0.000000 [ INFO] [1562341653.078664716]: Odometry: guess_min_rotation = 0.000000 [ INFO] [1562341653.078743436]: Odometry: guess_min_time = 0.000000 [ INFO] [1562341653.078793452]: Odometry: expected_update_rate = 0.000000 Hz [ INFO] [1562341653.078834316]: Odometry: wait_imu_to_init = false [ INFO] [1562341653.185568200]: /stereo_camera/rtabmap/rtabmap(maps): map_filter_radius = 0.000000 [ INFO] [1562341653.185671624]: /stereo_camera/rtabmap/rtabmap(maps): map_filter_angle = 30.000000 [ INFO] [1562341653.185732520]: /stereo_camera/rtabmap/rtabmap(maps): map_cleanup = true [ INFO] [1562341653.185785480]: /stereo_camera/rtabmap/rtabmap(maps): map_always_update = false [ INFO] [1562341653.185834888]: /stereo_camera/rtabmap/rtabmap(maps): map_empty_ray_tracing = true [ INFO] [1562341653.185885640]: /stereo_camera/rtabmap/rtabmap(maps): cloud_output_voxelized = true [ INFO] [1562341653.185929256]: /stereo_camera/rtabmap/rtabmap(maps): cloud_subtract_filtering = false [ INFO] [1562341653.185980552]: /stereo_camera/rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2 [ INFO] [1562341653.189407591]: /stereo_camera/rtabmap/rtabmap(maps): octomap_tree_depth = 16 [ INFO] [1562341653.343904468]: rtabmap: frame_id = zed_camera_center [ INFO] [1562341653.343990740]: rtabmap: map_frame_id = map [ INFO] [1562341653.344205779]: rtabmap: use_action_for_goal = false [ INFO] [1562341653.344262707]: rtabmap: tf_delay = 0.050000 [ INFO] [1562341653.344309043]: rtabmap: tf_tolerance = 0.100000 [ INFO] [1562341653.344344531]: rtabmap: odom_sensor_sync = false [ INFO] [1562341654.491250772]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true" [ INFO] [1562341654.493406260]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false" [ INFO] [1562341655.023913122]: RGBDOdometry: approx_sync = false [ INFO] [1562341655.023998946]: RGBDOdometry: queue_size = 10 [ INFO] [1562341655.024048738]: RGBDOdometry: subscribe_rgbd = false [ INFO] [1562341655.024095106]: RGBDOdometry: rgbd_cameras = 1 [ INFO] [1562341655.080362063]: Reading parameters from the ROS server... [ INFO] [1562341655.111287428]: /stereo_camera/rtabmap/rgbd_odometry subscribed to (exact sync): /camera/rgb/image_rect_color, /camera/depth/depth_registered, /camera/rgb/camera_info [ INFO] [1562341655.731249491]: Parameters read = 0 [ INFO] [1562341656.223531052]: /stereo_camera/rtabmap/rtabmapviz: subscribe_depth = true [ INFO] [1562341656.223599628]: /stereo_camera/rtabmap/rtabmapviz: subscribe_rgb = false [ INFO] [1562341656.223646444]: /stereo_camera/rtabmap/rtabmapviz: subscribe_stereo = false [ INFO] [1562341656.223684108]: /stereo_camera/rtabmap/rtabmapviz: subscribe_rgbd = false (rgbd_cameras=1) [ INFO] [1562341656.223719340]: /stereo_camera/rtabmap/rtabmapviz: subscribe_odom_info = true [ INFO] [1562341656.223752076]: /stereo_camera/rtabmap/rtabmapviz: subscribe_user_data = false [ INFO] [1562341656.223787884]: /stereo_camera/rtabmap/rtabmapviz: subscribe_scan = false [ INFO] [1562341656.223823052]: /stereo_camera/rtabmap/rtabmapviz: subscribe_scan_cloud = false [ INFO] [1562341656.223854124]: /stereo_camera/rtabmap/rtabmapviz: queue_size = 10 [ INFO] [1562341656.223883820]: /stereo_camera/rtabmap/rtabmapviz: approx_sync = false [ INFO] [1562341656.223919243]: Setup depth callback [ INFO] [1562341656.370056314]: /stereo_camera/rtabmap/rtabmapviz subscribed to (exact sync): /stereo_camera/rtabmap/odom, /camera/rgb/image_rect_color, /camera/depth/depth_registered, /camera/rgb/camera_info, /stereo_camera/rtabmap/odom_info [ INFO] [1562341656.370303610]: rtabmapviz started. [ INFO] [1562341657.110551837]: RTAB-Map detection rate = 1.000000 Hz [ INFO] [1562341657.110919805]: rtabmap: Deleted database "/home/nvidia/.ros/rtabmap.db" (--delete_db_on_start or -d are set). [ INFO] [1562341657.111010621]: rtabmap: Using database from "/home/nvidia/.ros/rtabmap.db" (0 MB). [ INFO] [1562341657.237678322]: rtabmap: Database version = "0.19.4". [ INFO] [1562341657.324756052]: /stereo_camera/rtabmap/rtabmap: subscribe_depth = true [ INFO] [1562341657.324842228]: /stereo_camera/rtabmap/rtabmap: subscribe_rgb = true [ INFO] [1562341657.324898164]: /stereo_camera/rtabmap/rtabmap: subscribe_stereo = false [ INFO] [1562341657.324941908]: /stereo_camera/rtabmap/rtabmap: subscribe_rgbd = false (rgbd_cameras=1) [ INFO] [1562341657.324989524]: /stereo_camera/rtabmap/rtabmap: subscribe_odom_info = true [ INFO] [1562341657.325045524]: /stereo_camera/rtabmap/rtabmap: subscribe_user_data = false [ INFO] [1562341657.325089780]: /stereo_camera/rtabmap/rtabmap: subscribe_scan = false [ INFO] [1562341657.325140372]: /stereo_camera/rtabmap/rtabmap: subscribe_scan_cloud = false [ INFO] [1562341657.325189396]: /stereo_camera/rtabmap/rtabmap: queue_size = 10 [ INFO] [1562341657.325228308]: /stereo_camera/rtabmap/rtabmap: approx_sync = false [ INFO] [1562341657.325438164]: Setup depth callback [ INFO] [1562341657.393864220]: /stereo_camera/rtabmap/rtabmap subscribed to (exact sync): /stereo_camera/rtabmap/odom, /camera/rgb/image_rect_color, /camera/depth/depth_registered, /camera/rgb/camera_info, /stereo_camera/rtabmap/odom_info [ INFO] [1562341657.431511407]: rtabmap 0.19.4 started... [ WARN] [1562341660.112318415]: /stereo_camera/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. /stereo_camera/rtabmap/rgbd_odometry subscribed to (exact sync): /camera/rgb/image_rect_color, /camera/depth/depth_registered, /camera/rgb/camera_info [ WARN] [1562341661.370422165]: /stereo_camera/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. /stereo_camera/rtabmap/rtabmapviz subscribed to (exact sync): /stereo_camera/rtabmap/odom, /camera/rgb/image_rect_color, /camera/depth/depth_registered, /camera/rgb/camera_info, /stereo_camera/rtabmap/odom_info [ WARN] [1562341662.394352074]: /stereo_camera/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. /stereo_camera/rtabmap/rtabmap subscribed to (exact sync): /stereo_camera/rtabmap/odom, /camera/rgb/image_rect_color, /camera/depth/depth_registered, /camera/rgb/camera_info, /stereo_camera/rtabmap/odom_info $ rostopic hz /camera/rtabmap/odom /camera/rgb/image_rect_color /camera/depth/depth_registered /camera/rgb/camera_info /camera/rtabmap/odom_info rostopic hz /camera/rtabmap/odom /camera/rgb/image_rect_color /camera/depth/depth_registered /camera/rgb/camera_info /camera/rtabmap/odom_info subscribed to [/camera/rtabmap/odom] subscribed to [/camera/rgb/image_rect_color] subscribed to [/camera/depth/depth_registered] subscribed to [/camera/rgb/camera_info] subscribed to [/camera/rtabmap/odom_info] no new messages no new messages no new messages no new messages no new messages no new messages no new messages no new messages no new messages no new messages no new messages |
|
|
PS. I do understand it isn't subscribing to the topics. I need help in understanding why and how to remedy this
Thanks |
Administrator
|
In reply to this post by denzle
Hi,
minimally, those topics should be published by zed camera driver: $ rostopic hz /camera/rgb/image_rect_color /camera/depth/depth_registered /camera/rgb/camera_info Make sure you are using the right topic names too. It seems you mixed out camera and stereo_camera namespace. If you use ZED RGB-D version, follow this tutorial: http://wiki.ros.org/rtabmap_ros/Tutorials/HandHeldMapping cheers, Mathieu |
|
|
Thanks for your reply. I have the Zed wrapper all set up and working fine but it just wont run via any of the commands i put in following the correct tutorials on the associated tutorial pages.
