I cant get camera data in RTAB-Map

[sentinel]

Hello everyone. I am new to rtabmap. I am using rtabmap on ros2 jazzy. I am trying to open camera data in rtabmap_viz. I can successfully open the camera data in rviz2 but in rtabmap i can't open it.


My camera topics are

/raspicam/raw : publishes sensor_msgs/Image
/raspicam/compressed : publishes sensor_msgs/CompressedImage
/raspicam/camera_info : publishes sensor_msgs/CameraInfo

I tried both compressed and raw topics in rtab-map but no data

i am sure to these topics are succesfully publish data.


Here is my launch file:

from launch import LaunchDescription
from launch_ros.actions import Node

def generate_launch_description():
    return LaunchDescription([
        Node(
            package='rtabmap_slam',
            executable='rtabmap',
            name='rtabmap',
            output='screen',
            parameters=[{
                'frame_id': 'camera_link',
                'subscribe_depth': False,
                'subscribe_rgb': True,
                'subscribe_scan': True,
                'subscribe_odom': False,
                'approx_sync': True,
                'topic_queue_size' : 30,
                'sync_queue_size': 30
            }],
            remappings=[
                ('/rgb/image', '/raspicam/compressed'),
                ('/camera_info', '/raspicam/camera_info')
            ]
        ),
       
        Node(
            package='rtabmap_viz',
            executable='rtabmap_viz',
            name='rtabmap_viz',
            output='screen',
            parameters=[{
                'frame_id': 'camera_link',
                'subscribe_depth': False,
                'subscribe_rgb': True,
                'subscribe_scan': True,
                'subscribe_odom': False,
                'approx_sync': True,
                'topic_queue_size' : 60,
                'sync_queue_size': 60
            }],
            remappings=[
                ('/rgb/image', '/raspicam/compressed'),
                ('/camera_info', '/raspicam/camera_info')
            ]
        ),
    ])


Here is my ros2 topic hz /raspicam/raw:

average rate: 30.044
        min: 0.006s max: 0.056s std dev: 0.00917s window: 31
average rate: 30.004
        min: 0.006s max: 0.056s std dev: 0.00860s window: 62
average rate: 30.094
        min: 0.006s max: 0.074s std dev: 0.00950s window: 93
average rate: 30.047
        min: 0.006s max: 0.074s std dev: 0.00961s window: 124
average rate: 28.790
        min: 0.006s max: 0.177s std dev: 0.01692s window: 148
average rate: 29.144
        min: 0.004s max: 0.177s std dev: 0.01920s window: 179
average rate: 29.467
        min: 0.004s max: 0.177s std dev: 0.01852s window: 211


Here is RTAB-Map LOGS:

