How to execute with RTABMAP+Husky in Gazebo+ORB_SLAM 2

[chenrenhe]

1、when I run "roslaunch husky_gazebo husky_playpen.launch" and
                       "roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start --Odom/Strategy 5 --OdomORBSLAM2/VocPath "/home/chenrenhe/ORB_SLAM2/Vocabulary/ORBvoc.txt"" depth_topic:=/camera/depth/image_raw rgb_topic:=/camera/rgb/image_raw camera_info_topic:=/camera/rgb/camera_info approx_sync:=false"

The following error was displayed.
[ERROR] (2020-03-23 23:38:44.783) OdometryORBSLAM2.cpp:1027::computeTransform() RTAB-Map is not built with ORB_SLAM2 support! Select another visual odometry approach.

Please tell me what kind of cause is considered?

[chenrenhe]

and The cmake sutatus is "With ORB_SLAM2 = Yes"

[chenrenhe]

I Try building ORB_SLAM2 with  delete -march=native.

[chenrenhe]

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /rtabmap/rgbd_odometry/approx_sync: False
 * /rtabmap/rgbd_odometry/config_path:
 * /rtabmap/rgbd_odometry/frame_id: camera_link
 * /rtabmap/rgbd_odometry/ground_truth_base_frame_id:
 * /rtabmap/rgbd_odometry/ground_truth_frame_id:
 * /rtabmap/rgbd_odometry/guess_frame_id:
 * /rtabmap/rgbd_odometry/guess_min_rotation: 0.0
 * /rtabmap/rgbd_odometry/guess_min_translation: 0.0
 * /rtabmap/rgbd_odometry/odom_frame_id: /odom
 * /rtabmap/rgbd_odometry/publish_tf: True
 * /rtabmap/rgbd_odometry/queue_size: 10
 * /rtabmap/rgbd_odometry/subscribe_rgbd: False
 * /rtabmap/rgbd_odometry/wait_for_transform_duration: 0.2
 * /rtabmap/rgbd_odometry/wait_imu_to_init: False
 * /rtabmap/rtabmap/Mem/IncrementalMemory: true
 * /rtabmap/rtabmap/Mem/InitWMWithAllNodes: false
 * /rtabmap/rtabmap/approx_sync: False
 * /rtabmap/rtabmap/config_path:
 * /rtabmap/rtabmap/database_path: ~/.ros/rtabmap.db
 * /rtabmap/rtabmap/frame_id: camera_link
 * /rtabmap/rtabmap/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_cloud_max_points: 0
 * /rtabmap/rtabmap/subscribe_depth: True
 * /rtabmap/rtabmap/subscribe_odom_info: True
 * /rtabmap/rtabmap/subscribe_rgb: True
 * /rtabmap/rtabmap/subscribe_rgbd: False
 * /rtabmap/rtabmap/subscribe_scan: True
 * /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: camera_link
 * /rtabmap/rtabmapviz/odom_frame_id:
 * /rtabmap/rtabmapviz/queue_size: 10
 * /rtabmap/rtabmapviz/subscribe_depth: True
 * /rtabmap/rtabmapviz/subscribe_odom_info: True
 * /rtabmap/rtabmapviz/subscribe_rgbd: False
 * /rtabmap/rtabmapviz/subscribe_scan: True
 * /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)

