L515 + T265 RTABMAP stops updating topics after some seconds

[uhroosh]

Hello,

I'm running ROS Noetic on a Raspberry Pi 4, mounted on a robot connected to a L515 and T265. I am running my roslaunch command in a separate terminal and then running a python script that subscribes to the topics published by RTABMAP for various processing. However, I noticed that after 30 or so RTABMAP updates (this can vary depending if the robot is moving around or not), RTABMAP stops updating/publishing to the T265 odometry topics and the L515 depth/color image topics. There is nothing printed in the terminal that indicates why this is happening, simply the update messages just stop occurring. Is there anything I can do to fix this problem? Here is my current launch file:

<launch>
   
    <arg name="device_type_camera1"     default="t265"/>
    <arg name="device_type_camera2"     default="l515"/>       
    <arg name="serial_no_camera1"     default=""/>
    <arg name="serial_no_camera2"     default=""/>
    <arg name="camera1"               default="t265"/>               
    <arg name="camera2"               default="l515"/>               
    <arg name="clip_distance"             default="-2"/>
    <arg name="use_rviz"                  default="false"/>
    <arg name="use_rtabmapviz"            default="false"/>
   

    <include file="$(find realsense2_camera)/launch/rs_d400_and_t265.launch">
            <arg name="device_type_camera1"             value="$(arg device_type_camera1)"/>
            <arg name="device_type_camera2"             value="$(arg device_type_camera2)"/>
            <arg name="serial_no_camera1"               value="$(arg serial_no_camera1)"/>
            <arg name="serial_no_camera2"               value="$(arg serial_no_camera2)"/>
            <arg name="camera1"                         value="$(arg camera1)"/>
            <arg name="camera2"                         value="$(arg camera2)"/>
            <arg name="clip_distance"                   value="$(arg clip_distance)"/>
           
    </include>

    <include file="$(find rtabmap_ros)/launch/rtabmap.launch">
           
            <arg name="rtabmap_args" value="--delete_db_on_start
                                        --Params:Grid/FromDepth=true
                                        --Params:Grid/RayTracing=true
                                        --Params:Grid/RangeMax=5.0" />
            <arg name="depth_topic"        value="/$(arg camera2)/aligned_depth_to_color/image_raw"/>
            <arg name="frame_id"           value="$(arg camera2)_link"/>
            <arg name="visual_odometry"    value="false"/>
            <arg name="odom_topic"         value="/$(arg camera1)/odom/sample"/>
            <arg name="rgb_topic"          value="/$(arg camera2)/color/image_raw"/>
            <arg name="camera_info_topic"  value="/$(arg camera2)/color/camera_info"/>
            <arg name="queue_size"         value="400"/>
            <arg name="rviz"               value="$(arg use_rviz)"/>
            <arg name="rtabmapviz"         value="$(arg use_rtabmapviz)"/>
    </include>
</launch>

[matlabbe]

I remember having an issue at some point with T265 where the timestamps in the odometry topics would drift from the system time used by other cameras. At some point, rtabmap won't be able to synchronize the topics. You may open side-by-side terminals and rostopic echo the timestamps of odom topic from T265 and of one of the topic of the L515. Doublecheck that the stamps are not drifting apart.

[uhroosh]

Hi,

Thanks for your response. I noticed that eventually the timestamps do diverge. I did

rostopic echo /t265/odom/sample/header/stamp

in one terminal and

rostopic echo /l515/color/image_raw/header/stamp

and eventually, the "secs" parameter in the t265 timestamp data stopped changing/updating at all.

Is there anything I can do to fix this problem?

[uhroosh]

output.txt

I've attached some example output from one of my runs. I also occasionally see this error:

04/03 20:44:06,408 ERROR [546217746752] (uvc-streamer.cpp:106) uvc streamer watchdog triggered on endpoint: 131