PointCloud2 data displayed in RViz but not in RTAB-Map.
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PointCloud2 data displayed in RViz but not in RTAB-Map.
 
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This post was updated on .
Hi there!
I am trying to get RTAB-Map Visualizer working properly with my setup. The setup is a Global Shutter-type LiDAR system having an IMU unit. It takes samples simultaneously, similar to Flash LiDAR. So in ROS2 Jazzy, I am publishing the LiDAR data in PointCloud2 format, in a topic named /metrio_data. That program also looks for IMU data, then are processed and thus a TF is broadcasted for each frame. Here below is the way I initialize that, in my ROS 2 node called 'grab_and_publish': # TF info self.t = TransformStamped() self.t.header.frame_id = "odom" self.t.child_frame_id = "base_link" # PC2 info self.pc2_header = Header() self.pc2_header.frame_id = "base_link" self.pc2_fields = [PointField(name='x', offset=0, datatype=PointField.FLOAT32, count=1), PointField(name='y', offset=4, datatype=PointField.FLOAT32, count=1), PointField(name='z', offset=8, datatype=PointField.FLOAT32, count=1), PointField(name='intensity', offset=12, datatype=PointField.FLOAT32, count=1)] super().__init__("grab_and_publish") self.data_pub = self.create_publisher(PointCloud2, "metrio_data", 10) # Initialize the transform broadcaster self.tf_broadcaster = TransformBroadcaster(self) Then how I publish those data: # PC2 self.pc2_header.stamp = self.get_clock().now().to_msg() pc2_data = point_cloud2.create_cloud(self.pc2_header, self.pc2_fields, processed_data) self.data_pub.publish(pc2_data) # TF self.t.transform.translation.x = processed_data[0] self.t.transform.translation.y = processed_data[1] self.t.transform.translation.z = processed_data[2] self.t.transform.rotation.x = processed_data[3] self.t.transform.rotation.y = processed_data[4] self.t.transform.rotation.z = processed_data[5] self.t.transform.rotation.w = processed_data[6] self.t.header.stamp = self.get_clock().now().to_msg() self.tf_broadcaster.sendTransform(self.t) By doing so, I can see the results in RViz. The pointCloud2 data are displayed properly and TF based on IMU works too. --> So everything looks ok on the RViz side. __________ Then I wanted to show this in RTAB-Map too, and potentially taking advantage of the loop closure detection. First I tried by launching via this command: ros2 launch rtabmap_launch rtabmap.launch.py use_rtabmapviz:=true subscribe_depth:=false subscribe_rgb:=false subscribe_scan:=false subscribe_stereo:=false subscribe_scan_cloud:=true scan_cloud_topic:=/metrio_data subscribe_odom_info:=true frame_id:=base_link odom_frame_id:=odom The Visualizer starts, but it did not work (no data coming in). In the log it seems that RTAB-Map still expects rgbd data. It seems like the parameters I input that way, in the command line, have no effects. Then I tried by creating a launch file called rtabmap_lidar_only.py and run it via: ros2 launch rtabmap_metrio_package rtabmap_lidar_only.py The launch file (into which I also remapped for scan_cloud): from launch import LaunchDescription from launch_ros.actions import Node def generate_launch_description(): return LaunchDescription([ Node( package='rtabmap_ros', executable='rtabmap', name='rtabmap', output='screen', parameters=[ {'frame_id': 'base_link'}, {'odom_frame_id': 'odom'}, {'map_frame_id': 'map'}, {'subscribe_scan_cloud': True}, {'scan_cloud_topic': '/metrio_data'}, {'subscribe_depth': False}, {'subscribe_rgb': False}, {'subscribe_scan': False}, {'subscribe_stereo': False}, {'subscribe_rgbd': False}, {'rgbd_odometry': False}, {'subscribe_odom_info': True}, {'qos_scan_cloud': 2}, {'approx_sync': True}, {'publish_tf': True}, {'use_sim_time': False} ], remappings=[ ('scan_cloud', '/metrio_data') ] ) ]) As I did not get any output in RTAB-Map Visualizer, I used that launch file found here (in the accepted answer): https://robotics.stackexchange.com/questions/91511/is-it-possible-to-use-rtabmap-ros-with-only-scan-data I replaced the topic names and remapped accordingly, but still no luck. Here is also what I get when I run it: ros2_ws$ ros2 launch rtabmap_metrio_package rtabmap_lidar_only.py [INFO] [launch]: All log files can be found below /home/pierre/.ros/log/2025-07-18-08-53-57-277033-pierre-PO5-650 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [rtabmap-1]: process started with pid [1340447] [rtabmap-1] libpng warning: iCCP: known incorrect sRGB profile [rtabmap-1] libpng warning: iCCP: known incorrect sRGB profile [rtabmap-1] libpng warning: iCCP: known incorrect sRGB profile Also, by running rqt-graph (with any attempt above), I do see the /metrio_data topic, the grab_and_publish node, the TF and RViz. However, RTAB-Map_viz is nowhere to be found. Please see attached picture of the rqt_graph below.  My questions: * Any idea about why I do get my data and TF correctly sent to RViz, but not in RTAB-Map? * Also, do you think the loop closure detection can work with only PC2 + IMU data? Local proximity detection maybe? Notes: * RTAB-Map version: 2.21.10 * When RTAB-Map Viz is launched, I do get (every time): The configuration file "/home/pierre/.rtabmap/rtabmap.ini" does not exist, it will be created with default parameters. and RTAB-Map needs a working directory to put the database. By default, the directory "/home/pierre/Documents/RTAB-Map" is used. Thanks a lot in advance for your help, Pierre |
Re: PointCloud2 data displayed in RViz but not in RTAB-Map.