[INFO] [launch]: All log files can be found below /home/ilteris/.ros/log/2025-02-14-14-29-29-450852-ilteris-g713ic-86519
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [rtabmap-1]: process started with pid [86532]
[INFO] [rtabmap_viz-2]: process started with pid [86533]
[rtabmap-1] [INFO] [1739532569.837191523] [rtabmap]: rtabmap(maps): latch                      = true
[rtabmap-1] [INFO] [1739532569.837484371] [rtabmap]: rtabmap(maps): map_filter_radius          = 0.000000
[rtabmap-1] [INFO] [1739532569.837501971] [rtabmap]: rtabmap(maps): map_filter_angle           = 30.000000
[rtabmap-1] [INFO] [1739532569.837513984] [rtabmap]: rtabmap(maps): map_cleanup                = true
[rtabmap-1] [INFO] [1739532569.837523482] [rtabmap]: rtabmap(maps): map_always_update          = false
[rtabmap-1] [INFO] [1739532569.837532492] [rtabmap]: rtabmap(maps): map_empty_ray_tracing      = true
[rtabmap-1] [INFO] [1739532569.837541641] [rtabmap]: rtabmap(maps): cloud_output_voxelized     = true
[rtabmap-1] [INFO] [1739532569.837550651] [rtabmap]: rtabmap(maps): cloud_subtract_filtering   = false
[rtabmap-1] [INFO] [1739532569.837560638] [rtabmap]: rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[rtabmap-1] [INFO] [1739532569.837592556] [rtabmap]: rtabmap(maps): octomap_tree_depth         = 16
[rtabmap-1] [INFO] [1739532569.857227089] [rtabmap]: rtabmap: frame_id      = camera_link
[rtabmap-1] [INFO] [1739532569.857261871] [rtabmap]: rtabmap: map_frame_id  = map
[rtabmap-1] [INFO] [1739532569.857272277] [rtabmap]: rtabmap: log_to_rosout_level  = 4
[rtabmap-1] [INFO] [1739532569.857282823] [rtabmap]: rtabmap: initial_pose  =
[rtabmap-1] [INFO] [1739532569.857291484] [rtabmap]: rtabmap: use_action_for_goal  = false
[rtabmap-1] [INFO] [1739532569.857302379] [rtabmap]: rtabmap: tf_delay      = 0.050000
[rtabmap-1] [INFO] [1739532569.857313833] [rtabmap]: rtabmap: tf_tolerance  = 0.100000
[rtabmap-1] [INFO] [1739532569.857322982] [rtabmap]: rtabmap: odom_sensor_sync   = false
[rtabmap-1] [INFO] [1739532569.857332411] [rtabmap]: rtabmap: pub_loc_pose_only_when_localizing = false
[rtabmap-1] [INFO] [1739532569.857342398] [rtabmap]: rtabmap: wait_for_transform = 0.200000
[rtabmap-1] [INFO] [1739532569.857351548] [rtabmap]: rtabmap: gen_scan  = false
[rtabmap-1] [INFO] [1739532569.857361046] [rtabmap]: rtabmap: gen_depth  = false
[rtabmap-1] [WARN] [1739532569.885740842] [rtabmap]: Setting "Grid/Sensor" parameter to 0 (default 1) as "subscribe_scan" or "subscribe_scan_cloud" or "gen_scan" is true. The occupancy grid map will be constructed from laser scans. To get occupancy grid map from cloud projection, set "Grid/Sensor" to true. To suppress this warning, add
[rtabmap-1] [INFO] [1739532569.885784563] [rtabmap]: Setting "Grid/RangeMax" parameter to 0 (default 5.000000) as "subscribe_scan" or "subscribe_scan_cloud" or "gen_scan" is true and Grid/Sensor is 0.
[rtabmap-1] [INFO] [1739532569.887716043] [rtabmap]: RTAB-Map detection rate = 1.000000 Hz
[rtabmap-1] [INFO] [1739532569.887836031] [rtabmap]: rtabmap: Using database from "/home/ilteris/.ros/rtabmap.db" (0 MB).
[rtabmap-1] [INFO] [1739532569.898075702] [rtabmap]: rtabmap: Database version = "0.21.9".
