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Ouster lidar no data received

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n.dafinski
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Ouster lidar no data received

n.dafinski
Hello, I am quite new to rtabmap and ROS in general, I am trying to connect an OS1-128 lidar sensor with an external Tinkerforge Brick v2 IMU and visualize it using rtabmap and ROS. I started with just installing rtabmap and trying to connect the lidar first without the external IMU, just using the lidar's built-in one, and run the test_ouster_gen2.launch file with the basic configuration but I keep getting warnings that rtabmap did not receive any data.Here is the launch file I was using: 

<!-- 
Hand-held 3D lidar mapping example using only a Ouster GEN2 (no camera).
Prerequisities: rtabmap should be built with libpointmatcher
Example:
 $ roslaunch rtabmap_ros test_ouster_gen2.launch sensor_hostname:=os-XXXXXXXXXXXX.local udp_dest:=192.168.1.XXX
 $ rosrun rviz rviz -f map
 $ Show TF and /rtabmap/cloud_map topics
ISSUE: You may have to reset odometry after receiving the first cloud if the map looks tilted. The problem seems 
       coming from the first cloud sent by os_cloud_node, which may be poorly synchronized with IMU data.
-->

<!-- Required: -->
<arg name="sensor_hostname"/>
<arg name="udp_dest"/>

<arg name="frame_id" default="os_sensor"/>
<arg name="rtabmapviz"    default="true"/>
<arg name="scan_20_hz"    default="false"/>
<arg name="voxel_size"    default="0.15"/> <!-- indoor: 0.1 to 0.3, outdoor: 0.3 to 0.5 --> 
<arg name="use_sim_time"  default="false"/>
<param if="$(arg use_sim_time)" name="use_sim_time" value="true"/>

<!-- Ouster -->
<include unless="$(arg use_sim_time)" file="$(find ouster_ros)/ouster.launch">
  <arg name="sensor_hostname" value="$(arg sensor_hostname)"/>
  <arg name="udp_dest" value="$(arg udp_dest)"/>
  <arg name="image" value="true"/>
  <arg     if="$(arg scan_20_hz)" name="lidar_mode" value="1024x20"/>
  <arg unless="$(arg scan_20_hz)" name="lidar_mode" value="2048x10"/>
</include>

<!-- IMU orientation estimation and publish tf accordingly to os_sensor frame -->
<node pkg="nodelet" type="nodelet" name="imu_nodelet_manager" args="manager">
  <remap from="imu/data_raw" to="/os_cloud_node/imu"/>
  <remap from="imu/data" to="/os_cloud_node/imu/data"/>
</node>
<node pkg="nodelet" type="nodelet" name="imu_filter" args="load imu_filter_madgwick/ImuFilterNodelet imu_nodelet_manager">
  <param name="use_mag" value="false"/>
  <param name="world_frame" value="enu"/>
  <param name="publish_tf" value="false"/>
</node> 
<node pkg="nodelet" type="nodelet" name="imu_to_tf" args="load rtabmap_ros/imu_to_tf imu_nodelet_manager">
  <remap from="imu/data" to="/os_cloud_node/imu/data"/>
  <param name="fixed_frame_id" value="$(arg frame_id)_stabilized"/>
  <param name="base_frame_id" value="$(arg frame_id)"/>
</node> 

<group ns="rtabmap">
  <node pkg="rtabmap_ros" type="icp_odometry" name="icp_odometry" output="screen">
    <remap from="scan_cloud" to="/os_cloud_node/points"/>
    <param name="frame_id"        type="string" value="$(arg frame_id)"/>  
    <param name="odom_frame_id"   type="string" value="odom"/>
    <param     if="$(arg scan_20_hz)" name="expected_update_rate" type="double" value="25"/>
    <param unless="$(arg scan_20_hz)" name="expected_update_rate" type="double" value="15"/>

    <remap from="imu" to="/os_cloud_node/imu/data"/>
    <param name="guess_frame_id"   type="string" value="$(arg frame_id)_stabilized"/>
    <param name="wait_imu_to_init" type="bool" value="true"/>
 
    <!-- ICP parameters -->
    <param name="Icp/PointToPlane"        type="string" value="true"/>
    <param name="Icp/Iterations"          type="string" value="10"/>
    <param name="Icp/VoxelSize"           type="string" value="$(arg voxel_size)"/>
    <param name="Icp/DownsamplingStep"    type="string" value="1"/> <!-- cannot be increased with ring-like lidar -->
    <param name="Icp/Epsilon"             type="string" value="0.001"/>
    <param name="Icp/PointToPlaneK"       type="string" value="20"/>
    <param name="Icp/PointToPlaneRadius"  type="string" value="0"/>
    <param name="Icp/MaxTranslation"      type="string" value="2"/>
    <param name="Icp/MaxCorrespondenceDistance" type="string" value="1"/>
    <param name="Icp/PM"                  type="string" value="true"/> 
    <param name="Icp/PMOutlierRatio"      type="string" value="0.1"/>
    <param name="Icp/CorrespondenceRatio" type="string" value="0.01"/>  

