Has anyone got l515 + t265 working?

[dify1492]

Hi,

I just got l515 sensor and I have been trying to fuse /t265/odom/sample odometry data with l515.
Using ubuntu 18.04 and ros melodic version.

Has anyone gotten this to work?

I have verified that /t265/odom/sample & /l515/color/image_raw & /l515/aligned_depth_to_color/image_raw & /l515/color/camera_info & /cloud are all being published and yet I get warnings saying that /rtabmap/rtabmap subscribed to (approx_sync) to these topics and they are not received.

Best,

[dify1492]

The running rqt graph looks like so:


All topics are being well published and fed into /rtabmap/rtabmap. However, I'm still getting the following error:

[ WARN] [1624482552.053071361]: /rtabmap/rtabmap: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10).
/rtabmap/rtabmap subscribed to (approx sync):
   /t265/odom/sample \
   /rtabmap/rgbd_image \
   /cloud

This is the command I am running:
roslaunch rtabmap_ros rtabmap.launch    args:="-d --Mem/UseOdomGravity true --Optimizer/GravitySigma 0.3"    odom_topic:=/t265/odom/sample    frame_id:=t265_link    rgbd_sync:=true    depth_topic:=/l515/aligned_depth_to_color/image_raw    rgb_topic:=/l515/color/image_raw    camera_info_topic:=/l515/color/camera_info    approx_rgbd_sync:=false    visual_odometry:=false    wait_imu_to_init:=true     imu_topic:=/rtabmap/imu scan_cloud_topic:=/cloud     subscribe_scan_cloud:=true

[dify1492]

Finally got it to work.
Closing this issue as solution was found on my end.

[mikkey2]

Excuse me.
I'm currently trying to achieve ICP Odometry in RtabMap using L515 and T265, but I'm not having any luck.
If you don't mind, could you please let me know what combination of commands you have used successfully?

[mikkey2]

Sorry, I'll change my question.
I had a similar result to yours, and I got to the point where I got the following warning.

[ WARN] [1625737648.524966418]: /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):
   /t265/odom/sample,
   /rtabmap/rgbd_image,
   /cloud,
   /rtabmap/odom_info

How did you solve the problem?

Please let me know.

[matlabbe]

Hi,

use appox_sync:=true, it is unlikely that /t265/odom/sample and /rtabmap/rgbd_image would have exactly the same stamp. I don't know what you started, bu subscribe_odom_info should be false if you don't use rtabmap's odometry (to remove /rtabmap/odom_info input).

[LeonJ]

Hi,

Can you tell us about your solution you've found?

Thanks