RTABMap Error .launch

[tonike24]

Hi, I'm new using this kind of algorithms. I have ubuntu 16.04 and kinetic distro.

Hardware:

Turtlebot 3 burguer (with LIDAR)
Camera Orbecc Astra

This is my .launch: https://github.com/introlab/rtabmap_ros/blob/master/launch/rtabmap.launch. And when I execute it the next error appear:

[ INFO] [1524822448.943352787]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.040407s
[ WARN] (2018-04-27 11:47:29.901) OccupancyGrid.cpp:290::createLocalMap() Cannot create local map, scan is empty (node=1).
[ INFO] [1524822449.913269315]: rtabmap (1): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0443s, Maps update=0.0090s pub=0.0004s (local map=1, WM=1)
[ INFO] [1524822450.387585009]: Odom: quality=652, std dev=0.000715m|0.000032rad, update time=0.098880s
[ INFO] [1524822463.195535743]: Odom: quality=281, std dev=0.012054m|0.036807rad, update time=0.060545s
[ WARN] (2018-04-27 11:47:43.808) OccupancyGrid.cpp:290::createLocalMap() Cannot create local map, scan is empty (node=2).

So I think my topic /scan is not subcribed to RTABmap so I changed my .launch

<arg name="subscribe_scan"          default="false"/>   I set it as true.
  <arg name="scan_topic"              default="/scan"/>

javier@javier-GP62MVR-6RF:~$ rostopic info /scan
Type: sensor_msgs/LaserScan

Publishers:
 * /turtlebot3_lds

Subscribers:
 * /rviz_1524818142177047738
 * /rviz_1524818668365923170
 * /rtabmap/rtabmap
 * /rtabmap/rtabmapviz

Already I have my topic /scan subscribed to RTABmap but now i have the next problem:

[ WARN] [1524822693.405425199]: /rtabmap/rgbd_odometry: 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.
/rtabmap/rgbd_odometry subscribed to (approx sync):
   /camera/rgb/image_rect_color,
   /camera/depth_registered/image_raw,
   /camera/rgb/camera_info
[ WARN] [1524822694.250854372]: /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/rgb/image_rect_color,
   /camera/depth_registered/image_raw,
   /camera/rgb/camera_info,
   /scan,
   /rtabmap/odom_info

I also tried to rostopic hz /my_topics and everyone is perfectly working.
I'm not sure if I have to change my framde_id to base_footprint instead of camera_link.
Hope you can help me. Thank you.

This is my tf tree graph, so I can see my camera is not connecte with the rest of the robot.

[matlabbe]

Hi,

thanks to provide as much information. There are a couple of problems:
1) The TF tree should be a single tree. /base_footprint -> ... -> /camera_link should be linked. The standard would be:

/map -> /odom -> /base_footprint -> /base_link -> /camera_link
                                               \
                                                \---> /imu_link
                                                 \
                                                  \---> /scan_link

Add some static_transform_publisher for missing links after /base_footprint if turtlebot default launch files don't give them.

2) Launch rtabmap.launch with visual_odometry:=false and odom_topic:="/odom" (well the odometry topic provided by turtlebot)

3) To use laser scan, like you did, set subscribe_scan:=true and set scan_topic:="/scan" (the name of the scan topic)

4) For 2d mapping with laser scan, I suggest to set rtabmap_args:="--delete_db_from_start --Reg/Force3DoF true --Reg/Strategy 1"

cheers,
Mathieu