|
|
|
Another example:
$ roslaunch zed_wrapper zed_camera.launch publish_tf:=false... logging to /home/nvidia/.ros/log/49cae09c-9f43-11e9-a7d1-00044bc55ed6/roslaunch-tegra-ubuntu-2729.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://tegra-ubuntu:33450/ SUMMARY ======== PARAMETERS * /rosdistro: kinetic * /rosversion: 1.12.14 * /stereo_camera/zed_description: <?xml version="1.... * /stereo_camera/zed_node/auto_exposure: True * /stereo_camera/zed_node/camera_model: zed * /stereo_camera/zed_node/confidence: 100 * /stereo_camera/zed_node/depth/confidence_root: confidence * /stereo_camera/zed_node/depth/depth_stabilization: 1 * /stereo_camera/zed_node/depth/depth_topic_root: depth * /stereo_camera/zed_node/depth/disparity_topic: disparity/dispari... * /stereo_camera/zed_node/depth/min_depth: 0.3 * /stereo_camera/zed_node/depth/openni_depth_mode: 0 * /stereo_camera/zed_node/depth/point_cloud_topic_root: point_cloud * /stereo_camera/zed_node/depth/quality: 1 * /stereo_camera/zed_node/depth/sensing_mode: 0 * /stereo_camera/zed_node/exposure: 100 * /stereo_camera/zed_node/gain: 100 * /stereo_camera/zed_node/general/base_frame: base_link * /stereo_camera/zed_node/general/camera_flip: False * /stereo_camera/zed_node/general/camera_frame: zed_camera_center * /stereo_camera/zed_node/general/frame_rate: 30 * /stereo_camera/zed_node/general/gpu_id: -1 * /stereo_camera/zed_node/general/left_camera_frame: zed_left_camera_f... * /stereo_camera/zed_node/general/left_camera_optical_frame: zed_left_camera_o... * /stereo_camera/zed_node/general/resolution: 2 * /stereo_camera/zed_node/general/right_camera_frame: zed_right_camera_... * /stereo_camera/zed_node/general/right_camera_optical_frame: zed_right_camera_... * /stereo_camera/zed_node/general/self_calib: True * /stereo_camera/zed_node/general/serial_number: 0 * /stereo_camera/zed_node/general/svo_compression: 4 * /stereo_camera/zed_node/general/verbose: True * /stereo_camera/zed_node/general/zed_id: -1 * /stereo_camera/zed_node/mapping/fused_pointcloud_freq: 1.0 * /stereo_camera/zed_node/mapping/mapping_enabled: False * /stereo_camera/zed_node/mapping/resolution: 1 * /stereo_camera/zed_node/mat_resize_factor: 1.0 * /stereo_camera/zed_node/max_depth: 20.0 * /stereo_camera/zed_node/point_cloud_freq: 10.0 * /stereo_camera/zed_node/stream: * /stereo_camera/zed_node/svo_file: * /stereo_camera/zed_node/tracking/fixed_cov_value: 1e-6 * /stereo_camera/zed_node/tracking/fixed_covariance: False * /stereo_camera/zed_node/tracking/fixed_z_value: 1.0 * /stereo_camera/zed_node/tracking/floor_alignment: False * /stereo_camera/zed_node/tracking/init_odom_with_first_valid_pose: True * /stereo_camera/zed_node/tracking/initial_base_pose: [0.0, 0.0, 0.0, 0... * /stereo_camera/zed_node/tracking/map_frame: map * /stereo_camera/zed_node/tracking/odometry_db: * /stereo_camera/zed_node/tracking/odometry_frame: odom * /stereo_camera/zed_node/tracking/odometry_topic: odom * /stereo_camera/zed_node/tracking/path_max_count: -1 * /stereo_camera/zed_node/tracking/path_pub_rate: 2.0 * /stereo_camera/zed_node/tracking/pose_topic: pose * /stereo_camera/zed_node/tracking/publish_map_tf: True * /stereo_camera/zed_node/tracking/publish_pose_covariance: True * /stereo_camera/zed_node/tracking/publish_tf: True * /stereo_camera/zed_node/tracking/spatial_memory: True * /stereo_camera/zed_node/tracking/two_d_mode: False * /stereo_camera/zed_node/tracking/world_frame: map * /stereo_camera/zed_node/video/color_enhancement: True * /stereo_camera/zed_node/video/left_topic_root: left * /stereo_camera/zed_node/video/rgb_topic_root: rgb * /stereo_camera/zed_node/video/right_topic_root: right * /stereo_camera/zed_node/video/stereo_topic_root: stereo NODES /stereo_camera/ zed_node (zed_wrapper/zed_wrapper_node) zed_state_publisher (robot_state_publisher/state_publisher) auto-starting new master process[master]: started with pid [2754] ROS_MASTER_URI=http://localhost:11311 setting /run_id to 49cae09c-9f43-11e9-a7d1-00044bc55ed6 process[rosout-1]: started with pid [2880] started core service [/rosout] process[stereo_camera/zed_state_publisher-2]: started with pid [2919] process[stereo_camera/zed_node-3]: started with pid [3008] [ INFO] [1562344698.358430434]: Initializing nodelet with 6 worker threads. [ INFO] [1562344698.404672118]: SDK version : 2.8.2 [ INFO] [1562344698.404772022]: *** PARAMETERS *** [ INFO] [1562344698.406101588]: * Camera Resolution -> HD720 [ INFO] [1562344698.407610834]: * Camera Framerate -> 30 [ INFO] [1562344698.409450959]: * Gpu ID -> -1 [ INFO] [1562344698.412421642]: * Camera ID -> -1 [ INFO] [1562344698.414881830]: * Verbose -> ENABLED [ INFO] [1562344698.419503070]: * Camera Flip -> DISABLED [ INFO] [1562344698.422393849]: * Self calibration -> ENABLED [ INFO] [1562344698.424963477]: * Camera Model -> zed [ INFO] [1562344698.465939506]: * Depth quality -> PERFORMANCE [ INFO] [1562344698.469713291]: * Depth Sensing mode -> STANDARD [ INFO] [1562344698.472244199]: * OpenNI mode -> DISABLED [ INFO] [1562344698.474718083]: * Depth Stabilization -> ENABLED [ INFO] [1562344698.476417952]: * Minimum depth -> 0.3 [ INFO] [1562344698.501485751]: * Path rate -> 2 Hz [ INFO] [1562344698.504095347]: * Path history size -> 1 [ INFO] [1562344698.509689994]: * Odometry DB path -> [ INFO] [1562344698.519627225]: * Spatial Memory -> ENABLED [ INFO] [1562344698.523899666]: * IMU Fusion -> ENABLED [ INFO] [1562344698.529073610]: * Floor alignment -> DISABLED [ INFO] [1562344698.537068925]: * Init Odometry with first valid pose data -> ENABLED [ INFO] [1562344698.541562933]: * Two D mode -> DISABLED [ INFO] [1562344698.559513816]: * Publish Pose Covariance -> ENABLED [ INFO] [1562344698.563262225]: * Fixed covariance -> DISABLED [ INFO] [1562344698.573928256]: * Fixed cov. value -> 1e-06 [ INFO] [1562344698.593925119]: * Mapping -> DISABLED [ INFO] [1562344698.607297833]: * IMU timestamp sync -> DISABLED [ INFO] [1562344698.614376701]: * IMU data freq -> 0 Hz [ INFO] [1562344698.634058621]: * SVO REC compression -> HEVC (H265) [ INFO] [1562344698.769065343]: * world_frame -> map [ INFO] [1562344698.769143679]: * map_frame -> map [ INFO] [1562344698.769187999]: * odometry_frame -> odom [ INFO] [1562344698.769228127]: * base_frame -> base_link [ INFO] [1562344698.769265662]: * camera_frame -> zed_camera_center [ INFO] [1562344698.769300286]: * imu_link -> imu_link [ INFO] [1562344698.769335486]: * left_camera_frame -> zed_left_camera_frame [ INFO] [1562344698.769726814]: * left_camera_optical_frame -> zed_left_camera_optical_frame [ INFO] [1562344698.769797918]: * right_camera_frame -> zed_right_camera_frame [ INFO] [1562344698.769842654]: * right_camera_optical_frame -> zed_right_camera_optical_frame [ INFO] [1562344698.769883517]: * depth_frame -> zed_left_camera_frame [ INFO] [1562344698.769916125]: * depth_optical_frame -> zed_left_camera_optical_frame [ INFO] [1562344698.769952381]: * disparity_frame -> zed_left_camera_frame [ INFO] [1562344698.769988605]: * disparity_optical_frame -> zed_left_camera_optical_frame [ INFO] [1562344698.770025213]: * confidence_frame -> zed_left_camera_frame [ INFO] [1562344698.770060925]: * confidence_optical_frame -> zed_left_camera_optical_frame [ INFO] [1562344698.777472657]: * Broadcast odometry TF -> ENABLED [ INFO] [1562344698.786965569]: * Broadcast map pose TF -> ENABLED [ INFO] [1562344698.789838557]: * [DYN] mat_resize_factor -> 1 [ INFO] [1562344698.793136247]: * [DYN] confidence -> 100 [ INFO] [1562344698.798293199]: * [DYN] max_depth -> 20 [ INFO] [1562344698.803045127]: * [DYN] exposure -> 100 [ INFO] [1562344698.806649409]: * [DYN] gain -> 100 [ INFO] [1562344698.813227958]: * [DYN] auto_exposure -> ENABLED [ INFO] [1562344698.827044991]: * [DYN] point_cloud_freq -> 10 Hz [ INFO] [1562344698.869760537]: * Camera coordinate system -> COORDINATE_SYSTEM_RIGHT_HANDED_Z_UP_X_FWD ZED (Init) >> Depth mode: PERFORMANCE ZED (Init) >> Video mode: HD720@30 [ INFO] [1562344700.217715567]: ZED connection -> SUCCESS [ INFO] [1562344702.218135348]: * CAMERA MODEL -> ZED [ INFO] [1562344702.218234676]: * Serial Number -> 21646 [ INFO] [1562344702.218320947]: * FW Version -> 1523 [ INFO] [1562344702.349209660]: Advertised on topic /stereo_camera/zed_node/rgb/image_rect_color [ INFO] [1562344702.349297212]: Advertised on topic /stereo_camera/zed_node/rgb/camera_info [ INFO] [1562344702.420691718]: Advertised on topic /stereo_camera/zed_node/rgb_raw/image_raw_color [ INFO] [1562344702.420775078]: Advertised on topic /stereo_camera/zed_node/rgb_raw/camera_info [ INFO] [1562344702.489950293]: Advertised on topic /stereo_camera/zed_node/left/image_rect_color [ INFO] [1562344702.490044564]: Advertised on topic /stereo_camera/zed_node/left/camera_info [ INFO] [1562344702.563078908]: Advertised on topic /stereo_camera/zed_node/left_raw/image_raw_color [ INFO] [1562344702.563166972]: Advertised on topic /stereo_camera/zed_node/left_raw/camera_info [ INFO] [1562344702.631958635]: Advertised on topic /stereo_camera/zed_node/right/image_rect_color [ INFO] [1562344702.632056267]: Advertised on topic /stereo_camera/zed_node/right/camera_info [ INFO] [1562344702.700656698]: Advertised on topic /stereo_camera/zed_node/right_raw/image_raw_color [ INFO] [1562344702.700755706]: Advertised on topic /stereo_camera/zed_node/right_raw/camera_info [ INFO] [1562344702.771080070]: Advertised on topic /stereo_camera/zed_node/depth/depth_registered [ INFO] [1562344702.771207814]: Advertised on topic /stereo_camera/zed_node/depth/camera_info [ INFO] [1562344702.840206516]: Advertised on topic /stereo_camera/zed_node/confidence/confidence_image [ INFO] [1562344702.840324468]: Advertised on topic /stereo_camera/zed_node/confidence/camera_info [ INFO] [1562344702.907730853]: Advertised on topic /stereo_camera/zed_node/stereo/image_rect_color [ INFO] [1562344702.976241428]: Advertised on topic /stereo_camera/zed_node/stereo_raw/image_raw_color [ INFO] [1562344702.978104817]: Advertised on topic /stereo_camera/zed_node/confidence/confidence_map [ INFO] [1562344702.980246926]: Advertised on topic /stereo_camera/zed_node/disparity/disparity_image [ INFO] [1562344702.982116107]: Advertised on topic /stereo_camera/zed_node/point_cloud/cloud_registered [ INFO] [1562344702.984147015]: Advertised on topic /stereo_camera/zed_node/pose [ INFO] [1562344702.985930436]: Advertised on topic /stereo_camera/zed_node/pose_with_covariance [ INFO] [1562344702.987968161]: Advertised on topic /stereo_camera/zed_node/odom [ INFO] [1562344702.990171869]: Advertised on topic /stereo_camera/zed_node/path_odom [ INFO] [1562344702.992516602]: Advertised on topic /stereo_camera/zed_node/path_map [ INFO] [1562344703.009943517]: Static transform Sensor to Base [zed_left_camera_frame -> base_link] [ INFO] [1562344703.010120797]: * Translation: {0.000,-0.060,0.000} [ INFO] [1562344703.010316188]: * Rotation: {0.000,-0.000,0.000} [ INFO] [1562344703.010469372]: Static transform Sensor to Camera Center [zed_left_camera_frame -> zed_camera_center] [ INFO] [1562344703.010619068]: * Translation: {0.000,-0.060,0.000} [ INFO] [1562344703.010718332]: * Rotation: {0.000,-0.000,0.000} [ INFO] [1562344703.010842907]: Static transform Camera Center to Base [zed_camera_center -> base_link] [ INFO] [1562344703.010938907]: * Translation: {0.000,0.000,0.000} [ INFO] [1562344703.011020539]: * Rotation: {0.000,-0.000,0.000} $ roslaunch rtabmap_ros stereo_mapping.launch stereo_namespace:="/stereo_camera" rtabmap_args:="--delete_db_on_start" ... logging to /home/nvidia/.ros/log/49cae09c-9f43-11e9-a7d1-00044bc55ed6/roslaunch-tegra-ubuntu-4441.