Map frame is not generated after launching rtabmap node

[brandon_lawrence]

Hi,

I am using 2 realsense d435i cameras and a t265 camera on my robot together with an RP Lidar A2 and I am trying to do SLAM with the RTABmap package. However, when I launch the rtabmap launch file there is no map frame that is created. What could be the issue?

First, I launch the realsense camera driver launch file:

<launch>
  <arg name="device_type_camera1"     default="t265"/>
  <arg name="device_type_camera2"     default="d435i"/>               
  <arg name="serial_no_camera1"     default=""/>
  <arg name="serial_no_camera2"     default=""/>
  <arg name="camera1"               default="t265"/>
  <arg name="camera2"               default="d435i"/>
  <arg name="tf_prefix_camera1"         default="$(arg camera1)"/>
  <arg name="tf_prefix_camera2"         default="$(arg camera2)"/>
  <arg name="initial_reset"             default="false"/>
  <arg name="enable_fisheye"            default="false"/>
  <arg name="color_width"               default="640"/>
  <arg name="color_height"              default="480"/>
  <arg name="depth_width"               default="640"/>
  <arg name="depth_height"              default="480"/>
  <arg name="clip_distance"             default="-2"/>
  <arg name="topic_odom_in"             default="odom_in"/>
  <arg name="calib_odom_file"           default=""/>

  <group ns="$(arg camera1)">
    <include file="$(find autonomous_robots)/launch/includes/t265_nodelet.launch.xml">
      <arg name="device_type"           value="$(arg device_type_camera1)"/>
      <arg name="serial_no"             value="$(arg serial_no_camera1)"/>
      <arg name="tf_prefix"         value="$(arg tf_prefix_camera1)"/>
      <arg name="initial_reset"         value="$(arg initial_reset)"/>
      <arg name="enable_fisheye1"       value="$(arg enable_fisheye)"/>
      <arg name="enable_fisheye2"       value="$(arg enable_fisheye)"/>
      <arg name="topic_odom_in"         value="$(arg topic_odom_in)"/>
      <arg name="calib_odom_file"       value="$(arg calib_odom_file)"/>
      <arg name="enable_pose"           value="true"/>
    </include>
  </group>

  <group ns="$(arg camera2)">
    <include file="$(find autonomous_robots)/launch/includes/d435i_nodelet.launch.xml">
      <arg name="device_type"           value="$(arg device_type_camera2)"/>
      <arg name="serial_no"             value="$(arg serial_no_camera2)"/>
      <arg name="tf_prefix"          value="$(arg tf_prefix_camera2)"/>
      <arg name="initial_reset"         value="$(arg initial_reset)"/>
      <arg name="align_depth"           value="true"/>
      <arg name="filters"               value="pointcloud"/>
      <arg name="color_width"           value="$(arg color_width)"/>
      <arg name="color_height"          value="$(arg color_height)"/>
      <arg name="depth_width"           value="$(arg depth_width)"/>
      <arg name="depth_height"          value="$(arg depth_height)"/>
      <arg name="clip_distance"         value="$(arg clip_distance)"/>
    </include>
  </group>
 
 
  <include file="$(find autonomous_robots)/launch/handheld_mapping_setup_multi_camera.launch">
  </include> 

 
  <node pkg="tf" type="static_transform_publisher" name="odom_to_t265_odom_frame" args="0.395 0 0.238 0 0 0 /odom /t265_odom_frame 100"/>
 
  <node pkg="autonomous_robots" name="t265_odom_converter" type="t265_odom_converter.py" output="screen"/>
 
 
  <node pkg="tf" type="static_transform_publisher" name="base_footprint_to_base_link" args="0 0 0.430 0 0 0 /base_footprint /base_link 100"/>
 

 
  <node pkg="tf" type="static_transform_publisher" name="t265_to_d435i_2" args="-0.02407 -0.05883 0.32 -0.5934 0 0 /t265_link /d435i_2_link 100"/> 
  <node pkg="tf" type="static_transform_publisher" name="t265_to_d435i_1" args="-0.02407 0.04133 0.32 0.5934 0 3.14159 /t265_link /d435i_link 100"/> 
  <node pkg="tf" type="static_transform_publisher" name="t265_to_lidar" args="-0.114 0 0.102 3.14159 0 0 /t265_link /laser 100"/>

 
 
</launch>

Then, I launch the rtabmap launch file following the configuration on http://wiki.ros.org/rtabmap_ros/Tutorials/HandHeldMapping   :



  <include file ="$(find rplidar_ros)/launch/rplidar.launch"/> 
 

 
           
 


   


 
  <group ns="d435i">
    <node pkg="nodelet" type="nodelet" name="nodelet_manager1" args="manager"/>
    <node pkg="nodelet" type="nodelet" name="rgbd_sync1" args="load rtabmap_ros/rgbd_sync nodelet_manager1">
      <remap from="rgb/image"       to="color/image_raw"/>
      <remap from="depth/image"     to="aligned_depth_to_color/image_raw"/>
      <remap from="rgb/camera_info" to="color/camera_info"/>
     
