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Raspi and D435 won't work with Rtabmap

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Rodolfo

Raspi and D435 won't work with Rtabmap

The rover robot has a Raspberry Pi 4 with 4 Gig and a Realsense D435 camera. It's running Ubuntu 20.04 and Noetic ROS. It is getting its time synchronized with laptop each time it starts. Laptop is an HP Pavillion with same OS and ROS. Rtabmap and Rtabmapviz are running on laptop, as well as joy and teleop with the controller. Rostopic reports that topics are connected but Rtabmap won't show images and complains of no data. Rqt_graph shows many tf connections but no images passing. Rviz doesn't like my tf setup and won't show robot on grid. It will show images, though. Here is the ROS feedback:

rod@raspi:~$ roslaunch realsense2_camera rs_camera.launch enable_infra1:=true enable_infra2:=true
... logging to /home/rod/.ros/log/83314c0e-8a6e-11ec-b854-adade7a6104b/roslaunch-raspi-5368.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://raspi:35753/

SUMMARY
========

PARAMETERS
* /camera/realsense2_camera/accel_fps: -1
* /camera/realsense2_camera/accel_frame_id: camera_accel_frame
* /camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti...
* /camera/realsense2_camera/align_depth: False
* /camera/realsense2_camera/aligned_depth_to_color_frame_id: camera_aligned_de...
* /camera/realsense2_camera/aligned_depth_to_fisheye1_frame_id: camera_aligned_de...
* /camera/realsense2_camera/aligned_depth_to_fisheye2_frame_id: camera_aligned_de...
* /camera/realsense2_camera/aligned_depth_to_fisheye_frame_id: camera_aligned_de...
* /camera/realsense2_camera/aligned_depth_to_infra1_frame_id: camera_aligned_de...
* /camera/realsense2_camera/aligned_depth_to_infra2_frame_id: camera_aligned_de...
* /camera/realsense2_camera/allow_no_texture_points: False
* /camera/realsense2_camera/base_frame_id: camera_link
* /camera/realsense2_camera/calib_odom_file:
* /camera/realsense2_camera/clip_distance: -2.0
* /camera/realsense2_camera/color_fps: -1
* /camera/realsense2_camera/color_frame_id: camera_color_frame
* /camera/realsense2_camera/color_height: -1
* /camera/realsense2_camera/color_optical_frame_id: camera_color_opti...
* /camera/realsense2_camera/color_width: -1
* /camera/realsense2_camera/confidence_fps: -1
* /camera/realsense2_camera/confidence_height: -1
* /camera/realsense2_camera/confidence_width: -1
* /camera/realsense2_camera/depth_fps: -1
* /camera/realsense2_camera/depth_frame_id: camera_depth_frame
* /camera/realsense2_camera/depth_height: -1
* /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti...
* /camera/realsense2_camera/depth_width: -1
* /camera/realsense2_camera/device_type:
* /camera/realsense2_camera/enable_accel: False
* /camera/realsense2_camera/enable_color: True
* /camera/realsense2_camera/enable_confidence: True
* /camera/realsense2_camera/enable_depth: True
* /camera/realsense2_camera/enable_fisheye1: False