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://tegra-ubuntu:46313/ SUMMARY ======== PARAMETERS * /rosdistro: kinetic * /rosversion: 1.12.14 * /stereo_camera/rtabmap/rtabmap/Mem/IncrementalMemory: true * /stereo_camera/rtabmap/rtabmap/Mem/InitWMWithAllNodes: false * /stereo_camera/rtabmap/rtabmap/approx_sync: False * /stereo_camera/rtabmap/rtabmap/config_path: * /stereo_camera/rtabmap/rtabmap/database_path: ~/.ros/rtabmap.db * /stereo_camera/rtabmap/rtabmap/frame_id: base_link * /stereo_camera/rtabmap/rtabmap/ground_truth_base_frame_id: * /stereo_camera/rtabmap/rtabmap/ground_truth_frame_id: * /stereo_camera/rtabmap/rtabmap/landmark_angular_variance: 9999.0 * /stereo_camera/rtabmap/rtabmap/landmark_linear_variance: 0.0001 * /stereo_camera/rtabmap/rtabmap/map_frame_id: map * /stereo_camera/rtabmap/rtabmap/odom_frame_id: * /stereo_camera/rtabmap/rtabmap/odom_sensor_sync: False * /stereo_camera/rtabmap/rtabmap/odom_tf_angular_variance: 1.0 * /stereo_camera/rtabmap/rtabmap/odom_tf_linear_variance: 1.0 * /stereo_camera/rtabmap/rtabmap/publish_tf: True * /stereo_camera/rtabmap/rtabmap/queue_size: 10 * /stereo_camera/rtabmap/rtabmap/scan_normal_k: 0 * /stereo_camera/rtabmap/rtabmap/subscribe_depth: False * /stereo_camera/rtabmap/rtabmap/subscribe_odom_info: True * /stereo_camera/rtabmap/rtabmap/subscribe_rgbd: False * /stereo_camera/rtabmap/rtabmap/subscribe_scan: False * /stereo_camera/rtabmap/rtabmap/subscribe_scan_cloud: False * /stereo_camera/rtabmap/rtabmap/subscribe_stereo: True * /stereo_camera/rtabmap/rtabmap/subscribe_user_data: False * /stereo_camera/rtabmap/rtabmap/wait_for_transform_duration: 0.2 * /stereo_camera/rtabmap/rtabmapviz/approx_sync: False * /stereo_camera/rtabmap/rtabmapviz/frame_id: base_link * /stereo_camera/rtabmap/rtabmapviz/odom_frame_id: * /stereo_camera/rtabmap/rtabmapviz/queue_size: 10 * /stereo_camera/rtabmap/rtabmapviz/subscribe_depth: False * /stereo_camera/rtabmap/rtabmapviz/subscribe_odom_info: True * /stereo_camera/rtabmap/rtabmapviz/subscribe_rgbd: False * /stereo_camera/rtabmap/rtabmapviz/subscribe_scan: False * /stereo_camera/rtabmap/rtabmapviz/subscribe_scan_cloud: False * /stereo_camera/rtabmap/rtabmapviz/subscribe_stereo: True * /stereo_camera/rtabmap/rtabmapviz/wait_for_transform_duration: 0.2 * /stereo_camera/rtabmap/stereo_odometry/approx_sync: False * /stereo_camera/rtabmap/stereo_odometry/config_path: * /stereo_camera/rtabmap/stereo_odometry/frame_id: base_link * /stereo_camera/rtabmap/stereo_odometry/ground_truth_base_frame_id: * /stereo_camera/rtabmap/stereo_odometry/ground_truth_frame_id: * /stereo_camera/rtabmap/stereo_odometry/guess_frame_id: * /stereo_camera/rtabmap/stereo_odometry/guess_min_rotation: 0.0 * /stereo_camera/rtabmap/stereo_odometry/guess_min_translation: 0.0 * /stereo_camera/rtabmap/stereo_odometry/odom_frame_id: /odom * /stereo_camera/rtabmap/stereo_odometry/publish_tf: True * /stereo_camera/rtabmap/stereo_odometry/queue_size: 10 * /stereo_camera/rtabmap/stereo_odometry/subscribe_rgbd: False * /stereo_camera/rtabmap/stereo_odometry/wait_for_transform_duration: 0.2 * /stereo_camera/rtabmap/stereo_odometry/wait_imu_to_init: False NODES /stereo_camera/rtabmap/ rtabmap (rtabmap_ros/rtabmap) rtabmapviz (rtabmap_ros/rtabmapviz) stereo_odometry (rtabmap_ros/stereo_odometry) ROS_MASTER_URI=http://localhost:11311 process[stereo_camera/rtabmap/stereo_odometry-1]: started with pid [4458] process[stereo_camera/rtabmap/rtabmap-2]: started with pid [4459] process[stereo_camera/rtabmap/rtabmapviz-3]: started with pid [4460] [ INFO] [1562344708.292627401]: Starting node... [ INFO] [1562344708.468932551]: Initializing nodelet with 6 worker threads. [ INFO] [1562344708.529844674]: Initializing nodelet with 6 worker threads. [ INFO] [1562344708.770591830]: Starting node... [ INFO] [1562344709.129840839]: rtabmapviz: Using configuration from "/home/nvidia/catkin_ws/src/rtabmap_ros/launch/config/rgbd_gui.ini" [ INFO] [1562344709.317973682]: Odometry: frame_id = base_link [ INFO] [1562344709.318072433]: Odometry: odom_frame_id = /odom [ INFO] [1562344709.318128561]: Odometry: publish_tf = true [ INFO] [1562344709.318199729]: Odometry: wait_for_transform = true [ INFO] [1562344709.318255761]: Odometry: wait_for_transform_duration = 0.200000 [ INFO] [1562344709.318349713]: Odometry: initial_pose = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 [ INFO] [1562344709.318409393]: Odometry: ground_truth_frame_id = [ INFO] [1562344709.318458065]: Odometry: ground_truth_base_frame_id = [ INFO] [1562344709.318515025]: Odometry: config_path = [ INFO] [1562344709.318567953]: Odometry: publish_null_when_lost = true [ INFO] [1562344709.318650288]: Odometry: guess_frame_id = [ INFO] [1562344709.318709456]: Odometry: guess_min_translation = 0.000000 [ INFO] [1562344709.318772592]: Odometry: guess_min_rotation = 0.000000 [ INFO] [1562344709.318856752]: Odometry: guess_min_time = 0.000000 [ INFO] [1562344709.318913712]: Odometry: expected_update_rate = 0.000000 Hz [ INFO] [1562344709.318961296]: Odometry: wait_imu_to_init = false [ INFO] [1562344709.414086963]: /stereo_camera/rtabmap/rtabmap(maps): map_filter_radius = 0.000000 [ INFO] [1562344709.414179027]: /stereo_camera/rtabmap/rtabmap(maps): map_filter_angle = 30.000000 [ INFO] [1562344709.414266739]: /stereo_camera/rtabmap/rtabmap(maps): map_cleanup = true [ INFO] [1562344709.414318579]: /stereo_camera/rtabmap/rtabmap(maps): map_always_update = false [ INFO] [1562344709.414368275]: /stereo_camera/rtabmap/rtabmap(maps): map_empty_ray_tracing = true [ INFO] [1562344709.414450771]: /stereo_camera/rtabmap/rtabmap(maps): cloud_output_voxelized = true [ INFO] [1562344709.414534259]: /stereo_camera/rtabmap/rtabmap(maps): cloud_subtract_filtering = false [ INFO] [1562344709.414582995]: /stereo_camera/rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2 [ INFO] [1562344709.419391691]: /stereo_camera/rtabmap/rtabmap(maps): octomap_tree_depth = 16 [ INFO] [1562344709.565634586]: rtabmap: frame_id = base_link [ INFO] [1562344709.565717082]: rtabmap: map_frame_id = map [ INFO] [1562344709.565766298]: rtabmap: use_action_for_goal = false [ INFO] [1562344709.566109689]: rtabmap: tf_delay = 0.050000 [ INFO] [1562344709.566239513]: rtabmap: tf_tolerance = 0.100000 [ INFO] [1562344709.566287737]: rtabmap: odom_sensor_sync = false [ INFO] [1562344709.570854481]: rtabmap: stereo_to_depth = false [ INFO] [1562344710.873749042]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true" [ INFO] [1562344710.876117966]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false" [ INFO] [1562344711.447769761]: Reading parameters from the ROS server... [ INFO] [1562344711.709781042]: StereoOdometry: approx_sync = false [ INFO] [1562344711.709861138]: StereoOdometry: queue_size = 10 [ INFO] [1562344711.709910130]: StereoOdometry: subscribe_rgbd = false [ INFO] [1562344711.838801758]: /stereo_camera/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 [ INFO] [1562344712.296353933]: Parameters read = 0 [ INFO] [1562344712.836665044]: /stereo_camera/rtabmap/rtabmapviz: subscribe_depth = false [ INFO] [1562344712.836746292]: /stereo_camera/rtabmap/rtabmapviz: subscribe_rgb = false [ INFO] [1562344712.836819827]: /stereo_camera/rtabmap/rtabmapviz: subscribe_stereo = true [ INFO] [1562344712.836858707]: /stereo_camera/rtabmap/rtabmapviz: subscribe_rgbd = false (rgbd_cameras=1) [ INFO] [1562344712.836894611]: /stereo_camera/rtabmap/rtabmapviz: subscribe_odom_info = true [ INFO] [1562344712.836928627]: /stereo_camera/rtabmap/rtabmapviz: subscribe_user_data = false [ INFO] [1562344712.836963699]: /stereo_camera/rtabmap/rtabmapviz: subscribe_scan = false [ INFO] [1562344712.836999891]: /stereo_camera/rtabmap/rtabmapviz: subscribe_scan_cloud = false [ INFO] [1562344712.837031923]: /stereo_camera/rtabmap/rtabmapviz: queue_size = 10 [ INFO] [1562344712.837062451]: /stereo_camera/rtabmap/rtabmapviz: approx_sync = false [ INFO] [1562344712.837160179]: Setup stereo callback [ INFO] [1562344713.010240886]: /stereo_camera/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, /stereo_camera/rtabmap/odom_info [ INFO] [1562344713.010466262]: rtabmapviz started. [ INFO] [1562344713.856377670]: RTAB-Map detection rate = 1.000000 Hz [ INFO] [1562344713.856760741]: rtabmap: Deleted database "/home/nvidia/.ros/rtabmap.db" (--delete_db_on_start or -d are set). [ INFO] [1562344713.856848933]: rtabmap: Using database from "/home/nvidia/.ros/rtabmap.db" (0 MB). [ INFO] [1562344713.980466170]: rtabmap: Database version = "0.19.4". [ WARN] [1562344714.068709960]: rtabmap: Parameters subscribe_stereo and subscribe_rgb cannot be true at the same time. Parameter subscribe_rgb is set to false. [ INFO] [1562344714.077807481]: /stereo_camera/rtabmap/rtabmap: subscribe_depth = false [ INFO] [1562344714.077890809]: /stereo_camera/rtabmap/rtabmap: subscribe_rgb = false [ INFO] [1562344714.077943865]: /stereo_camera/rtabmap/rtabmap: subscribe_stereo = true [ INFO] [1562344714.077993113]: /stereo_camera/rtabmap/rtabmap: subscribe_rgbd = false (rgbd_cameras=1) [ INFO] [1562344714.078039065]: /stereo_camera/rtabmap/rtabmap: subscribe_odom_info = true [ INFO] [1562344714.078077497]: /stereo_camera/rtabmap/rtabmap: subscribe_user_data = false [ INFO] [1562344714.078127609]: /stereo_camera/rtabmap/rtabmap: subscribe_scan = false [ INFO] [1562344714.078175545]: /stereo_camera/rtabmap/rtabmap: subscribe_scan_cloud = false [ INFO] [1562344714.078224825]: /stereo_camera/rtabmap/rtabmap: queue_size = 10 [ INFO] [1562344714.078265881]: /stereo_camera/rtabmap/rtabmap: approx_sync = false [ INFO] [1562344714.078456376]: Setup stereo callback [ INFO] [1562344714.160295314]: /stereo_camera/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, /stereo_camera/rtabmap/odom_info [ INFO] [1562344714.200574703]: rtabmap 0.19.4 started... [ WARN] [1562344716.839384857]: /stereo_camera/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. /stereo_camera/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] [1562344718.010485330]: /stereo_camera/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. /stereo_camera/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, /stereo_camera/rtabmap/odom_info [ WARN] [1562344719.160746189]: /stereo_camera/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. /stereo_camera/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, /stereo_camera/rtabmap/odom_info [ WARN] [1562344721.839601301]: /stereo_camera/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. /stereo_camera/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 |
|
Administrator
|
The latest release of zed ros wrapper changed the default topic names. I updated this tutorial: http://wiki.ros.org/rtabmap_ros/Tutorials/HandHeldMapping
Example: $ roslaunch zed_wrapper zed_no_tf.launch camera_model:=zed $ roslaunch rtabmap_ros rtabmap.launch \ rtabmap_args:="--delete_db_on_start" \ rgb_topic:=/zed/zed_node/rgb/image_rect_color \ depth_topic:=/zed/zed_node/depth/depth_registered \ camera_info_topic:=/zed/zed_node/rgb/camera_info \ frame_id:=base_link \ approx_sync:=false |
|
|
Still no luck.
