RTAB error

[Almog]

Hello,

I'm trying to use rtabmap for 3D mapping using rplidar & realsense L515 camera

rtab starts and shows laser, 2D map, and first frame of point cloud, than i get this error -


i've tried to search in the forum for answer with no success
i'm using 0.20 version , all relevant messages are old (0.12 version)

Thanks,
Almog

attached is all relevant code:

RPLIDAR: rplidar.launch
CAMERA: rs_camera.launch
TF: static_tfs_kinect2_rplidar.launch
RTAB: rtabmap.launch

<!-- Launch RTAB-map with Kinect2 and RPLidar A2 -->
<launch>
   <!-- Image resolution of the Kinect to process in rtabmap: sd, qhd, hd -->
   <arg name="resolution" default="qhd" />
   
   <!-- Fixed frame id -->
   <arg name="frame_id" default="laser"/>  
   
   <!-- Hector SLAM to get ScanMatching Odometry -->
   <node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">
        <param name="map_frame"                             							value="hector_map" />
        <param name="base_frame"                            							value="laser" />
        <param name="odom_frame"               						                value="odom" />
        <param name="tf_map_scanmatch_transform_frame_name" 		value="laser" />
		
		<!-- TF use -->
        <param name="pub_map_odom_transform"               		 		value="false"/>
        <param name="pub_map_scanmatch_transform"       		 		value="true"/>
        <param name="pub_odometry"                         					 		value="true"/>
		
        <param name="map_resolution"                    		     				value="0.05"/>
        <param name="map_size"                           		        				value="2048"/>
        <param name="map_multi_res_levels"          	        				value="2" />
        <param name="map_update_angle_thresh"                 				value="0.06" />
        <param name="scan_topic"                       			     				value="/scan"/>
   </node>
   
   <!-- RTAB-Map: to get a consistent 3d Map fed by the Hector odometry -->
   <group ns="rtabmap">    
        <node name="rtabmap" pkg="rtabmap_ros"				 type="rtabmap" output="screen" args="--delete_db_on_start --udebug">
            <param name="subscribe_depth"     						 type="bool"    value="true"/>
            <param name="frame_id"            							 type="string"  value="$(arg frame_id)"/>
            <param name="subscribe_scan"      			 			 type="bool"    value="true"/>            
            <param name="cloud_decimation"             			 value="2"/> 
            <param name="cloud_max_depth"             			 value="5.0"/> 
            <param name="cloud_voxel_size"              		  	 value="0.01"/> 
            <param name="map_cleanup"         						 type="bool"    value="false"/>       
	
            <remap from="rgb/image"           				 			 to="/camera/color/image_raw"/>
            <remap from="depth/image"          						 to="/camera/aligned_depth_to_color/image_raw"/>
            <remap from="rgb/camera_info"    		   				 to="/camera/depth/camera_info"/>
            <remap from="scan"                								 to="/scan"/>
            <remap from="odom"              		    					 to="/scanmatch_odom"/>

            <param name="approx_sync" type="bool"   		     value="true"/>
            <param name="Reg/Strategy"          type="string" 	 value="1"/>    <!-- 0=Visual, 1=ICP, 2=Visual+ICP -->
            <param name="Vis/MaxDepth"         type="string" 	 value="8.0"/>  <!-- 3D visual words maximum depth 0=infinity -->
            <param name="Vis/InlierDistance"    type="string"  value="0.1"/>  <!-- 3D visual words correspondence distance -->
            <param name="Optimizer/Slam2D"   type="string"  value="true"/>
            <param name="Reg/Force3DoF"       type="string"  value="false"/>
        </node>
   </group>
  
   <!-- Visualization in RVIZ -->
   <node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_utils)/rviz_configs/kinect_rtabmap_with_hector.rviz"
   />
  
   <node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap_ros/point_cloud_xyzrgb standalone_nodelet">
        <remap from="rgb/image"       		to="data_odom_sync/image"/>
        <remap from="depth/image"     		to="data_odom_sync/depth"/>
        <remap from="rgb/camera_info" 	to="data_odom_sync/camera_info"/>
        <remap from="cloud"           			to="voxel_cloud" />
        <param name="voxel_size"      		type="double" value="0.01"/>
   </node>
   
</launch>

[matlabbe]

Hi,

Can you try with Reg/Force3DoF to true? The assert happens because rtabmap is expecting 6DoF poses, while you are providing only 3DoF.

Please copy-paste the terminal text instead of a screenshot, because with a title like "RTAB error", google will never find this issue if someone search for "Linear information Z should not be null! Value=0 (set to 1 if unknown or <=1/9999 to be ignored in some computations)." (now as I added the text of the error, it could be found :) )

cheers,
Mathieu