* /camera/realsense2_camera/enable_fisheye2: False
* /camera/realsense2_camera/enable_fisheye: False
* /camera/realsense2_camera/enable_gyro: False
* /camera/realsense2_camera/enable_infra1: True
* /camera/realsense2_camera/enable_infra2: True
* /camera/realsense2_camera/enable_infra: False
* /camera/realsense2_camera/enable_pointcloud: False
* /camera/realsense2_camera/enable_pose: False
* /camera/realsense2_camera/enable_sync: False
* /camera/realsense2_camera/filters:
* /camera/realsense2_camera/fisheye1_frame_id: camera_fisheye1_f...
* /camera/realsense2_camera/fisheye1_optical_frame_id: camera_fisheye1_o...
* /camera/realsense2_camera/fisheye2_frame_id: camera_fisheye2_f...
* /camera/realsense2_camera/fisheye2_optical_frame_id: camera_fisheye2_o...
* /camera/realsense2_camera/fisheye_fps: -1
* /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame
* /camera/realsense2_camera/fisheye_height: -1
* /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op...
* /camera/realsense2_camera/fisheye_width: -1
* /camera/realsense2_camera/gyro_fps: -1
* /camera/realsense2_camera/gyro_frame_id: camera_gyro_frame
* /camera/realsense2_camera/gyro_optical_frame_id: camera_gyro_optic...
* /camera/realsense2_camera/imu_optical_frame_id: camera_imu_optica...
* /camera/realsense2_camera/infra1_frame_id: camera_infra1_frame
* /camera/realsense2_camera/infra1_optical_frame_id: camera_infra1_opt...
* /camera/realsense2_camera/infra2_frame_id: camera_infra2_frame
* /camera/realsense2_camera/infra2_optical_frame_id: camera_infra2_opt...
* /camera/realsense2_camera/infra_fps: 30
* /camera/realsense2_camera/infra_height: 480
* /camera/realsense2_camera/infra_rgb: False
* /camera/realsense2_camera/infra_width: 848
* /camera/realsense2_camera/initial_reset: False
* /camera/realsense2_camera/json_file_path:
* /camera/realsense2_camera/linear_accel_cov: 0.01
* /camera/realsense2_camera/odom_frame_id: camera_odom_frame
* /camera/realsense2_camera/ordered_pc: False
* /camera/realsense2_camera/pointcloud_texture_index: 0
* /camera/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
* /camera/realsense2_camera/pose_frame_id: camera_pose_frame
* /camera/realsense2_camera/pose_optical_frame_id: camera_pose_optic...
* /camera/realsense2_camera/publish_odom_tf: True
* /camera/realsense2_camera/publish_tf: True
* /camera/realsense2_camera/reconnect_timeout: 6.0
* /camera/realsense2_camera/rosbag_filename:
* /camera/realsense2_camera/serial_no:
* /camera/realsense2_camera/stereo_module/exposure/1: 7500
* /camera/realsense2_camera/stereo_module/exposure/2: 1
* /camera/realsense2_camera/stereo_module/gain/1: 16
* /camera/realsense2_camera/stereo_module/gain/2: 16
* /camera/realsense2_camera/tf_publish_rate: 0.0
* /camera/realsense2_camera/topic_odom_in: odom_in
* /camera/realsense2_camera/unite_imu_method:
* /camera/realsense2_camera/usb_port_id:
* /camera/realsense2_camera/wait_for_device_timeout: -1.0
* /rosdistro: noetic
* /rosversion: 1.15.14