nvidia@tegra-ubuntu:~$ roslaunch zed_wrapper zed_no_tf.launch camera_model:=zed... logging to /home/nvidia/.ros/log/477f7b94-a19c-11e9-8f89-00044bc55ed6/roslaunch-tegra-ubuntu-23484.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://tegra-ubuntu:42907/ SUMMARY ======== PARAMETERS * /rosdistro: kinetic * /rosversion: 1.12.14 * /zed/zed_description: <?xml version="1.... * /zed/zed_node/auto_exposure: True * /zed/zed_node/camera_model: zed * /zed/zed_node/confidence: 100 * /zed/zed_node/depth/confidence_root: confidence * /zed/zed_node/depth/depth_stabilization: 1 * /zed/zed_node/depth/depth_topic_root: depth * /zed/zed_node/depth/disparity_topic: disparity/dispari... * /zed/zed_node/depth/min_depth: 0.3 * /zed/zed_node/depth/openni_depth_mode: 0 * /zed/zed_node/depth/point_cloud_topic_root: point_cloud * /zed/zed_node/depth/quality: 1 * /zed/zed_node/depth/sensing_mode: 0 * /zed/zed_node/exposure: 100 * /zed/zed_node/gain: 100 * /zed/zed_node/general/base_frame: base_link * /zed/zed_node/general/camera_flip: False * /zed/zed_node/general/camera_frame: zed_camera_center * /zed/zed_node/general/frame_rate: 25 * /zed/zed_node/general/gpu_id: -1 * /zed/zed_node/general/left_camera_frame: zed_left_camera_f... * /zed/zed_node/general/left_camera_optical_frame: zed_left_camera_o... * /zed/zed_node/general/resolution: 2 * /zed/zed_node/general/right_camera_frame: zed_right_camera_... * /zed/zed_node/general/right_camera_optical_frame: zed_right_camera_... * /zed/zed_node/general/self_calib: True * /zed/zed_node/general/serial_number: 0 * /zed/zed_node/general/svo_compression: 4 * /zed/zed_node/general/verbose: True * /zed/zed_node/general/zed_id: -1 * /zed/zed_node/mapping/fused_pointcloud_freq: 1.0 * /zed/zed_node/mapping/mapping_enabled: False * /zed/zed_node/mapping/resolution: 1 * /zed/zed_node/mat_resize_factor: 1.0 * /zed/zed_node/max_depth: 20.0 * /zed/zed_node/point_cloud_freq: 10.0 * /zed/zed_node/stream: * /zed/zed_node/svo_file: * /zed/zed_node/tracking/fixed_cov_value: 1e-6 * /zed/zed_node/tracking/fixed_covariance: False * /zed/zed_node/tracking/fixed_z_value: 1.0 * /zed/zed_node/tracking/floor_alignment: False * /zed/zed_node/tracking/init_odom_with_first_valid_pose: True * /zed/zed_node/tracking/initial_base_pose: [0.0, 0.0, 0.0, 0... * /zed/zed_node/tracking/map_frame: map * /zed/zed_node/tracking/odometry_db: * /zed/zed_node/tracking/odometry_frame: odom * /zed/zed_node/tracking/odometry_topic: odom * /zed/zed_node/tracking/path_max_count: -1 * /zed/zed_node/tracking/path_pub_rate: 2.0 * /zed/zed_node/tracking/pose_topic: pose * /zed/zed_node/tracking/publish_map_tf: False * /zed/zed_node/tracking/publish_pose_covariance: True * /zed/zed_node/tracking/publish_tf: False * /zed/zed_node/tracking/spatial_memory: True * /zed/zed_node/tracking/two_d_mode: False * /zed/zed_node/tracking/world_frame: map * /zed/zed_node/video/color_enhancement: True * /zed/zed_node/video/left_topic_root: left * /zed/zed_node/video/rgb_topic_root: rgb * /zed/zed_node/video/right_topic_root: right * /zed/zed_node/video/stereo_topic_root: stereo NODES /zed/ zed_node (zed_wrapper/zed_wrapper_node) zed_state_publisher (robot_state_publisher/state_publisher) auto-starting new master process[master]: started with pid [23494] ROS_MASTER_URI=http://localhost:11311 setting /run_id to 477f7b94-a19c-11e9-8f89-00044bc55ed6 process[rosout-1]: started with pid [23507] started core service [/rosout] process[zed/zed_state_publisher-2]: started with pid [23524] process[zed/zed_node-3]: started with pid [23542] [ INFO] [1562602821.895957165]: Initializing nodelet with 6 worker threads. [ INFO] [1562602821.938703203]: SDK version : 2.8.2 [ INFO] [1562602821.938818371]: *** PARAMETERS *** [ INFO] [1562602821.940703872]: * Camera Resolution -> HD720 [ WARN] [1562602821.942527709]: Wrong FrameRate (25) for the resolution HD720. Set to 15 FPS. [ INFO] [1562602821.942609404]: * Camera Framerate -> 15 [ INFO] [1562602821.944350361]: * Gpu ID -> -1 [ INFO] [1562602821.946109686]: * Camera ID -> -1 [ INFO] [1562602821.947608916]: * Verbose -> ENABLED [ INFO] [1562602821.949851120]: * Camera Flip -> DISABLED [ INFO] [1562602821.951838925]: * Self calibration -> ENABLED [ INFO] [1562602821.953768137]: * Camera Model -> zed [ INFO] [1562602821.978325919]: * Depth quality -> PERFORMANCE [ INFO] [1562602821.980163964]: * Depth Sensing mode -> STANDARD [ INFO] [1562602821.981628345]: * OpenNI mode -> DISABLED [ INFO] [1562602821.982903767]: * Depth Stabilization -> ENABLED [ INFO] [1562602821.984082485]: * Minimum depth -> 0.3 [ INFO] [1562602821.989880427]: * Path rate -> 2 Hz [ INFO] [1562602821.991404713]: * Path history size -> 1 [ INFO] [1562602821.994246308]: * Odometry DB path -> [ INFO] [1562602821.997160287]: * Spatial Memory -> ENABLED [ INFO] [1562602821.998388317]: * IMU Fusion -> ENABLED [ INFO] [1562602822.000467417]: * Floor alignment -> DISABLED [ INFO] [1562602822.002500502]: * Init Odometry with first valid pose data -> ENABLED [ INFO] [1562602822.004416050]: * Two D mode -> DISABLED [ INFO] [1562602822.010103625]: * Publish Pose Covariance -> ENABLED [ INFO] [1562602822.011859686]: * Fixed covariance -> DISABLED [ INFO] [1562602822.013500899]: * Fixed cov. value -> 1e-06 [ INFO] [1562602822.016151838]: * Mapping -> DISABLED [ INFO] [1562602822.018374106]: * IMU timestamp sync -> DISABLED [ INFO] [1562602822.019594200]: * IMU data freq -> 0 Hz [ INFO] [1562602822.023154034]: * SVO REC compression -> HEVC (H265) [ INFO] [1562602822.051724193]: * world_frame -> map [ INFO] [1562602822.051793185]: * map_frame -> map [ INFO] [1562602822.051831553]: * odometry_frame -> odom [ INFO] [1562602822.051874017]: * base_frame -> base_link [ INFO] [1562602822.051914337]: * camera_frame -> zed_camera_center [ INFO] [1562602822.051954721]: * imu_link -> imu_link [ INFO] [1562602822.051994817]: * left_camera_frame -> zed_left_camera_frame [ INFO] [1562602822.052028673]: * left_camera_optical_frame -> zed_left_camera_optical_frame [ INFO] [1562602822.052061888]: * right_camera_frame -> zed_right_camera_frame [ INFO] [1562602822.052100480]: * right_camera_optical_frame -> zed_right_camera_optical_frame [ INFO] [1562602822.052137152]: * depth_frame -> zed_left_camera_frame [ INFO] [1562602822.052174432]: * depth_optical_frame -> zed_left_camera_optical_frame [ INFO] [1562602822.052204608]: * disparity_frame -> zed_left_camera_frame [ INFO] [1562602822.052238368]: * disparity_optical_frame -> zed_left_camera_optical_frame [ INFO] [1562602822.052266752]: * confidence_frame -> zed_left_camera_frame [ INFO] [1562602822.052300992]: * confidence_optical_frame -> zed_left_camera_optical_frame [ INFO] [1562602822.054680604]: * Broadcast odometry TF -> DISABLED [ INFO] [1562602822.057061240]: * Broadcast map pose TF -> DISABLED [ INFO] [1562602822.058226294]: * [DYN] mat_resize_factor -> 1 [ INFO] [1562602822.059568212]: * [DYN] confidence -> 100 [ INFO] [1562602822.060828369]: * [DYN] max_depth -> 20 [ INFO] [1562602822.061943695]: * [DYN] exposure -> 100 [ INFO] [1562602822.063429933]: * [DYN] gain -> 100 [ INFO] [1562602822.064625643]: * [DYN] auto_exposure -> ENABLED [ INFO] [1562602822.065721449]: * [DYN] point_cloud_freq -> 10 Hz [ INFO] [1562602822.082565740]: * Camera coordinate system -> COORDINATE_SYSTEM_RIGHT_HANDED_Z_UP_X_FWD ZED (Init) >> Depth mode: PERFORMANCE ZED (Init) >> Video mode: HD720@15 [ INFO] [1562602823.356680095]: ZED connection -> SUCCESS [ INFO] [1562602825.357055853]: * CAMERA MODEL -> ZED [ INFO] [1562602825.357136109]: * Serial Number -> 21646 [ INFO] [1562602825.357205229]: * FW Version -> 1523 [ INFO] [1562602825.476490176]: Advertised on topic /zed/zed_node/rgb/image_rect_color [ INFO] [1562602825.476573696]: Advertised on topic /zed/zed_node/rgb/camera_info [ INFO] [1562602825.553749467]: Advertised on topic /zed/zed_node/rgb_raw/image_raw_color [ INFO] [1562602825.553836219]: Advertised on topic /zed/zed_node/rgb_raw/camera_info [ INFO] [1562602825.633545649]: Advertised on topic /zed/zed_node/left/image_rect_color [ INFO] [1562602825.633646929]: Advertised on topic /zed/zed_node/left/camera_info [ INFO] [1562602825.707544562]: Advertised on topic /zed/zed_node/left_raw/image_raw_color [ INFO] [1562602825.707632626]: Advertised on topic /zed/zed_node/left_raw/camera_info [ INFO] [1562602825.780001973]: Advertised on topic /zed/zed_node/right/image_rect_color [ INFO] [1562602825.780093301]: Advertised on topic /zed/zed_node/right/camera_info [ INFO] [1562602825.848345312]: Advertised on topic /zed/zed_node/right_raw/image_raw_color [ INFO] [1562602825.848449215]: Advertised on topic /zed/zed_node/right_raw/camera_info [ INFO] [1562602825.916538346]: Advertised on topic /zed/zed_node/depth/depth_registered [ INFO] [1562602825.916643658]: Advertised on topic /zed/zed_node/depth/camera_info [ INFO] [1562602825.983001688]: Advertised on topic /zed/zed_node/confidence/confidence_image [ INFO] [1562602825.983111544]: Advertised on topic /zed/zed_node/confidence/camera_info [ INFO] [1562602826.048545735]: Advertised on topic /zed/zed_node/stereo/image_rect_color [ INFO] [1562602826.108847455]: Advertised on topic /zed/zed_node/stereo_raw/image_raw_color [ INFO] [1562602826.110819580]: Advertised on topic /zed/zed_node/confidence/confidence_map [ INFO] [1562602826.112798264]: Advertised on topic /zed/zed_node/disparity/disparity_image [ INFO] [1562602826.114633365]: Advertised on topic /zed/zed_node/point_cloud/cloud_registered [ INFO] [1562602826.116419730]: Advertised on topic /zed/zed_node/pose [ INFO] [1562602826.118126863]: Advertised on topic /zed/zed_node/pose_with_covariance [ INFO] [1562602826.120028396]: Advertised on topic /zed/zed_node/odom [ INFO] [1562602826.122117736]: Advertised on topic /zed/zed_node/path_odom [ INFO] [1562602826.124423012]: Advertised on topic /zed/zed_node/path_map nvidia@tegra-ubuntu:~$ roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" rgb_topic:=/zed/zed_node/rgb/image_rect_color depth_topic:=/zed/zed_node/depth/depth_registered camera_info_topic:=/zed/zed_node/rgb/camera_info frame_id:=base_link approx_sync:=false ... logging to /home/nvidia/.ros/log/f46a0bfe-a19b-11e9-bf16-00044bc55ed6/roslaunch-tegra-ubuntu-19272.