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Re: PointCloud2 data displayed in RViz but not in RTAB-Map.
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Re: PointCloud2 data displayed in RViz but not in RTAB-Map.
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Re: PointCloud2 data displayed in RViz but not in RTAB-Map.
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Administrator
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Re: PointCloud2 data displayed in RViz but not in RTAB-Map.
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Re: PointCloud2 data displayed in RViz but not in RTAB-Map.
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Administrator
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Re: PointCloud2 data displayed in RViz but not in RTAB-Map.
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Re: PointCloud2 data displayed in RViz but not in RTAB-Map.
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Re: PointCloud2 data displayed in RViz but not in RTAB-Map.
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Re: PointCloud2 data displayed in RViz but not in RTAB-Map.
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Re: PointCloud2 data displayed in RViz but not in RTAB-Map.
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Re: PointCloud2 data displayed in RViz but not in RTAB-Map.
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We would have to see what are the bottlenecks in the UI side. Basically, you would need to look at MainWindow::processStats() function (called when a map update happened) and MainWindow::processOdometry() function (called after each odometry update). Note that Qt's signals/slots mechanism buffers infinite data if the rendering process takes too long, which could increase the latency of data shown. To minimize this issue, on ROS side, we don't forward odometry data if the UI is still processing the previous data or if max odometry rate parameter is set (you can set "max_odom_update_rate" to rtabmap_viz node to limit odometry rendering rate).
On rendering side, you can disable odometry and/or map visualization in Preferences->3D Rendering settings. You probably want to disable any caching at high frame rate by unchecking these settings:  Not sure what you are referring by "Rtabmap/PublishPeriod", do you mean Rtabmap/DetectionRate? I don't generally recommend to increase it to more that 1-2 Hz. |
Re: PointCloud2 data displayed in RViz but not in RTAB-Map.
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This post was updated on .
Hello Matthieu,
Thanks again for your precious help. Actually, unchecking the 3 cache options in the settings allows rtabmap_viz to run at the desired speed (1400 FPS). [EDIT] To be more precise, I can keep all of the cache options checked but not Cache statistics. So the problem seems to be resolved thanks to that particular advice! ########### About profiling the 2 functions (processStats() & processOdometry()), here are the results (with and without cache) using perf profiling tool: _______________ * Without cache: - atom CPU: 6.12% 0.01% rtabmap_viz librtabmap_gui.so.0.21.10 [.] rtabmap::MainWindow::processOdometry(rtabmap::OdometryEvent const&, bool) 0.01% 0.00% rtabmap_viz librtabmap_gui.so.0.21.10 [.] rtabmap::MainWindow::processStats(rtabmap::Statistics const&) - core CPU: 0.71% 0.00% rtabmap_viz librtabmap_gui.so.0.21.10 [.] rtabmap::MainWindow::processOdometry(rtabmap::OdometryEvent const&, bool) 0. 04% 0.00% rtabmap_viz librtabmap_gui.so.0.21.10 [.] rtabmap::MainWindow::processStats(rtabmap::Statistics const&) ____________ * With cache: - atom CPU: 0.02% 0.00% rtabmap_viz librtabmap_gui.so.0.21.10 [.] rtabmap::MainWindow::processOdometry(rtabmap::OdometryEvent const&, bool) n/a - core CPU: 16.49% 0.03% rtabmap_viz librtabmap_gui.so.0.21.10 [.] rtabmap::MainWindow::processOdometry(rtabmap::OdometryEvent const&, bool) 0.05% 0.00% rtabmap_viz librtabmap_gui.so.0.21.10 [.] rtabmap::MainWindow::processStats(rtabmap::Statistics const&) Below are 2 screenshots of the main perf results, in case it's useful, when cache options are checked:   Have a great afternoon, Pierre |
Re: PointCloud2 data displayed in RViz but not in RTAB-Map.
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Re: PointCloud2 data displayed in RViz but not in RTAB-Map.
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