NODES
/camera/
realsense2_camera (nodelet/nodelet)
realsense2_camera_manager (nodelet/nodelet)

auto-starting new master
process[master]: started with pid [5378]
ROS_MASTER_URI=http://192.168.1.179:11311/

setting /run_id to 83314c0e-8a6e-11ec-b854-adade7a6104b
process[rosout-1]: started with pid [5388]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [5391]
process[camera/realsense2_camera-3]: started with pid [5392]
[ INFO] [1644496785.111067644]: Initializing nodelet with 4 worker threads.
[ INFO] [1644496786.891866455]: RealSense ROS v2.3.2
[ INFO] [1644496786.891978324]: Built with LibRealSense v2.50.0
[ INFO] [1644496786.892041972]: Running with LibRealSense v2.50.0
[ INFO] [1644496786.976737762]:
[ INFO] [1644496787.213293424]: Device with serial number 819112071357 was found.

[ INFO] [1644496787.213714568]: Device with physical ID 2-1-2 was found.
[ INFO] [1644496787.213907548]: Device with name Intel RealSense D435 was found.
[ INFO] [1644496787.217751250]: Device with port number 2-1 was found.
[ INFO] [1644496787.218025636]: Device USB type: 3.2
[ INFO] [1644496787.225342451]: getParameters...
[ INFO] [1644496787.399804260]: setupDevice...
[ INFO] [1644496787.399924185]: JSON file is not provided
[ INFO] [1644496787.400027091]: ROS Node Namespace: camera
[ INFO] [1644496787.400096053]: Device Name: Intel RealSense D435
[ INFO] [1644496787.400152516]: Device Serial No: 819112071357
[ INFO] [1644496787.400211997]: Device physical port: 2-1-2
[ INFO] [1644496787.400268885]: Device FW version: 05.12.13.50
[ INFO] [1644496787.400325236]: Device Product ID: 0x0B07
[ INFO] [1644496787.400389939]: Enable PointCloud: Off
[ INFO] [1644496787.400446476]: Align Depth: Off
[ INFO] [1644496787.400491346]: Sync Mode: Off
[ INFO] [1644496787.400667362]: Device Sensors:
[ INFO] [1644496787.485244840]: Stereo Module was found.
[ INFO] [1644496787.533593758]: RGB Camera was found.
[ INFO] [1644496787.534827820]: (Confidence, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1644496787.535950920]: num_filters: 0
[ INFO] [1644496787.536842707]: Setting Dynamic reconfig parameters.
[ INFO] [1644496790.552754282]: Done Setting Dynamic reconfig parameters.
[ INFO] [1644496790.561136401]: depth stream is enabled - width: 848, height: 480, fps: 30, Format: Z16
[ INFO] [1644496790.563789763]: infra1 stream is enabled - width: 848, height: 480, fps: 30, Format: Y8
[ INFO] [1644496790.565874168]: infra2 stream is enabled - width: 848, height: 480, fps: 30, Format: Y8
[ INFO] [1644496790.570929599]: color stream is enabled - width: 640, height: 480, fps: 30, Format: RGB8
[ INFO] [1644496790.571946163]: setupPublishers...
[ INFO] [1644496790.589495171]: Expected frequency for depth = 30.00000
[ INFO] [1644496790.802658095]: Expected frequency for infra1 = 30.00000
[ INFO] [1644496790.928661083]: Expected frequency for infra2 = 30.00000
[ INFO] [1644496791.051597399]: Expected frequency for color = 30.00000
[ INFO] [1644496791.176559474]: setupStreams...
[ INFO] [1644496791.667790561]: SELECTED BASE:Depth, 0
[ INFO] [1644496791.718501920]: RealSense Node Is Up!
[ WARN] [1644496791.803406694]:
10/02 06:39:51,804 WARNING [281472795390320] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
10/02 06:39:51,855 WARNING [281472795390320] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
10/02 06:39:51,909 WARNING [281472795390320] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
10/02 06:39:51,964 WARNING [281472795390320] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
10/02 06:39:52,018 WARNING [281472795390320] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
10/02 06:39:52,072 WARNING [281472795390320] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
10/02 06:39:52,128 WARNING [281472795390320] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
10/02 06:39:52,184 WARNING [281472795390320] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ WARN] [1644496792.555413215]: Hardware Notification:Right MIPI error,1.6445e+12,Error,Hardware Error
10/02 06:43:38,430 ERROR [281471797412208] (ds5-options.cpp:88) Asic Temperature value is not valid!
10/02 06:43:39,435 ERROR [281471797412208] (ds5-options.cpp:88) Asic Temperature value is not valid!
10/02 06:43:40,441 ERROR [281471797412208] (ds5-options.cpp:88) Asic Temperature value is not valid!