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://tegra-ubuntu:37059/ SUMMARY ======== PARAMETERS * /rosdistro: kinetic * /rosversion: 1.12.14 * /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: base_link * /rtabmap/rtabmap/ground_truth_base_frame_id: * /rtabmap/rtabmap/ground_truth_frame_id: * /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_sensor_sync: False * /rtabmap/rtabmap/odom_tf_angular_variance: 1.0 * /rtabmap/rtabmap/odom_tf_linear_variance: 1.0 * /rtabmap/rtabmap/publish_tf: True * /rtabmap/rtabmap/queue_size: 10 * /rtabmap/rtabmap/scan_normal_k: 0 * /rtabmap/rtabmap/subscribe_depth: False * /rtabmap/rtabmap/subscribe_odom_info: True * /rtabmap/rtabmap/subscribe_rgbd: False * /rtabmap/rtabmap/subscribe_scan: False * /rtabmap/rtabmap/subscribe_scan_cloud: False * /rtabmap/rtabmap/subscribe_stereo: True * /rtabmap/rtabmap/subscribe_user_data: False * /rtabmap/rtabmap/wait_for_transform_duration: 0.2 * /rtabmap/rtabmapviz/approx_sync: False * /rtabmap/rtabmapviz/frame_id: base_link * /rtabmap/rtabmapviz/odom_frame_id: * /rtabmap/rtabmapviz/queue_size: 10 * /rtabmap/rtabmapviz/subscribe_depth: False * /rtabmap/rtabmapviz/subscribe_odom_info: True * /rtabmap/rtabmapviz/subscribe_rgbd: False * /rtabmap/rtabmapviz/subscribe_scan: False * /rtabmap/rtabmapviz/subscribe_scan_cloud: False * /rtabmap/rtabmapviz/subscribe_stereo: True * /rtabmap/rtabmapviz/wait_for_transform_duration: 0.2 * /rtabmap/stereo_odometry/approx_sync: False * /rtabmap/stereo_odometry/config_path: * /rtabmap/stereo_odometry/frame_id: base_link * /rtabmap/stereo_odometry/ground_truth_base_frame_id: * /rtabmap/stereo_odometry/ground_truth_frame_id: * /rtabmap/stereo_odometry/guess_frame_id: * /rtabmap/stereo_odometry/guess_min_rotation: 0.0 * /rtabmap/stereo_odometry/guess_min_translation: 0.0 * /rtabmap/stereo_odometry/odom_frame_id: odom * /rtabmap/stereo_odometry/publish_tf: True * /rtabmap/stereo_odometry/queue_size: 10 * /rtabmap/stereo_odometry/subscribe_rgbd: False * /rtabmap/stereo_odometry/wait_for_transform_duration: 0.2 * /rtabmap/stereo_odometry/wait_imu_to_init: False NODES /rtabmap/ rtabmap (rtabmap_ros/rtabmap) rtabmapviz (rtabmap_ros/rtabmapviz) stereo_odometry (rtabmap_ros/stereo_odometry) ROS_MASTER_URI=http://localhost:11311 process[rtabmap/stereo_odometry-1]: started with pid [19289] process[rtabmap/rtabmap-2]: started with pid [19290] process[rtabmap/rtabmapviz-3]: started with pid [19291] [ INFO] [1562602692.857895004]: Starting node... [ INFO] [1562602693.053122734]: Initializing nodelet with 6 worker threads. [ INFO] [1562602693.057650503]: Initializing nodelet with 6 worker threads. [ INFO] [1562602693.219107470]: Starting node... [ INFO] [1562602693.542257690]: rtabmapviz: Using configuration from "/home/nvidia/.ros/rtabmap_gui.ini" [ INFO] [1562602693.897639284]: /rtabmap/rtabmap(maps): map_filter_radius = 0.000000 [ INFO] [1562602693.897728884]: /rtabmap/rtabmap(maps): map_filter_angle = 30.000000 [ INFO] [1562602693.897791092]: /rtabmap/rtabmap(maps): map_cleanup = true [ INFO] [1562602693.897871700]: /rtabmap/rtabmap(maps): map_always_update = false [ INFO] [1562602693.897922451]: /rtabmap/rtabmap(maps): map_empty_ray_tracing = true [ INFO] [1562602693.897964691]: /rtabmap/rtabmap(maps): cloud_output_voxelized = true [ INFO] [1562602693.898005011]: /rtabmap/rtabmap(maps): cloud_subtract_filtering = false [ INFO] [1562602693.898130227]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2 [ INFO] [1562602693.901623662]: /rtabmap/rtabmap(maps): octomap_tree_depth = 16 [ INFO] [1562602693.939071636]: Odometry: frame_id = base_link [ INFO] [1562602693.939151956]: Odometry: odom_frame_id = odom [ INFO] [1562602693.939428531]: Odometry: publish_tf = true [ INFO] [1562602693.939482995]: Odometry: wait_for_transform = true [ INFO] [1562602693.939619251]: Odometry: wait_for_transform_duration = 0.200000 [ INFO] [1562602693.939784691]: Odometry: initial_pose = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 [ INFO] [1562602693.939942130]: Odometry: ground_truth_frame_id = [ INFO] [1562602693.940065266]: Odometry: ground_truth_base_frame_id = [ INFO] [1562602693.940182898]: Odometry: config_path = [ INFO] [1562602693.940303154]: Odometry: publish_null_when_lost = true [ INFO] [1562602693.940413746]: Odometry: guess_frame_id = [ INFO] [1562602693.940530418]: Odometry: guess_min_translation = 0.000000 [ INFO] [1562602693.940640113]: Odometry: guess_min_rotation = 0.000000 [ INFO] [1562602693.940756881]: Odometry: guess_min_time = 0.000000 [ INFO] [1562602693.940799921]: Odometry: expected_update_rate = 0.000000 Hz [ INFO] [1562602693.940835665]: Odometry: wait_imu_to_init = false [ INFO] [1562602694.058217851]: rtabmap: frame_id = base_link [ INFO] [1562602694.058329051]: rtabmap: map_frame_id = map [ INFO] [1562602694.058636315]: rtabmap: use_action_for_goal = false [ INFO] [1562602694.058691451]: rtabmap: tf_delay = 0.050000 [ INFO] [1562602694.058732571]: rtabmap: tf_tolerance = 0.100000 [ INFO] [1562602694.058769371]: rtabmap: odom_sensor_sync = false [ INFO] [1562602694.063093684]: rtabmap: stereo_to_depth = false [ INFO] [1562602695.339561979]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true" [ INFO] [1562602695.341832631]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false" [ INFO] [1562602696.029717677]: Reading parameters from the ROS server... [ INFO] [1562602696.296164975]: StereoOdometry: approx_sync = false [ INFO] [1562602696.296241103]: StereoOdometry: queue_size = 10 [ INFO] [1562602696.296292431]: StereoOdometry: subscribe_rgbd = false [ INFO] [1562602696.425635974]: /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 [ INFO] [1562602696.858386375]: Parameters read = 0 [ INFO] [1562602697.387939025]: /rtabmap/rtabmapviz: subscribe_depth = false [ INFO] [1562602697.388013681]: /rtabmap/rtabmapviz: subscribe_rgb = false [ INFO] [1562602697.388050545]: /rtabmap/rtabmapviz: subscribe_stereo = true [ INFO] [1562602697.388089457]: /rtabmap/rtabmapviz: subscribe_rgbd = false (rgbd_cameras=1) [ INFO] [1562602697.388126769]: /rtabmap/rtabmapviz: subscribe_odom_info = true [ INFO] [1562602697.388157873]: /rtabmap/rtabmapviz: subscribe_user_data = false [ INFO] [1562602697.388288528]: /rtabmap/rtabmapviz: subscribe_scan = false [ INFO] [1562602697.388501392]: /rtabmap/rtabmapviz: subscribe_scan_cloud = false [ INFO] [1562602697.388546928]: /rtabmap/rtabmapviz: queue_size = 10 [ INFO] [1562602697.388579984]: /rtabmap/rtabmapviz: approx_sync = false [ INFO] [1562602697.388636368]: Setup stereo callback [ INFO] [1562602697.555731596]: /rtabmap/rtabmapviz subscribed to (exact sync): /rtabmap/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 [ INFO] [1562602697.555943148]: rtabmapviz started. [ INFO] [1562602698.346353152]: RTAB-Map detection rate = 1.000000 Hz [ INFO] [1562602698.346757567]: rtabmap: Deleted database "/home/nvidia/.ros/rtabmap.db" (--delete_db_on_start or -d are set). [ INFO] [1562602698.346850911]: rtabmap: Using database from "/home/nvidia/.ros/rtabmap.db" (0 MB). [ INFO] [1562602698.474697400]: rtabmap: Database version = "0.19.4". [ WARN] [1562602698.563517550]: rtabmap: Parameters subscribe_stereo and subscribe_rgb cannot be true at the same time. Parameter subscribe_rgb is set to false. [ INFO] [1562602698.572147617]: /rtabmap/rtabmap: subscribe_depth = false [ INFO] [1562602698.572249633]: /rtabmap/rtabmap: subscribe_rgb = false [ INFO] [1562602698.572298849]: /rtabmap/rtabmap: subscribe_stereo = true [ INFO] [1562602698.572349697]: /rtabmap/rtabmap: subscribe_rgbd = false (rgbd_cameras=1) [ INFO] [1562602698.572394432]: /rtabmap/rtabmap: subscribe_odom_info = true [ INFO] [1562602698.572689056]: /rtabmap/rtabmap: subscribe_user_data = false [ INFO] [1562602698.572732384]: /rtabmap/rtabmap: subscribe_scan = false [ INFO] [1562602698.572772032]: /rtabmap/rtabmap: subscribe_scan_cloud = false [ INFO] [1562602698.572807680]: /rtabmap/rtabmap: queue_size = 10 [ INFO] [1562602698.572850720]: /rtabmap/rtabmap: approx_sync = false [ INFO] [1562602698.573046815]: Setup stereo callback [ INFO] [1562602698.655981119]: /rtabmap/rtabmap subscribed to (exact sync): /rtabmap/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 [ INFO] [1562602698.696252864]: rtabmap 0.19.4 started... [ WARN] [1562602701.426206470]: /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] [1562602702.556102531]: /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, /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] [1562602703.656390030]: /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, /stereo_camera/left/image_rect_color, /stereo_camera/right/image_rect, /stereo_camera/left/camera_info, /stereo_camera/right/camera_info, /rtabmap/odom_info |
|
Administrator
|
This post was updated on .
The topic remaps are not used, not sure why!? Has rtabmap.launch been modified?