process[rtabmap/rgbd_odometry-1]: started with pid [18119]
process[rtabmap/rtabmap-2]: started with pid [18120]
process[rtabmap/rtabmapviz-3]: started with pid [18121]
[ INFO] [1584979602.917306583]: Starting node...
[ INFO] [1584979602.956233236]: Initializing nodelet with 8 worker threads.
[ INFO] [1584979602.975911863]: Initializing nodelet with 8 worker threads.
[ INFO] [1584979603.094260310]: Starting node...
[ INFO] [1584979603.121909205]: Odometry: frame_id               = camera_link
[ INFO] [1584979603.121946321]: Odometry: odom_frame_id          = /odom
[ INFO] [1584979603.121969940]: Odometry: publish_tf             = true
[ INFO] [1584979603.122001909]: Odometry: wait_for_transform     = true
[ INFO] [1584979603.122049078]: Odometry: wait_for_transform_duration  = 0.200000
[ INFO] [1584979603.122124067]: Odometry: initial_pose           = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000
[ INFO] [1584979603.122146212]: Odometry: ground_truth_frame_id  =
[ INFO] [1584979603.122169302]: Odometry: ground_truth_base_frame_id =
[ INFO] [1584979603.122191474]: Odometry: config_path            =
[ INFO] [1584979603.122213168]: Odometry: publish_null_when_lost = true
[ INFO] [1584979603.122237662]: Odometry: guess_frame_id         =
[ INFO] [1584979603.122260869]: Odometry: guess_min_translation  = 0.000000
[ INFO] [1584979603.122286296]: Odometry: guess_min_rotation     = 0.000000
[ INFO] [1584979603.122309240]: Odometry: guess_min_time         = 0.000000
[ INFO] [1584979603.122331792]: Odometry: expected_update_rate   = 0.000000 Hz
[ INFO] [1584979603.122353312]: Odometry: wait_imu_to_init       = false
[ INFO] [1584979603.122391790]: Odometry: stereoParams_=0 visParams_=1 icpParams_=0
[ INFO] [1584979603.199049180, 1484.270000000]: /rtabmap/rtabmap(maps): map_filter_radius          = 0.000000
[ INFO] [1584979603.199109610, 1484.270000000]: /rtabmap/rtabmap(maps): map_filter_angle           = 30.000000
[ INFO] [1584979603.199134927, 1484.270000000]: /rtabmap/rtabmap(maps): map_cleanup                = true
[ INFO] [1584979603.199158600, 1484.270000000]: /rtabmap/rtabmap(maps): map_always_update          = false
[ INFO] [1584979603.199179166, 1484.270000000]: /rtabmap/rtabmap(maps): map_empty_ray_tracing      = true
[ INFO] [1584979603.199199631, 1484.270000000]: /rtabmap/rtabmap(maps): cloud_output_voxelized     = true
[ INFO] [1584979603.199221495, 1484.270000000]: /rtabmap/rtabmap(maps): cloud_subtract_filtering   = false
[ INFO] [1584979603.199241102, 1484.270000000]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1584979603.263998228, 1484.330000000]: rtabmap: frame_id      = camera_link
[ INFO] [1584979603.264044526, 1484.330000000]: rtabmap: map_frame_id  = map
[ INFO] [1584979603.264063941, 1484.330000000]: rtabmap: use_action_for_goal  = false
[ INFO] [1584979603.264083693, 1484.330000000]: rtabmap: tf_delay      = 0.050000
[ INFO] [1584979603.264102401, 1484.330000000]: rtabmap: tf_tolerance  = 0.100000
[ INFO] [1584979603.264116966, 1484.330000000]: rtabmap: odom_sensor_sync   = false
[ INFO] [1584979603.312172387]: rtabmapviz: Using configuration from "/home/chenrenhe/.ros/rtabmap_gui.ini"
[ INFO] [1584979603.906967193, 1484.980000000]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1584979603.908041468, 1484.980000000]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[ INFO] [1584979604.049606890, 1485.120000000]: Update odometry parameter "Odom/Strategy"="5" from arguments
[ INFO] [1584979604.049648858, 1485.120000000]: Update odometry parameter "OdomORBSLAM2/VocPath"="/home/chenrenhe/ORB_SLAM2/Vocabulary/ORBvoc.txt" from arguments
[ INFO] [1584979604.237201477, 1485.310000000]: RGBDOdometry: approx_sync    = false
[ INFO] [1584979604.237248069, 1485.310000000]: RGBDOdometry: queue_size     = 10
[ INFO] [1584979604.237274235, 1485.310000000]: RGBDOdometry: subscribe_rgbd = false
[ INFO] [1584979604.237296225, 1485.310000000]: RGBDOdometry: rgbd_cameras   = 1
[ INFO] [1584979604.293225120, 1485.360000000]:
/rtabmap/rgbd_odometry subscribed to (exact sync):
   /camera/rgb/image_raw,
   /camera/depth/image_raw,
   /camera/rgb/camera_info
[ INFO] [1584979604.595951817, 1485.660000000]: Update RTAB-Map parameter "Odom/Strategy"="5" from arguments
[ INFO] [1584979604.596035711, 1485.660000000]: Update RTAB-Map parameter "OdomORBSLAM2/VocPath"="/home/chenrenhe/ORB_SLAM2/Vocabulary/ORBvoc.txt" from arguments
[ INFO] [1584979604.641641434, 1485.710000000]: Reading parameters from the ROS server...
[ERROR] (2020-03-24 00:06:44.889) OdometryORBSLAM2.cpp:1027::computeTransform() RTAB-Map is not built with ORB_SLAM2 support! Select another visual odometry approach.

[matlabbe]

Hi,

If

chenrenhe wrote

The cmake sutatus is "With ORB_SLAM2 = Yes"

is true, make sure the right rtabmap version is started. The log is cut too soon, so we cannot see which rtabmap version is started. Make sure to uninstall rtabmap binaries if they are:

sudo apt remove ros-kinetic-rtabmap

cheers,
Mathieu