rod@rod-HP-Pavilion-Laptop-15-eh0xxx:~$ rostopic list -v

Published topics:
* /rosout_agg [rosgraph_msgs/Log] 1 publisher
* /rosout [rosgraph_msgs/Log] 14 publishers
* /camera/realsense2_camera_manager/bond [bond/Status] 2 publishers
* /tf_static [tf2_msgs/TFMessage] 3 publishers
* /tf [tf2_msgs/TFMessage] 6 publishers
* /camera/stereo_module/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher
* /camera/stereo_module/parameter_updates [dynamic_reconfigure/Config] 1 publisher
* /camera/rgb_camera/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher
* /camera/rgb_camera/parameter_updates [dynamic_reconfigure/Config] 1 publisher
* /diagnostics [diagnostic_msgs/DiagnosticArray] 3 publishers
* /camera/depth/image_rect_raw/compressedDepth [sensor_msgs/CompressedImage] 1 publisher
* /camera/depth/image_rect_raw/compressedDepth/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher
* /camera/depth/image_rect_raw/compressedDepth/parameter_updates [dynamic_reconfigure/Config] 1 publisher
* /camera/depth/image_rect_raw/compressed [sensor_msgs/CompressedImage] 1 publisher
* /camera/depth/image_rect_raw/compressed/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher
* /camera/depth/image_rect_raw/compressed/parameter_updates [dynamic_reconfigure/Config] 1 publisher
* /camera/depth/image_rect_raw [sensor_msgs/Image] 1 publisher
* /camera/depth/image_rect_raw/theora [theora_image_transport/Packet] 1 publisher
* /camera/depth/image_rect_raw/theora/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher
* /camera/depth/image_rect_raw/theora/parameter_updates [dynamic_reconfigure/Config] 1 publisher
* /camera/depth/camera_info [sensor_msgs/CameraInfo] 1 publisher
* /camera/depth/metadata [realsense2_camera/Metadata] 1 publisher
* /camera/infra1/image_rect_raw/compressedDepth [sensor_msgs/CompressedImage] 1 publisher
* /camera/infra1/image_rect_raw/compressedDepth/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher
* /camera/infra1/image_rect_raw/compressedDepth/parameter_updates [dynamic_reconfigure/Config] 1 publisher
* /camera/infra1/image_rect_raw/compressed [sensor_msgs/CompressedImage] 1 publisher
* /camera/infra1/image_rect_raw/compressed/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher
* /camera/infra1/image_rect_raw/compressed/parameter_updates [dynamic_reconfigure/Config] 1 publisher
* /camera/infra1/image_rect_raw [sensor_msgs/Image] 1 publisher
* /camera/infra1/image_rect_raw/theora [theora_image_transport/Packet] 1 publisher
* /camera/infra1/image_rect_raw/theora/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher
* /camera/infra1/image_rect_raw/theora/parameter_updates [dynamic_reconfigure/Config] 1 publisher
* /camera/infra1/camera_info [sensor_msgs/CameraInfo] 1 publisher
* /camera/infra1/metadata [realsense2_camera/Metadata] 1 publisher
* /camera/infra2/image_rect_raw/compressedDepth [sensor_msgs/CompressedImage] 1 publisher
* /camera/infra2/image_rect_raw/compressedDepth/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher
* /camera/infra2/image_rect_raw/compressedDepth/parameter_updates [dynamic_reconfigure/Config] 1 publisher
* /camera/infra2/image_rect_raw/compressed [sensor_msgs/CompressedImage] 1 publisher
* /camera/infra2/image_rect_raw/compressed/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher
* /camera/infra2/image_rect_raw/compressed/parameter_updates [dynamic_reconfigure/Config] 1 publisher
* /camera/infra2/image_rect_raw [sensor_msgs/Image] 1 publisher
* /camera/infra2/image_rect_raw/theora [theora_image_transport/Packet] 1 publisher
* /camera/infra2/image_rect_raw/theora/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher
* /camera/infra2/image_rect_raw/theora/parameter_updates [dynamic_reconfigure/Config] 1 publisher
* /camera/infra2/camera_info [sensor_msgs/CameraInfo] 1 publisher
* /camera/infra2/metadata [realsense2_camera/Metadata] 1 publisher
* /camera/color/image_raw/compressedDepth [sensor_msgs/CompressedImage] 1 publisher
* /camera/color/image_raw/compressedDepth/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher
* /camera/color/image_raw/compressedDepth/parameter_updates [dynamic_reconfigure/Config] 1 publisher
* /camera/color/image_raw/compressed [sensor_msgs/CompressedImage] 1 publisher