For example, if I start only rtabmap.launch with the remapping, you should see instead:
roslaunch rtabmap_ros rtabmap.launch \
> rtabmap_args:="--delete_db_on_start" \
> rgb_topic:=/zed/zed_node/rgb/image_rect_color \
> depth_topic:=/zed/zed_node/depth/depth_registered \
> camera_info_topic:=/zed/zed_node/rgb/camera_info \
> frame_id:=base_link \
> approx_sync:=false
... logging to /home/mathieu/.ros/log/9c9032b6-a19e-11e9-8000-2016d8fd6b78/roslaunch-mathieu-Aspire-MC605-769.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://mathieu-Aspire-MC605:44471/
SUMMARY
========
PARAMETERS
* /rosdistro: kinetic
* /rosversion: 1.12.14
* /rtabmap/rgbd_odometry/approx_sync: False
* /rtabmap/rgbd_odometry/config_path:
* /rtabmap/rgbd_odometry/frame_id: base_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/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: base_link
* /rtabmap/rtabmap/ground_truth_base_frame_id:
* /rtabmap/rtabmap/ground_truth_frame_id:
* /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_sensor_sync: False
* /rtabmap/rtabmap/odom_tf_angular_variance: 1.0
* /rtabmap/rtabmap/odom_tf_linear_variance: 1.0
* /rtabmap/rtabmap/publish_tf: True
* /rtabmap/rtabmap/queue_size: 10
* /rtabmap/rtabmap/scan_normal_k: 0
* /rtabmap/rtabmap/subscribe_depth: True
* /rtabmap/rtabmap/subscribe_odom_info: True
* /rtabmap/rtabmap/subscribe_rgbd: False
* /rtabmap/rtabmap/subscribe_scan: False
* /rtabmap/rtabmap/subscribe_scan_cloud: 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: base_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_rgbd: False
* /rtabmap/rtabmapviz/subscribe_scan: False
* /rtabmap/rtabmapviz/subscribe_scan_cloud: 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)
auto-starting new master
process[master]: started with pid [787]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 9c9032b6-a19e-11e9-8000-2016d8fd6b78
process[rosout-1]: started with pid [802]
started core service [/rosout]
process[rtabmap/rgbd_odometry-2]: started with pid [805]
process[rtabmap/rtabmap-3]: started with pid [806]
process[rtabmap/rtabmapviz-4]: started with pid [807]
[ INFO] [1562603844.356694132]: Starting node...
[ INFO] [1562603845.180300304]: Initializing nodelet with 8 worker threads.
[ INFO] [1562603845.181084968]: Initializing nodelet with 8 worker threads.
[ INFO] [1562603850.484268755]: Starting node...
[ INFO] [1562603850.694927749]: /rtabmap/rtabmap(maps): map_filter_radius = 0.000000
[ INFO] [1562603850.694993679]: /rtabmap/rtabmap(maps): map_filter_angle = 30.000000
[ INFO] [1562603850.695024548]: /rtabmap/rtabmap(maps): map_cleanup = true
[ INFO] [1562603850.695055488]: /rtabmap/rtabmap(maps): map_always_update = false
[ INFO] [1562603850.695093482]: /rtabmap/rtabmap(maps): map_empty_ray_tracing = true
[ INFO] [1562603850.695119812]: /rtabmap/rtabmap(maps): cloud_output_voxelized = true
[ INFO] [1562603850.695147259]: /rtabmap/rtabmap(maps): cloud_subtract_filtering = false
[ INFO] [1562603850.695172611]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1562603850.703185476]: /rtabmap/rtabmap(maps): octomap_tree_depth = 16
[ INFO] [1562603850.754966962]: rtabmap: frame_id = base_link
[ INFO] [1562603850.755016339]: rtabmap: map_frame_id = map
[ INFO] [1562603850.755050981]: rtabmap: use_action_for_goal = false
[ INFO] [1562603850.755086949]: rtabmap: tf_delay = 0.050000
[ INFO] [1562603850.755117190]: rtabmap: tf_tolerance = 0.100000
[ INFO] [1562603850.755148199]: rtabmap: odom_sensor_sync = false
[ INFO] [1562603851.210668050]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1562603851.211167204]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[ INFO] [1562603851.936129869]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1562603851.978820424]: rtabmap: Deleted database "/home/mathieu/.ros/rtabmap.db" (--delete_db_on_start or -d are set).
[ INFO] [1562603851.978907795]: rtabmap: Using database from "/home/mathieu/.ros/rtabmap.db" (0 MB).
[ INFO] [1562603851.997636163]: Odometry: frame_id = base_link
[ INFO] [1562603851.997666195]: Odometry: odom_frame_id = odom
[ INFO] [1562603851.997683516]: Odometry: publish_tf = true
[ INFO] [1562603851.997700208]: Odometry: wait_for_transform = true
[ INFO] [1562603851.997727446]: Odometry: wait_for_transform_duration = 0.200000
[ INFO] [1562603851.997798614]: Odometry: initial_pose = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000
[ INFO] [1562603851.997853229]: Odometry: ground_truth_frame_id =
[ INFO] [1562603851.997885007]: Odometry: ground_truth_base_frame_id =
[ INFO] [1562603851.997920486]: Odometry: config_path =
[ INFO] [1562603851.997954708]: Odometry: publish_null_when_lost = true
[ INFO] [1562603851.998010023]: Odometry: guess_frame_id =
[ INFO] [1562603851.998049622]: Odometry: guess_min_translation = 0.000000
[ INFO] [1562603851.998086778]: Odometry: guess_min_rotation = 0.000000
[ INFO] [1562603851.998128333]: Odometry: guess_min_time = 0.000000
[ INFO] [1562603851.998170657]: Odometry: expected_update_rate = 0.000000 Hz
[ INFO] [1562603851.998206904]: Odometry: wait_imu_to_init = false
[ INFO] [1562603852.554851437]: RGBDOdometry: approx_sync = false
[ INFO] [1562603852.554898719]: RGBDOdometry: queue_size = 10
[ INFO] [1562603852.554931824]: RGBDOdometry: subscribe_rgbd = false
[ INFO] [1562603852.554979385]: RGBDOdometry: rgbd_cameras = 1
[ INFO] [1562603852.890875545]:
/rtabmap/rgbd_odometry subscribed to (exact sync):
/zed/zed_node/rgb/image_rect_color,
/zed/zed_node/depth/depth_registered,
/zed/zed_node/rgb/camera_info
[ INFO] [1562603853.905681038]: rtabmapviz: Using configuration from "/home/mathieu/.ros/rtabmap_gui.ini"
[ INFO] [1562603854.823890203]: rtabmap: Database version = "0.19.4".
[ INFO] [1562603854.886888023]: /rtabmap/rtabmap: subscribe_depth = true
[ INFO] [1562603854.886959191]: /rtabmap/rtabmap: subscribe_rgb = true
[ INFO] [1562603854.887010175]: /rtabmap/rtabmap: subscribe_stereo = false
[ INFO] [1562603854.887043629]: /rtabmap/rtabmap: subscribe_rgbd = false (rgbd_cameras=1)
[ INFO] [1562603854.887076175]: /rtabmap/rtabmap: subscribe_odom_info = true
[ INFO] [1562603854.887108791]: /rtabmap/rtabmap: subscribe_user_data = false
[ INFO] [1562603854.887143921]: /rtabmap/rtabmap: subscribe_scan = false
[ INFO] [1562603854.887175070]: /rtabmap/rtabmap: subscribe_scan_cloud = false
[ INFO] [1562603854.887219908]: /rtabmap/rtabmap: queue_size = 10
[ INFO] [1562603854.887270543]: /rtabmap/rtabmap: approx_sync = false
[ INFO] [1562603854.887370695]: Setup depth callback
[ INFO] [1562603855.267909886]:
/rtabmap/rtabmap subscribed to (exact sync):
/rtabmap/odom,
/zed/zed_node/rgb/image_rect_color,
/zed/zed_node/depth/depth_registered,
/zed/zed_node/rgb/camera_info,
/rtabmap/odom_info
[ INFO] [1562603855.309481448]: rtabmap 0.19.4 started...
[ WARN] [1562603857.891264904]: /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):
/zed/zed_node/rgb/image_rect_color,
/zed/zed_node/depth/depth_registered,
/zed/zed_node/rgb/camera_info
[ INFO] [1562603858.078555639]: Reading parameters from the ROS server...
[ INFO] [1562603858.281158117]: Parameters read = 314
[ INFO] [1562603858.281201349]: Parameters successfully read.
[ INFO] [1562603859.297775008]: /rtabmap/rtabmapviz: subscribe_depth = true
[ INFO] [1562603859.297829694]: /rtabmap/rtabmapviz: subscribe_rgb = false
[ INFO] [1562603859.297868176]: /rtabmap/rtabmapviz: subscribe_stereo = false
[ INFO] [1562603859.297905262]: /rtabmap/rtabmapviz: subscribe_rgbd = false (rgbd_cameras=1)
[ INFO] [1562603859.297946817]: /rtabmap/rtabmapviz: subscribe_odom_info = true
[ INFO] [1562603859.297981947]: /rtabmap/rtabmapviz: subscribe_user_data = false
[ INFO] [1562603859.298032093]: /rtabmap/rtabmapviz: subscribe_scan = false
[ INFO] [1562603859.298072252]: /rtabmap/rtabmapviz: subscribe_scan_cloud = false
[ INFO] [1562603859.298108359]: /rtabmap/rtabmapviz: queue_size = 10
[ INFO] [1562603859.298156899]: /rtabmap/rtabmapviz: approx_sync = false
[ INFO] [1562603859.298190912]: Setup depth callback
[ INFO] [1562603859.375795081]:
/rtabmap/rtabmapviz subscribed to (exact sync):
/rtabmap/odom,
/zed/zed_node/rgb/image_rect_color,
/zed/zed_node/depth/depth_registered,
/zed/zed_node/rgb/camera_info,
/rtabmap/odom_info
[ INFO] [1562603859.375890204]: rtabmapviz started.
[ WARN] [1562603860.268225005]: /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,
/zed/zed_node/rgb/image_rect_color,
/zed/zed_node/depth/depth_registered,
/zed/zed_node/rgb/camera_info,
/rtabmap/odom_info
[ WARN] [1562603862.891497821]: /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):
/zed/zed_node/rgb/image_rect_color,
/zed/zed_node/depth/depth_registered,
/zed/zed_node/rgb/camera_info
[ WARN] [1562603864.375987281]: /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,
/zed/zed_node/rgb/image_rect_color,
/zed/zed_node/depth/depth_registered,
/zed/zed_node/rgb/camera_info,
/rtabmap/odom_info
[ INFO] [1562603865.207868293]: rtabmapviz stopping spinner...
[ WARN] [1562603865.268425937]: /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,
/zed/zed_node/rgb/image_rect_color,
/zed/zed_node/depth/depth_registered,
/zed/zed_node/rgb/camera_info,
/rtabmap/odom_info
[ WARN] [1562603867.891706436]: /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):
/zed/zed_node/rgb/image_rect_color,
/zed/zed_node/depth/depth_registered,
/zed/zed_node/rgb/camera_info
[ WARN] [1562603870.268628756]: /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,
/zed/zed_node/rgb/image_rect_color,
/zed/zed_node/depth/depth_registered,
/zed/zed_node/rgb/camera_info,
/rtabmap/odom_info
Notice that the topics have "/zed/zed_node" prefix, not "stereo_camera". |
|
|
Nothing has been modified. Should i do so?
|
|
Administrator
|
Which rtabmap version do you have? Can you copy/paste the rtabmap.launch you have?
|
|
Administrator
|
With the command above, the arguments "rgb_topic:=/zed/zed_node/rgb/image_rect_color depth_topic:=/zed/zed_node/depth/depth_registered camera_info_topic:=/zed/zed_node/rgb/camera_info"
are remaps here: https://github.com/introlab/rtabmap_ros/blob/master/launch/rtabmap.launch#L56-L58 |
|
Administrator
|
Just noticed that the topics that are used on your side are stereo ones. With the command line I provided, it should not be stereo, but RGB-D. "stereo" argument should remain false: https://github.com/introlab/rtabmap_ros/blob/master/launch/rtabmap.launch#L18
Looking at the log, we can see "/rtabmap/rtabmap/subscribe_stereo: True" on your side as on my side it is "/rtabmap/rtabmap/subscribe_stereo: False" |
|
|
I've completely re-installed Jetpack 3.3 and re-installed Rtabmap (both standalone and ROS from source) for a clean slate. I've ensured in the launch file subscribe_stereo has been set to false. Rtabmap standalone boots up but again errors occur when running roslaunch and following any of the examples.