[rtabmap-1] [INFO] [1739532569.898128433] [rtabmap]: rtabmap: SLAM mode (Mem/IncrementalMemory=true)
[rtabmap-1] [INFO] [1739532569.919570337] [rtabmap]: Setup callbacks
[rtabmap-1] [INFO] [1739532569.919645068] [rtabmap]: rtabmap: subscribe_depth = false
[rtabmap-1] [INFO] [1739532569.919656662] [rtabmap]: rtabmap: subscribe_rgb = true
[rtabmap-1] [INFO] [1739532569.919665671] [rtabmap]: rtabmap: subscribe_stereo = false
[rtabmap-1] [INFO] [1739532569.919675170] [rtabmap]: rtabmap: subscribe_rgbd = false (rgbd_cameras=1)
[rtabmap-1] [INFO] [1739532569.919685297] [rtabmap]: rtabmap: subscribe_sensor_data = false
[rtabmap-1] [INFO] [1739532569.919694307] [rtabmap]: rtabmap: subscribe_odom_info = false
[rtabmap-1] [INFO] [1739532569.919703316] [rtabmap]: rtabmap: subscribe_user_data = false
[rtabmap-1] [INFO] [1739532569.919712815] [rtabmap]: rtabmap: subscribe_scan = true
[rtabmap-1] [INFO] [1739532569.919736142] [rtabmap]: rtabmap: subscribe_scan_cloud = false
[rtabmap-1] [INFO] [1739532569.919745780] [rtabmap]: rtabmap: subscribe_scan_descriptor = false
[rtabmap-1] [INFO] [1739532569.919754929] [rtabmap]: rtabmap: topic_queue_size = 30
[rtabmap-1] [INFO] [1739532569.919764288] [rtabmap]: rtabmap: sync_queue_size  = 30
[rtabmap-1] [INFO] [1739532569.919774206] [rtabmap]: rtabmap: qos_image       = 0
[rtabmap-1] [INFO] [1739532569.919782866] [rtabmap]: rtabmap: qos_camera_info = 0
[rtabmap-1] [INFO] [1739532569.919792295] [rtabmap]: rtabmap: qos_scan        = 0
[rtabmap-1] [INFO] [1739532569.919801165] [rtabmap]: rtabmap: qos_odom        = 0
[rtabmap-1] [INFO] [1739532569.919809266] [rtabmap]: rtabmap: qos_user_data   = 0
[rtabmap-1] [INFO] [1739532569.919818486] [rtabmap]: rtabmap: approx_sync     = true
[rtabmap-1] [INFO] [1739532569.919874150] [rtabmap]: Setup rgb-only callback
[rtabmap-1] [INFO] [1739532569.924639118] [rtabmap]:
[rtabmap-1] rtabmap subscribed to (approx sync):
[rtabmap-1]    /raspicam/compressed \
[rtabmap-1]    /rgb/camera_info \
[rtabmap-1]    /scan
[rtabmap_viz-2] [INFO] [1739532570.014042288] [rtabmap_viz]: rtabmap_viz: Using configuration from "/home/ilteris/.ros/rtabmapGUI.ini"
[rtabmap_viz-2] libpng warning: iCCP: known incorrect sRGB profile
[rtabmap_viz-2] libpng warning: iCCP: known incorrect sRGB profile
[rtabmap_viz-2] libpng warning: iCCP: known incorrect sRGB profile
[rtabmap_viz-2] [WARN] [1739532571.022248778] [rcl.logging_rosout]: Publisher already registered for node name: 'rtabmap_viz'. If this is due to multiple nodes with the same name then all logs for the logger named 'rtabmap_viz' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[rtabmap_viz-2] [INFO] [1739532571.109112703] [rtabmap_viz]: Reading parameters from the ROS server...
[rtabmap_viz-2] [INFO] [1739532573.157480544] [rtabmap_viz]: Parameters read = 383
[rtabmap_viz-2] [INFO] [1739532573.157548849] [rtabmap_viz]: Parameters successfully read.
[rtabmap_viz-2] [INFO] [1739532573.401795299] [rtabmap_viz]: rtabmap_viz: subscribe_depth = false
[rtabmap_viz-2] [INFO] [1739532573.401819673] [rtabmap_viz]: rtabmap_viz: subscribe_rgb = true
[rtabmap_viz-2] [INFO] [1739532573.401824423] [rtabmap_viz]: rtabmap_viz: subscribe_stereo = false
[rtabmap_viz-2] [INFO] [1739532573.401828753] [rtabmap_viz]: rtabmap_viz: subscribe_rgbd = false (rgbd_cameras=1)