* /camera/color/image_raw/compressed/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher
* /camera/color/image_raw/compressed/parameter_updates [dynamic_reconfigure/Config] 1 publisher
* /camera/color/image_raw [sensor_msgs/Image] 1 publisher
* /camera/color/image_raw/theora [theora_image_transport/Packet] 1 publisher
* /camera/color/image_raw/theora/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher
* /camera/color/image_raw/theora/parameter_updates [dynamic_reconfigure/Config] 1 publisher
* /camera/color/camera_info [sensor_msgs/CameraInfo] 1 publisher
* /camera/color/metadata [realsense2_camera/Metadata] 1 publisher
* /camera/extrinsics/depth_to_color [realsense2_camera/Extrinsics] 1 publisher
* /camera/extrinsics/depth_to_infra1 [realsense2_camera/Extrinsics] 1 publisher
* /camera/extrinsics/depth_to_infra2 [realsense2_camera/Extrinsics] 1 publisher
* /camera/stereo_module/auto_exposure_roi/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher
* /camera/stereo_module/auto_exposure_roi/parameter_updates [dynamic_reconfigure/Config] 1 publisher
* /camera/rgb_camera/auto_exposure_roi/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher
* /camera/rgb_camera/auto_exposure_roi/parameter_updates [dynamic_reconfigure/Config] 1 publisher
* /odom [nav_msgs/Odometry] 1 publisher
* /jet_drive_controller/odom [nav_msgs/Odometry] 1 publisher
* /jet_drive_controller/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher
* /jet_drive_controller/parameter_updates [dynamic_reconfigure/Config] 1 publisher
* /joint_states [sensor_msgs/JointState] 2 publishers
* /encoder_left_value [std_msgs/Int32] 1 publisher
* /encoder_right_value [std_msgs/Int32] 1 publisher
* /imu/data_raw [sensor_msgs/Imu] 1 publisher
* /jet_drive_controller/cmd_vel [geometry_msgs/Twist] 1 publisher
* /jet_drive_controller/joy [sensor_msgs/Joy] 1 publisher
* /rtabmap/odom [nav_msgs/Odometry] 1 publisher
* /rtabmap/odom_info [rtabmap_ros/OdomInfo] 1 publisher
* /rtabmap/odom_info_lite [rtabmap_ros/OdomInfo] 1 publisher
* /rtabmap/odom_local_map [sensor_msgs/PointCloud2] 1 publisher
* /rtabmap/odom_local_scan_map [sensor_msgs/PointCloud2] 1 publisher
* /rtabmap/odom_last_frame [sensor_msgs/PointCloud2] 1 publisher
* /rtabmap/odom_rgbd_image [rtabmap_ros/RGBDImage] 1 publisher
* /rtabmap/grid_map [nav_msgs/OccupancyGrid] 1 publisher
* /rtabmap/grid_prob_map [nav_msgs/OccupancyGrid] 1 publisher
* /rtabmap/cloud_map [sensor_msgs/PointCloud2] 1 publisher
* /rtabmap/cloud_obstacles [sensor_msgs/PointCloud2] 1 publisher
* /rtabmap/cloud_ground [sensor_msgs/PointCloud2] 1 publisher
* /rtabmap/proj_map [nav_msgs/OccupancyGrid] 1 publisher
* /rtabmap/scan_map [sensor_msgs/PointCloud2] 1 publisher
* /rtabmap/octomap_binary [octomap_msgs/Octomap] 1 publisher
* /rtabmap/octomap_full [octomap_msgs/Octomap] 1 publisher
* /rtabmap/octomap_occupied_space [sensor_msgs/PointCloud2] 1 publisher
* /rtabmap/octomap_global_frontier_space [sensor_msgs/PointCloud2] 1 publisher
* /rtabmap/octomap_obstacles [sensor_msgs/PointCloud2] 1 publisher
* /rtabmap/octomap_ground [sensor_msgs/PointCloud2] 1 publisher
* /rtabmap/octomap_empty_space [sensor_msgs/PointCloud2] 1 publisher
* /rtabmap/octomap_grid [nav_msgs/OccupancyGrid] 1 publisher
* /rtabmap/info [rtabmap_ros/Info] 1 publisher
* /rtabmap/mapData [rtabmap_ros/MapData] 1 publisher
* /rtabmap/mapGraph [rtabmap_ros/MapGraph] 1 publisher
* /rtabmap/mapOdomCache [rtabmap_ros/MapGraph] 1 publisher
* /rtabmap/landmarks [geometry_msgs/PoseArray] 1 publisher
* /rtabmap/labels [visualization_msgs/MarkerArray] 1 publisher
* /rtabmap/mapPath [nav_msgs/Path] 1 publisher
* /rtabmap/local_grid_obstacle [sensor_msgs/PointCloud2] 1 publisher
* /rtabmap/local_grid_empty [sensor_msgs/PointCloud2] 1 publisher
* /rtabmap/local_grid_ground [sensor_msgs/PointCloud2] 1 publisher
* /rtabmap/localization_pose [geometry_msgs/PoseWithCovarianceStamped] 1 publisher
* /rtabmap/goal_out [geometry_msgs/PoseStamped] 1 publisher
* /rtabmap/goal_reached [std_msgs/Bool] 1 publisher
* /rtabmap/global_path [nav_msgs/Path] 1 publisher
* /rtabmap/local_path [nav_msgs/Path] 1 publisher
* /rtabmap/global_path_nodes [rtabmap_ros/Path] 1 publisher
* /rtabmap/local_path_nodes [rtabmap_ros/Path] 1 publisher