Rtamap version: rtabmap 0.19.4 Rtabmap.launch <launch> <arg name="stereo" default="false"/> <arg name="rtabmapviz" default="true" /> <arg name="rviz" default="false" /> <arg name="localization" default="false"/> <arg name="use_sim_time" default="false"/> <arg name="cfg" default="" /> <arg name="gui_cfg" default="~/.ros/rtabmap_gui.ini" /> <arg name="rviz_cfg" default="$(find rtabmap_ros)/launch/config/rgbd.rviz" /> <arg name="frame_id" default="camera_link"/> <arg name="odom_frame_id" default=""/> <arg name="map_frame_id" default="map"/> <arg name="ground_truth_frame_id" default=""/> <arg name="ground_truth_base_frame_id" default=""/> <arg name="namespace" default="rtabmap"/> <arg name="database_path" default="~/.ros/rtabmap.db"/> <arg name="queue_size" default="10"/> <arg name="wait_for_transform" default="0.2"/> <arg name="args" default=""/> <arg name="rtabmap_args" default="$(arg args)"/> <arg name="launch_prefix" default=""/> <arg name="output" default="screen"/> <arg name="publish_tf_map" default="true"/> <arg if="$(arg stereo)" name="approx_sync" default="false"/> <arg unless="$(arg stereo)" name="approx_sync" default="true"/> <arg name="rgb_topic" default="/camera/rgb/image_rect_color" /> <arg name="depth_topic" default="/camera/depth_registered/image_raw" /> <arg name="camera_info_topic" default="/camera/rgb/camera_info" /> <arg name="depth_camera_info_topic" default="$(arg camera_info_topic)" /> <arg name="stereo_namespace" default="/stereo_camera"/> <arg name="left_image_topic" default="$(arg stereo_namespace)/left/image_rect_color" /> <arg name="right_image_topic" default="$(arg stereo_namespace)/right/image_rect" /> <arg name="left_camera_info_topic" default="$(arg stereo_namespace)/left/camera_info" /> <arg name="right_camera_info_topic" default="$(arg stereo_namespace)/right/camera_info" /> <arg name="rgbd_sync" default="false"/> <arg name="approx_rgbd_sync" default="true"/> <arg name="subscribe_rgbd" default="$(arg rgbd_sync)"/> <arg name="rgbd_topic" default="rgbd_image" /> <arg name="depth_scale" default="1.0" /> <arg name="compressed" default="false"/> <arg name="rgb_image_transport" default="compressed"/> <arg name="depth_image_transport" default="compressedDepth"/> <arg name="subscribe_scan" default="false"/> <arg name="scan_topic" default="/scan"/> <arg name="subscribe_scan_cloud" default="false"/> <arg name="scan_cloud_topic" default="/scan_cloud"/> <arg name="scan_normal_k" default="0"/> <arg name="visual_odometry" default="true"/> <arg name="icp_odometry" default="false"/> <arg name="odom_topic" default="odom"/> <arg name="vo_frame_id" default="$(arg odom_topic)"/> <arg name="publish_tf_odom" default="true"/> <arg name="odom_tf_angular_variance" default="1"/> <arg name="odom_tf_linear_variance" default="1"/> <arg name="odom_args" default=""/> <arg name="odom_sensor_sync" default="false"/> <arg name="odom_guess_frame_id" default=""/> <arg name="odom_guess_min_translation" default="0"/> <arg name="odom_guess_min_rotation" default="0"/> <arg name="imu_topic" default="/imu/data"/> <arg name="wait_imu_to_init" default="false"/> <arg name="subscribe_user_data" default="false"/> <arg name="user_data_topic" default="/user_data"/> <arg name="user_data_async_topic" default="/user_data_async" /> <arg name="gps_topic" default="/gps/fix" /> <arg name="tag_topic" default="/tag_detections" /> <arg name="tag_linear_variance" default="0.0001" /> <arg name="tag_angular_variance" default="9999" /> <arg if="$(arg compressed)" name="rgb_topic_relay" default="$(arg rgb_topic)_relay"/> <arg unless="$(arg compressed)" name="rgb_topic_relay" default="$(arg rgb_topic)"/> <arg if="$(arg compressed)" name="depth_topic_relay" default="$(arg depth_topic)_relay"/> <arg unless="$(arg compressed)" name="depth_topic_relay" default="$(arg depth_topic)"/> <arg if="$(arg compressed)" name="left_image_topic_relay" default="$(arg left_image_topic)_relay"/> <arg unless="$(arg compressed)" name="left_image_topic_relay" default="$(arg left_image_topic)"/> <arg if="$(arg compressed)" name="right_image_topic_relay" default="$(arg right_image_topic)_relay"/> <arg unless="$(arg compressed)" name="right_image_topic_relay" default="$(arg right_image_topic)"/> <arg if="$(arg rgbd_sync)" name="rgbd_topic_relay" default="$(arg rgbd_topic)"/> <arg unless="$(arg rgbd_sync)" name="rgbd_topic_relay" default="$(arg rgbd_topic)_relay"/> <group ns="$(arg namespace)"> <group unless="$(arg stereo)"> <group unless="$(arg subscribe_rgbd)"> <node if="$(arg compressed)" name="republish_rgb" type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg rgb_topic) raw out:=$(arg rgb_topic_relay)" /> <node if="$(arg compressed)" name="republish_depth" type="republish" pkg="image_transport" args="$(arg depth_image_transport) in:=$(arg depth_topic) raw out:=$(arg depth_topic_relay)" /> </group> <group if="$(arg rgbd_sync)"> <node if="$(arg compressed)" name="republish_rgb" type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg rgb_topic) raw out:=$(arg rgb_topic_relay)" /> <node if="$(arg compressed)" name="republish_depth" type="republish" pkg="image_transport" args="$(arg depth_image_transport) in:=$(arg depth_topic) raw out:=$(arg depth_topic_relay)" /> <node pkg="nodelet" type="nodelet" name="rgbd_sync" args="standalone rtabmap_ros/rgbd_sync" output="$(arg output)"> <remap from="rgb/image" to="$(arg rgb_topic_relay)"/> <remap from="depth/image" to="$(arg depth_topic_relay)"/> <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/> <remap from="rgbd_image" to="$(arg rgbd_topic_relay)"/> </node> </group> </group> <group if="$(arg stereo)"> <group unless="$(arg subscribe_rgbd)"> <node if="$(arg compressed)" name="republish_left" type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg left_image_topic) raw out:=$(arg left_image_topic_relay)" /> <node if="$(arg compressed)" name="republish_right" type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg right_image_topic) raw out:=$(arg right_image_topic_relay)" /> </group> <group if="$(arg rgbd_sync)"> <node if="$(arg compressed)" name="republish_left" type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg left_image_topic) raw out:=$(arg left_image_topic_relay)" /> <node if="$(arg compressed)" name="republish_right" type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg right_image_topic) raw out:=$(arg right_image_topic_relay)" /> <node pkg="nodelet" type="nodelet" name="rgbd_sync" args="standalone rtabmap_ros/stereo_sync" output="$(arg output)"> <remap from="left/image_rect" to="$(arg left_image_topic_relay)"/> <remap from="right/image_rect" to="$(arg right_image_topic_relay)"/> <remap from="left/camera_info" to="$(arg left_camera_info_topic)"/> <remap from="right/camera_info" to="$(arg right_camera_info_topic)"/> <remap from="rgbd_image" to="$(arg rgbd_topic_relay)"/> </node> </group> </group> <group unless="$(arg rgbd_sync)"> <group if="$(arg subscribe_rgbd)"> <node name="republish_rgbd_image" type="rgbd_relay" pkg="rtabmap_ros"> <remap if="$(arg compressed)" from="rgbd_image" to="$(arg rgbd_topic)/compressed"/> <remap if="$(arg compressed)" from="$(arg rgbd_topic)/compressed_relay" to="$(arg rgbd_topic_relay)"/> <remap unless="$(arg compressed)" from="rgbd_image" to="$(arg rgbd_topic)"/> </node> </group> </group> <group unless="$(arg icp_odometry)"> <group if="$(arg visual_odometry)"> <node unless="$(arg stereo)" pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="$(arg output)" args="$(arg rtabmap_args) $(arg odom_args)" launch-prefix="$(arg launch_prefix)"> <remap from="rgb/image" to="$(arg rgb_topic_relay)"/> <remap from="depth/image" to="$(arg depth_topic_relay)"/> <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/> <remap from="rgbd_image" to="$(arg rgbd_topic_relay)"/> <remap from="odom" to="$(arg odom_topic)"/> </node> <node if="$(arg stereo)" pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="$(arg output)" args="$(arg rtabmap_args) $(arg odom_args)" launch-prefix="$(arg launch_prefix)"> <remap from="left/image_rect" to="$(arg left_image_topic_relay)"/> <remap from="right/image_rect" to="$(arg right_image_topic_relay)"/> <remap from="left/camera_info" to="$(arg left_camera_info_topic)"/> <remap from="right/camera_info" to="$(arg right_camera_info_topic)"/> <remap from="rgbd_image" to="$(arg rgbd_topic_relay)"/> <remap from="odom" to="$(arg odom_topic)"/> <remap from="imu" to="$(arg imu_topic)"/> </node> </group> </group> <node if="$(arg icp_odometry)" pkg="rtabmap_ros" type="icp_odometry" name="icp_odometry" output="$(arg output)" args="$(arg rtabmap_args) $(arg odom_args)" launch-prefix="$(arg launch_prefix)"> <remap from="scan" to="$(arg scan_topic)"/> <remap from="scan_cloud" to="$(arg scan_cloud_topic)"/> <remap from="odom" to="$(arg odom_topic)"/> </node> <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="$(arg output)" args="$(arg rtabmap_args)" launch-prefix="$(arg launch_prefix)"> <remap from="rgb/image" to="$(arg rgb_topic_relay)"/> <remap from="depth/image" to="$(arg depth_topic_relay)"/> <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/> <remap from="rgbd_image" to="$(arg rgbd_topic_relay)"/> <remap from="left/image_rect" to="$(arg left_image_topic_relay)"/> <remap from="right/image_rect" to="$(arg right_image_topic_relay)"/> <remap from="left/camera_info" to="$(arg left_camera_info_topic)"/> <remap from="right/camera_info" to="$(arg right_camera_info_topic)"/> <remap from="scan" to="$(arg scan_topic)"/> <remap from="scan_cloud" to="$(arg scan_cloud_topic)"/> <remap from="user_data" to="$(arg user_data_topic)"/> <remap from="user_data_async" to="$(arg user_data_async_topic)"/> <remap from="gps/fix" to="$(arg gps_topic)"/> <remap from="tag_detections" to="$(arg tag_topic)"/> <remap from="odom" to="$(arg odom_topic)"/> <remap from="imu" to="$(arg imu_topic)"/> </node> <node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(arg gui_cfg)" output="$(arg output)" launch-prefix="$(arg launch_prefix)"> <remap from="rgb/image" to="$(arg rgb_topic_relay)"/> <remap from="depth/image" to="$(arg depth_topic_relay)"/> <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/> <remap from="rgbd_image" to="$(arg rgbd_topic_relay)"/> <remap from="left/image_rect" to="$(arg left_image_topic_relay)"/> <remap from="right/image_rect" to="$(arg right_image_topic_relay)"/> <remap from="left/camera_info" to="$(arg left_camera_info_topic)"/> <remap from="right/camera_info" to="$(arg right_camera_info_topic)"/> <remap from="scan" to="$(arg scan_topic)"/> <remap from="scan_cloud" to="$(arg scan_cloud_topic)"/> <remap from="odom" to="$(arg odom_topic)"/> </node> </group> <node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(arg rviz_cfg)"/> <node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb" output="$(arg output)"> <remap if="$(arg stereo)" from="left/image" to="$(arg left_image_topic_relay)"/> <remap if="$(arg stereo)" from="right/image" to="$(arg right_image_topic_relay)"/> <remap if="$(arg stereo)" from="left/camera_info" to="$(arg left_camera_info_topic)"/> <remap if="$(arg stereo)" from="right/camera_info" to="$(arg right_camera_info_topic)"/> <remap unless="$(arg subscribe_rgbd)" from="rgb/image" to="$(arg rgb_topic_relay)"/> <remap unless="$(arg subscribe_rgbd)" from="depth/image" to="$(arg depth_topic_relay)"/> <remap unless="$(arg subscribe_rgbd)" from="rgb/camera_info" to="$(arg camera_info_topic)"/> <remap from="rgbd_image" to="$(arg rgbd_topic_relay)"/> <remap from="cloud" to="voxel_cloud" /> </node> </launch> |