    <!-- Odom parameters -->       
    <param name="Odom/ScanKeyFrameThr"       type="string" value="0.95"/>
    <param name="Odom/Strategy"              type="string" value="0"/>
    <param name="OdomF2M/ScanSubtractRadius" type="string" value="$(arg voxel_size)"/>
    <param name="OdomF2M/ScanMaxSize"        type="string" value="15000"/>      
  </node>

  <node pkg="rtabmap_ros" type="rtabmap" name="rtabmap" output="screen" args="-d">	  
    <param name="frame_id"             type="string" value="$(arg frame_id)"/>  
    <param name="subscribe_depth"      type="bool" value="false"/>
    <param name="subscribe_rgb"        type="bool" value="false"/>
    <param name="subscribe_scan_cloud" type="bool" value="true"/>
    <param name="approx_sync"          type="bool" value="false"/>
    
    <param name="queue_size" type="int" value="10"/>
    <param name="scan_cloud_max_points" value="262144"/>
    
    <remap from="scan_cloud" to="/os_cloud_node/points"/>
    <remap from="imu"        to="/os_cloud_node/imu/data"/>
 
    <!-- RTAB-Map's parameters -->
    <param name="Rtabmap/DetectionRate"          type="string" value="1"/>  
    <param name="RGBD/NeighborLinkRefining"      type="string" value="false"/>
    <param name="RGBD/ProximityBySpace"          type="string" value="true"/>
    <param name="RGBD/ProximityMaxGraphDepth"    type="string" value="0"/>
    <param name="RGBD/ProximityPathMaxNeighbors" type="string" value="1"/>
    <param name="RGBD/LocalRadius"               type="string" value="2"/>
    <param name="RGBD/AngularUpdate"             type="string" value="0.05"/>
    <param name="RGBD/LinearUpdate"              type="string" value="0.05"/>
    <param name="Mem/NotLinkedNodesKept"         type="string" value="false"/>
    <param name="Mem/STMSize"                    type="string" value="30"/>
    <!-- param name="Mem/LaserScanVoxelSize"     type="string" value="0.1"/ -->
    <!-- param name="Mem/LaserScanNormalK"       type="string" value="10"/ -->
    <!-- param name="Mem/LaserScanRadius"        type="string" value="0"/ -->
    
    <param name="Reg/Strategy"                   type="string" value="1"/> 
    <param name="Optimizer/GravitySigma"         type="string" value="0.5"/>
    <param name="Optimizer/Strategy"             type="string" value="1"/> 
    <param name="Grid/CellSize"                  type="string" value="0.1"/>
    <param name="Grid/RangeMax"                  type="string" value="20"/>
    <param name="Grid/ClusterRadius"             type="string" value="1"/>
    <param name="Grid/GroundIsObstacle"          type="string" value="true"/>

    <!-- ICP parameters -->
    <param name="Icp/VoxelSize"                  type="string" value="$(arg voxel_size)"/>
    <param name="Icp/PointToPlaneK"              type="string" value="20"/>
    <param name="Icp/PointToPlaneRadius"         type="string" value="0"/>
    <param name="Icp/PointToPlane"               type="string" value="true"/>
    <param name="Icp/Iterations"                 type="string" value="10"/>
    <param name="Icp/Epsilon"                    type="string" value="0.001"/>
    <param name="Icp/MaxTranslation"             type="string" value="3"/>
    <param name="Icp/MaxCorrespondenceDistance"  type="string" value="1"/>
    <param name="Icp/PM"                         type="string" value="true"/> 
    <param name="Icp/PMOutlierRatio"             type="string" value="0.7"/>
    <param name="Icp/CorrespondenceRatio"        type="string" value="0.2"/>
  </node>

  <node if="$(arg rtabmapviz)" name="rtabmapviz" pkg="rtabmap_ros" type="rtabmapviz" output="screen">
    <param name="frame_id" type="string" value="$(arg frame_id)"/>
    <param name="odom_frame_id" type="string" value="odom"/>
    <param name="subscribe_odom_info" type="bool" value="true"/>
    <param name="subscribe_scan_cloud" type="bool" value="true"/>
    <param name="approx_sync" type="bool" value="false"/>
    <remap from="scan_cloud" to="/os_cloud_node/points"/>
  </node>

And the warnings i keep getting after starting rtabmap with roslaunch rtabmap_ros test_ouster_gen2.launch sensor_hostname:=192.xxxxxx udp_dest:=192.xxxxxx :

[ WARN] [1614687309.213491141]: /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):
/os_cloud_node/points
/rtabmap/odom_info
[ WARN] [1614687311.238510555]: Still waiting for data on topic /imu/data_raw...
[ WARN] [1614687312.882493616]: /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"). Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
/rtabmap/rtabmap subscribed to (exact sync):
/rtabmap/odom
/os_cloud_node/points

I am not sure what exactly I am missing and what's going wrong, any help would be appreciated.
matlabbe
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Re: Ouster lidar no data received

matlabbe
Administrator
duplicate of https://github.com/introlab/rtabmap_ros/issues/552
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