Subscribed topics:
* /rosout [rosgraph_msgs/Log] 1 subscriber
* /camera/realsense2_camera_manager/bond [bond/Status] 2 subscribers
* /encoder_left_value [std_msgs/Int32] 2 subscribers
* /encoder_right_value [std_msgs/Int32] 2 subscribers
* /joint_states [sensor_msgs/JointState] 1 subscriber
* /jet_drive_controller/cmd_vel [geometry_msgs/Twist] 2 subscribers
* /reset [std_msgs/Empty] 1 subscriber
* /jet_drive_controller/joy [sensor_msgs/Joy] 1 subscriber
* /jet_drive_controller/joy/set_feedback [sensor_msgs/JoyFeedbackArray] 1 subscriber
* /tf [tf2_msgs/TFMessage] 3 subscribers
* /tf_static [tf2_msgs/TFMessage] 3 subscribers
* /rtabmap/initialpose [geometry_msgs/PoseWithCovarianceStamped] 1 subscriber
* /rtabmap/goal [geometry_msgs/PoseStamped] 1 subscriber
* /rtabmap/goal_node [rtabmap_ros/Goal] 2 subscribers
* /rtabmap/info [rtabmap_ros/Info] 1 subscriber
* /rtabmap/mapData [rtabmap_ros/MapData] 1 subscriber
* /rtabmap/global_path [nav_msgs/Path] 1 subscriber
* /rtabmap/goal_reached [std_msgs/Bool] 1 subscriber
* /camera/infra1/image_rect_raw [sensor_msgs/Image] 3 subscribers
* /camera/infra2/image_rect_raw [sensor_msgs/Image] 3 subscribers
* /camera/infra1/camera_info [sensor_msgs/CameraInfo] 3 subscribers
* /camera/infra2/camera_info [sensor_msgs/CameraInfo] 3 subscribers
* /rtabmap/odom [nav_msgs/Odometry] 2 subscribers
* /rtabmap/odom_info [rtabmap_ros/OdomInfo] 2 subscribers
* /user_data_async [rtabmap_ros/UserData] 1 subscriber
* /rtabmap/global_pose [geometry_msgs/PoseWithCovarianceStamped] 1 subscriber
* /gps/fix [sensor_msgs/NavSatFix] 1 subscriber
* /tag_detections [apriltag_ros/AprilTagDetectionArray] 1 subscriber
* /imu/data [sensor_msgs/Imu] 1 subscriber
* /rtabmap/republish_node_data [std_msgs/Int32MultiArray] 1 subscriber