|
|
Re-running the command you gave previously:
roslaunch rtabmap_ros rtabmap.launch \ > rtabmap_args:="--delete_db_on_start" \ > rgb_topic:=/zed/zed_node/rgb/image_rect_color \ > depth_topic:=/zed/zed_node/depth/depth_registered \ > camera_info_topic:=/zed/zed_node/rgb/camera_info \ > frame_id:=base_link \ > approx_sync:=false ... logging to /home/nvidia/.ros/log/bb53a9e4-a31a-11e9-8132-00044bc55ed6/roslaunch-tegra-ubuntu-23170.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://tegra-ubuntu:36054/ SUMMARY ======== PARAMETERS * /rosdistro: kinetic * /rosversion: 1.12.14 * /rtabmap/rgbd_odometry/approx_sync: False * /rtabmap/rgbd_odometry/config_path: * /rtabmap/rgbd_odometry/frame_id: base_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/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: base_link * /rtabmap/rtabmap/ground_truth_base_frame_id: * /rtabmap/rtabmap/ground_truth_frame_id: * /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_sensor_sync: False * /rtabmap/rtabmap/odom_tf_angular_variance: 1.0 * /rtabmap/rtabmap/odom_tf_linear_variance: 1.0 * /rtabmap/rtabmap/publish_tf: True * /rtabmap/rtabmap/queue_size: 10 * /rtabmap/rtabmap/scan_normal_k: 0 * /rtabmap/rtabmap/subscribe_depth: True * /rtabmap/rtabmap/subscribe_odom_info: True * /rtabmap/rtabmap/subscribe_rgbd: False * /rtabmap/rtabmap/subscribe_scan: False * /rtabmap/rtabmap/subscribe_scan_cloud: 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: base_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_rgbd: False * /rtabmap/rtabmapviz/subscribe_scan: False * /rtabmap/rtabmapviz/subscribe_scan_cloud: 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 [23189] process[rtabmap/rtabmap-2]: started with pid [23190] process[rtabmap/rtabmapviz-3]: started with pid [23191] [ INFO] [1562767100.534555449]: Starting node... [ INFO] [1562767100.681387747]: Initializing nodelet with 6 worker threads. [ INFO] [1562767100.715476649]: Initializing nodelet with 6 worker threads. [ INFO] [1562767100.866429259]: Starting node... [ INFO] [1562767101.288479270]: rtabmapviz: Using configuration from "/home/nvidia/.ros/rtabmap_gui.ini" [ INFO] [1562767101.412393909]: Odometry: frame_id = base_link [ INFO] [1562767101.412493845]: Odometry: odom_frame_id = odom [ INFO] [1562767101.412555509]: Odometry: publish_tf = true [ INFO] [1562767101.412607669]: Odometry: wait_for_transform = true [ INFO] [1562767101.412679829]: Odometry: wait_for_transform_duration = 0.200000 [ INFO] [1562767101.412815285]: Odometry: initial_pose = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 [ INFO] [1562767101.412874357]: Odometry: ground_truth_frame_id = [ INFO] [1562767101.412933301]: Odometry: ground_truth_base_frame_id = [ INFO] [1562767101.412990804]: Odometry: config_path = [ INFO] [1562767101.413040084]: Odometry: publish_null_when_lost = true [ INFO] [1562767101.413094452]: Odometry: guess_frame_id = [ INFO] [1562767101.413144884]: Odometry: guess_min_translation = 0.000000 [ INFO] [1562767101.413201652]: Odometry: guess_min_rotation = 0.000000 [ INFO] [1562767101.413280692]: Odometry: guess_min_time = 0.000000 [ INFO] [1562767101.413334260]: Odometry: expected_update_rate = 0.000000 Hz [ INFO] [1562767101.413383348]: Odometry: wait_imu_to_init = false [ INFO] [1562767101.695999417]: /rtabmap/rtabmap(maps): map_filter_radius = 0.000000 [ INFO] [1562767101.696099480]: /rtabmap/rtabmap(maps): map_filter_angle = 30.000000 [ INFO] [1562767101.696151800]: /rtabmap/rtabmap(maps): map_cleanup = true [ INFO] [1562767101.696193048]: /rtabmap/rtabmap(maps): map_always_update = false [ INFO] [1562767101.696237400]: /rtabmap/rtabmap(maps): map_empty_ray_tracing = true [ INFO] [1562767101.696293272]: /rtabmap/rtabmap(maps): cloud_output_voxelized = true [ INFO] [1562767101.696329496]: /rtabmap/rtabmap(maps): cloud_subtract_filtering = false [ INFO] [1562767101.696378520]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2 [ INFO] [1562767101.701304976]: /rtabmap/rtabmap(maps): octomap_tree_depth = 16 [ INFO] [1562767101.869741716]: rtabmap: frame_id = base_link [ INFO] [1562767101.869843252]: rtabmap: map_frame_id = map [ INFO] [1562767101.869895252]: rtabmap: use_action_for_goal = false [ INFO] [1562767101.869946644]: rtabmap: tf_delay = 0.050000 [ INFO] [1562767101.870046196]: rtabmap: tf_tolerance = 0.100000 [ INFO] [1562767101.870098420]: rtabmap: odom_sensor_sync = false [ INFO] [1562767103.096572070]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true" [ INFO] [1562767103.099712865]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false" [ INFO] [1562767103.320177326]: RGBDOdometry: approx_sync = false [ INFO] [1562767103.320256622]: RGBDOdometry: queue_size = 10 [ INFO] [1562767103.320306766]: RGBDOdometry: subscribe_rgbd = false [ INFO] [1562767103.320348526]: RGBDOdometry: rgbd_cameras = 1 [ INFO] [1562767103.405343839]: /rtabmap/rgbd_odometry subscribed to (exact sync): /zed/zed_node/rgb/image_rect_color, /zed/zed_node/depth/depth_registered, /zed/zed_node/rgb/camera_info [ INFO] [1562767103.637851448]: Reading parameters from the ROS server... [ INFO] [1562767104.347292943]: Parameters read = 0 [ INFO] [1562767105.089948431]: /rtabmap/rtabmapviz: subscribe_depth = true [ INFO] [1562767105.090051567]: /rtabmap/rtabmapviz: subscribe_rgb = false [ INFO] [1562767105.090089390]: /rtabmap/rtabmapviz: subscribe_stereo = false [ INFO] [1562767105.090124622]: /rtabmap/rtabmapviz: subscribe_rgbd = false (rgbd_cameras=1) [ INFO] [1562767105.090156878]: /rtabmap/rtabmapviz: subscribe_odom_info = true [ INFO] [1562767105.090193070]: /rtabmap/rtabmapviz: subscribe_user_data = false [ INFO] [1562767105.090234190]: /rtabmap/rtabmapviz: subscribe_scan = false [ INFO] [1562767105.090371022]: /rtabmap/rtabmapviz: subscribe_scan_cloud = false [ INFO] [1562767105.090430190]: /rtabmap/rtabmapviz: queue_size = 10 [ INFO] [1562767105.090462990]: /rtabmap/rtabmapviz: approx_sync = false [ INFO] [1562767105.090505198]: Setup depth callback [ INFO] [1562767105.242481902]: /rtabmap/rtabmapviz subscribed to (exact sync): /rtabmap/odom, /zed/zed_node/rgb/image_rect_color, /zed/zed_node/depth/depth_registered, /zed/zed_node/rgb/camera_info, /rtabmap/odom_info [ INFO] [1562767105.243141325]: rtabmapviz started. [ INFO] [1562767105.849412210]: RTAB-Map detection rate = 1.000000 Hz [ INFO] [1562767105.849800145]: rtabmap: Deleted database "/home/nvidia/.ros/rtabmap.db" (--delete_db_on_start or -d are set). [ INFO] [1562767105.849891185]: rtabmap: Using database from "/home/nvidia/.ros/rtabmap.db" (0 MB). [ INFO] [1562767106.407207688]: rtabmap: Database version = "0.19.4". [ INFO] [1562767106.596018091]: /rtabmap/rtabmap: subscribe_depth = true [ INFO] [1562767106.596117803]: /rtabmap/rtabmap: subscribe_rgb = true [ INFO] [1562767106.596200491]: /rtabmap/rtabmap: subscribe_stereo = false [ INFO] [1562767106.596250987]: /rtabmap/rtabmap: subscribe_rgbd = false (rgbd_cameras=1) [ INFO] [1562767106.596300715]: /rtabmap/rtabmap: subscribe_odom_info = true [ INFO] [1562767106.596352235]: /rtabmap/rtabmap: subscribe_user_data = false [ INFO] [1562767106.596392458]: /rtabmap/rtabmap: subscribe_scan = false [ INFO] [1562767106.596471690]: /rtabmap/rtabmap: subscribe_scan_cloud = false [ INFO] [1562767106.596522122]: /rtabmap/rtabmap: queue_size = 10 [ INFO] [1562767106.596565354]: /rtabmap/rtabmap: approx_sync = false [ INFO] [1562767106.596766602]: Setup depth callback [ INFO] [1562767106.707416656]: /rtabmap/rtabmap subscribed to (exact sync): /rtabmap/odom, /zed/zed_node/rgb/image_rect_color, /zed/zed_node/depth/depth_registered, /zed/zed_node/rgb/camera_info, /rtabmap/odom_info [ INFO] [1562767106.745899279]: rtabmap 0.19.4 started... [ WARN] [1562767108.405803849]: /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): /zed/zed_node/rgb/image_rect_color, /zed/zed_node/depth/depth_registered, /zed/zed_node/rgb/camera_info [ WARN] [1562767110.242910330]: /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, /zed/zed_node/rgb/image_rect_color, /zed/zed_node/depth/depth_registered, /zed/zed_node/rgb/camera_info, /rtabmap/odom_info [ WARN] [1562767111.707747804]: /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, /zed/zed_node/rgb/image_rect_color, /zed/zed_node/depth/depth_registered, /zed/zed_node/rgb/camera_info, /rtabmap/odom_info |
|
Administrator
|
Hi,
Great we have the same outputs, now start the camera: $ roslaunch zed_wrapper zed_no_tf.launch |
|
|
Thank you so much. It has worked. Everything else seems to be running fine as well now.
My apologies for such a trivial post. I'm an ecologist using Rtabmap for my post-grad research project so it has been a very steep learning curve over the last few months taking in the use of linux, command line, coding, rtabmap etc with things constantly going wrong or not working. Thanks for your help. Although i'll no doubt be needing it again in the future. Cheers Dan |
«
Return to Official RTAB-Map Forum
|
1 view|%1 views
| Free forum by Nabble | Edit this page |