    </node>
  </group>
 
  <group ns="d435i_2">
    <node pkg="nodelet" type="nodelet" name="nodelet_manager2" args="manager"/>
    <node pkg="nodelet" type="nodelet" name="rgbd_sync2" args="load rtabmap_ros/rgbd_sync nodelet_manager2">
      <remap from="rgb/image"       to="color/image_raw"/>
      <remap from="depth/image"     to="aligned_depth_to_color/image_raw"/>
      <remap from="rgb/camera_info" to="color/camera_info"/>
     
    </node>
  </group>
     
       
  <arg name="stereo"                    default="false"/>
  <arg     if="$(arg stereo)" name="depth"  default="false"/>
  <arg unless="$(arg stereo)" name="depth"  default="true"/>
 
 
  <arg name="rtabmapviz"              default="false" /> 
  <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="base_footprint"/>
 
             
  <arg name="odom_frame_id"           default="odom"/>

  <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="false"/>

 
  <arg     if="$(arg stereo)" name="approx_sync"  default="false"/>
  <arg unless="$(arg stereo)" name="approx_sync"  default="$(arg depth)"/>         
   
 
 
  <arg name="rgb_topic"               default="/d435i/color/image_raw" />

 
  <arg name="depth_topic"             default="/d435i/aligned_depth_to_color/image_raw" />

 
  <arg name="camera_info_topic"       default="/d435i/color/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="false"/>
 
  <arg name="subscribe_rgbd"          default="$(arg rgbd_sync)"/>
  <arg name="rgbd_topic"              default="rgbd_image" />
  <arg name="depth_scale"             default="1.0" />         
  <arg name="rgbd_depth_scale"        default="$(arg depth_scale)" />
  <arg name="rgbd_decimation"         default="1" />
 
  <arg name="compressed"              default="false"/>         
  <arg name="rgb_image_transport"     default="compressed"/>   
  <arg name="depth_image_transport"   default="compressedDepth"/> 
   
  <arg name="subscribe_scan"          default="true"/>
  <arg name="scan_topic"              default="/scan"/>
  <arg name="subscribe_scan_cloud"    default="false"/>
  <arg name="scan_cloud_topic"        default="/scan_cloud"/>
  <arg name="subscribe_scan_descriptor" default="false"/>
  <arg name="scan_descriptor_topic"   default="/scan_descriptor"/>
  <arg name="scan_cloud_max_points"   default="0"/>
  <arg name="scan_cloud_filtered"     default="false"/> 
   
           
  <arg name="visual_odometry"          default="false"/>

  <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="false"/>
  <arg name="odom_tf_angular_variance" default="0.0003"/>             
  <arg name="odom_tf_linear_variance"  default="0.0001"/>             
  <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="odom_max_rate"            default="0"/>
  <arg name="odom_expected_rate"       default="0"/>
  <arg name="imu_topic"                default="/imu/data"/>         
  <arg name="wait_imu_to_init"         default="false"/>
 
  <arg name="scan_cloud_assembling"              default="false"/>
  <arg name="scan_cloud_assembling_time"         default="1"/>
  <arg name="scan_cloud_assembling_fixed_frame"  default=""/>
  <arg name="scan_cloud_assembling_voxel_size"   default="0.05"/>
 
  <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 if="$(arg depth)">
      <group unless="$(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="$(arg odom_topic)"/>
          <remap from="imu"             to="$(arg imu_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="$(arg odom_topic)"/>
      <remap from="imu"                    to="$(arg imu_topic)"/>
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
    </node>
   
    <node if="$(arg scan_cloud_assembling)" pkg="rtabmap_ros" type="point_cloud_assembler" name="point_cloud_assembler" output="screen">
      <remap     if="$(arg scan_cloud_filtered)" from="cloud" to="odom_filtered_input_scan"/>
      <remap unless="$(arg scan_cloud_filtered)" from="cloud" to="$(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="rgbd_image0"      to="/d435i/rgbd_image"/>
      <remap from="rgbd_image1"      to="/d435i_2/rgbd_image"/>
       
     
     
      <remap from="scan"                   to="$(arg scan_topic)"/>

      <remap if="$(eval scan_cloud_assembling)" from="scan_cloud" to="assembled_cloud"/>
      <remap if="$(eval scan_cloud_filtered and not scan_cloud_assembling)" from="scan_cloud" to="odom_filtered_input_scan"/>
      <remap if="$(eval not scan_cloud_filtered and not scan_cloud_assembling)" from="scan_cloud" to="$(arg scan_cloud_topic)"/>
      <remap from="scan_descriptor"        to="$(arg scan_descriptor_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)"/>

     
      <remap from="grid_map" to="/map"/>

    </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="$(arg scan_topic)"/>
      <remap     if="$(arg scan_cloud_filtered)" from="scan_cloud" to="odom_filtered_input_scan"/>
      <remap unless="$(arg scan_cloud_filtered)" from="scan_cloud" to="$(arg scan_cloud_topic)"/>
      <remap from="scan_descriptor"        to="$(arg scan_descriptor_topic)"/>
      <remap from="odom"                   to="$(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>
 

Would appreciate the help of anyone who knows what is the issue. Thank you.