RTAB with intel D435 - wont do anything

[moranboim]

Hi,
i'm new to rtab and ros.
i connected the intel D-435 camera, after updating all the needed drivers.
through the ROS-Rviz i can see raw camera image, though i can't start mapping.

i followed the rtab_ros tutorial (HandHeldMapping):
1. roscore
2. roslaunch realsense2_camera rs_camera.launch align_depth:=true
3. roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/camera/aligned_depth_to_color/image_raw rgb_topic:=/camera/color/image_raw camera_info_topic:=/camera/color/camera_info rviz:=true

i get black screen in both rviz and rtabviz:




when i request graph this is what i get:

[moranboim]

i'm getting the following warnings:

[ WARN] [1544522379.997123262]: /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"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10).
/rtabmap/rtabmap subscribed to (approx sync):
   /rtabmap/odom,
   /camera/color/image_raw,
   /camera/aligned_depth_to_color/image_raw,
   /camera/color/camera_info,
   /rtabmap/odom_info


i was looking for the published msgs, the following doesn't get published at all:

odom
odom_info
/camera/aligned_depth_to_color/image_raw


the others (camera_info and color/image_raw) are being published at ~30hz

[matlabbe]

Is your realsense connected to a USB3 port?

The main problem is why "/camera/aligned_depth_to_color/image_raw" is not published. odom and odom_info would be published after the odometry receives "/camera/aligned_depth_to_color/image_raw" topics.

cheers,
Mathieu

[moranboim]

Yes,
it is connected to a usb3 port.

I've read about hw-reset or respawn , it might have an effect but im not
sure how to apply it.

Moran

[matlabbe]

I re-verified the tutorial with latest realsense2 sdk / ros package and it should still work. On my computer:

$ roslaunch realsense2_camera rs_camera.launch align_depth:=true

$ rostopic hz /camera/aligned_depth_to_color/image_raw /camera/color/image_raw /camera/color/camera_info
subscribed to [/camera/aligned_depth_to_color/image_raw]
subscribed to [/camera/color/image_raw]
subscribed to [/camera/color/camera_info]
                 topic                      rate   min_delta   max_delta    std_dev    window
=============================================================================================
/camera/aligned_depth_to_color/image_raw   29.86   0.03104     0.04133     0.001836    29    
/camera/color/image_raw                    29.81   0.03226     0.03449     0.0003498   29    
/camera/color/camera_info                  29.79   0.03265     0.03454     0.0003048   29 

[moranboim]

I managed to make it work,
Problem is that i need to plug and replug every run.

When i use realsense viewer i can just press "hardwere reset" and it works.

Any idea how to do it automatically every run?

Thanks for your time

[matlabbe]

Take a look at this post and referred links:
https://github.com/intel-ros/realsense/issues/360

[aviadoz]

look at this: https://github.com/ethz-asl/realsense/commit/148eaf93b4ad9f7d795ddce42f6bfae4e7e52533#diff-1c5677a31cfc48df663a655bc6619f94R68

I had the same problem.

good luck