[rtabmap_viz-2] [INFO] [1739532573.401833572] [rtabmap_viz]: rtabmap_viz: subscribe_sensor_data = false
[rtabmap_viz-2] [INFO] [1739532573.401837902] [rtabmap_viz]: rtabmap_viz: subscribe_odom_info = false
[rtabmap_viz-2] [INFO] [1739532573.401841674] [rtabmap_viz]: rtabmap_viz: subscribe_user_data = false
[rtabmap_viz-2] [INFO] [1739532573.401845934] [rtabmap_viz]: rtabmap_viz: subscribe_scan = true
[rtabmap_viz-2] [INFO] [1739532573.401849706] [rtabmap_viz]: rtabmap_viz: subscribe_scan_cloud = false
[rtabmap_viz-2] [INFO] [1739532573.401853477] [rtabmap_viz]: rtabmap_viz: subscribe_scan_descriptor = false
[rtabmap_viz-2] [INFO] [1739532573.401857807] [rtabmap_viz]: rtabmap_viz: topic_queue_size = 60
[rtabmap_viz-2] [INFO] [1739532573.401861649] [rtabmap_viz]: rtabmap_viz: sync_queue_size  = 60
[rtabmap_viz-2] [INFO] [1739532573.401865560] [rtabmap_viz]: rtabmap_viz: qos_image       = 0
[rtabmap_viz-2] [INFO] [1739532573.401870309] [rtabmap_viz]: rtabmap_viz: qos_camera_info = 0
[rtabmap_viz-2] [INFO] [1739532573.401875058] [rtabmap_viz]: rtabmap_viz: qos_scan        = 0
[rtabmap_viz-2] [INFO] [1739532573.401879249] [rtabmap_viz]: rtabmap_viz: qos_odom        = 0
[rtabmap_viz-2] [INFO] [1739532573.401884068] [rtabmap_viz]: rtabmap_viz: qos_user_data   = 0
[rtabmap_viz-2] [INFO] [1739532573.401888328] [rtabmap_viz]: rtabmap_viz: approx_sync     = true
[rtabmap_viz-2] [INFO] [1739532573.401902785] [rtabmap_viz]: Setup rgb-only callback
[rtabmap_viz-2] [INFO] [1739532573.411081976] [rtabmap_viz]:
[rtabmap_viz-2] rtabmap_viz subscribed to (approx sync):
[rtabmap_viz-2]    /raspicam/compressed \
[rtabmap_viz-2]    /rgb/camera_info \
[rtabmap_viz-2]    /scan
[rtabmap_viz-2] [INFO] [1739532573.415610250] [rtabmap_viz]: rtabmap_viz started.
[rtabmap-1] [WARN] [1739532574.928911557] [rtabmap]: rtabmap: Did not receive data since 5 seconds! Make sure the input topics are published ("$ ros2 topic 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"). Ajusting topic_queue_size (30) and sync_queue_size (30) can also help for better synchronization if framerates and/or delays are different. If topics are not published at the same rate, you could increase "sync_queue_size" and/or "topic_queue_size" parameters (current=30 and 30 respectively).
[rtabmap-1] rtabmap subscribed to (approx sync):
[rtabmap-1]    /raspicam/compressed \
[rtabmap-1]    /rgb/camera_info \
[rtabmap-1]    /scan
[rtabmap_viz-2] [WARN] [1739532578.415648983] [rtabmap_viz]: rtabmap_viz: Did not receive data since 5 seconds! Make sure the input topics are published ("$ ros2 topic 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"). Ajusting topic_queue_size (60) and sync_queue_size (60) can also help for better synchronization if framerates and/or delays are different. If topics are not published at the same rate, you could increase "sync_queue_size" and/or "topic_queue_size" parameters (current=60 and 60 respectively).
[rtabmap_viz-2] rtabmap_viz subscribed to (approx sync):
[rtabmap_viz-2]    /raspicam/compressed \
[rtabmap_viz-2]    /rgb/camera_info \
[rtabmap_viz-2]    /scan



thanks for your help

[EthanHathaway]

I am also new here and need some help.