<launch>

<node pkg="joy" type="joy_node" name="joy_node" ns="jet_drive_controller"/>

<node pkg="teleop_twist_joy" name="teleop_twist_joy" type="teleop_node" ns="jet_drive_controller"/>

<include file="$(find rtabmap_ros)/launch/rtabmap.launch">
<arg name="rtabmap_args" value="--delete_db_on_start"/>
<arg name="left_image_topic" value="/camera/infra1/image_rect_raw"/>
<arg name="right_image_topic" value="/camera/infra2/image_rect_raw"/>
<arg name="left_camera_info_topic" value="/camera/infra1/camera_info"/>
<arg name="right_camera_info_topic" value="/camera/infra2/camera_info"/>
<arg name="stereo" value="true"/>
</include>

</launch>

rod@rod-HP-Pavilion-Laptop-15-eh0xxx:~$ roslaunch test-joy2-rtabmap.launch
... logging to /home/rod/.ros/log/83314c0e-8a6e-11ec-b854-adade7a6104b/roslaunch-rod-HP-Pavilion-Laptop-15-eh0xxx-3064.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://rod-HP-Pavilion-Laptop-15-eh0xxx:42419/

SUMMARY
========

CLEAR PARAMETERS
* /rtabmap/rtabmap/
* /rtabmap/rtabmapviz/
* /rtabmap/stereo_odometry/

PARAMETERS
* /autorepeat_rate: 20
* /deadzone: 0.7
* /rosdistro: noetic
* /rosversion: 1.15.14
* /rtabmap/rtabmap/Mem/IncrementalMemory: true
* /rtabmap/rtabmap/Mem/InitWMWithAllNodes: false
* /rtabmap/rtabmap/approx_sync: False
* /rtabmap/rtabmap/config_path:
* /rtabmap/rtabmap/database_path: ~/.ros/rtabmap.db
* /rtabmap/rtabmap/frame_id: camera_link
* /rtabmap/rtabmap/gen_depth: False
* /rtabmap/rtabmap/gen_depth_decimation: 1
* /rtabmap/rtabmap/gen_depth_fill_holes_error: 0.1
* /rtabmap/rtabmap/gen_depth_fill_holes_size: 0
* /rtabmap/rtabmap/gen_depth_fill_iterations: 1
* /rtabmap/rtabmap/gen_scan: False
* /rtabmap/rtabmap/ground_truth_base_frame_id:
* /rtabmap/rtabmap/ground_truth_frame_id:
* /rtabmap/rtabmap/landmark_angular_variance: 9999.0
* /rtabmap/rtabmap/landmark_linear_variance: 0.0001
* /rtabmap/rtabmap/map_frame_id: map
* /rtabmap/rtabmap/odom_frame_id:
* /rtabmap/rtabmap/odom_frame_id_init:
* /rtabmap/rtabmap/odom_sensor_sync: False
* /rtabmap/rtabmap/odom_tf_angular_variance: 0.001
* /rtabmap/rtabmap/odom_tf_linear_variance: 0.001
* /rtabmap/rtabmap/publish_tf: True
* /rtabmap/rtabmap/queue_size: 10
* /rtabmap/rtabmap/scan_cloud_max_points: 0
* /rtabmap/rtabmap/subscribe_depth: False
* /rtabmap/rtabmap/subscribe_odom_info: True
* /rtabmap/rtabmap/subscribe_rgb: False
* /rtabmap/rtabmap/subscribe_rgbd: False
* /rtabmap/rtabmap/subscribe_scan: False
* /rtabmap/rtabmap/subscribe_scan_cloud: False
* /rtabmap/rtabmap/subscribe_scan_descriptor: False
* /rtabmap/rtabmap/subscribe_stereo: True
* /rtabmap/rtabmap/subscribe_user_data: False
* /rtabmap/rtabmap/wait_for_transform_duration: 0.2
* /rtabmap/rtabmapviz/approx_sync: False
* /rtabmap/rtabmapviz/frame_id: camera_link
* /rtabmap/rtabmapviz/odom_frame_id:
* /rtabmap/rtabmapviz/queue_size: 10
* /rtabmap/rtabmapviz/subscribe_depth: False
* /rtabmap/rtabmapviz/subscribe_odom_info: True
* /rtabmap/rtabmapviz/subscribe_rgb: False
* /rtabmap/rtabmapviz/subscribe_rgbd: False
* /rtabmap/rtabmapviz/subscribe_scan: False
* /rtabmap/rtabmapviz/subscribe_scan_cloud: False
* /rtabmap/rtabmapviz/subscribe_scan_descriptor: False
* /rtabmap/rtabmapviz/subscribe_stereo: True
* /rtabmap/rtabmapviz/wait_for_transform_duration: 0.2
* /rtabmap/stereo_odometry/approx_sync: False
* /rtabmap/stereo_odometry/config_path:
* /rtabmap/stereo_odometry/expected_update_rate: 0.0
* /rtabmap/stereo_odometry/frame_id: camera_link
* /rtabmap/stereo_odometry/ground_truth_base_frame_id:
* /rtabmap/stereo_odometry/ground_truth_frame_id:
* /rtabmap/stereo_odometry/guess_frame_id:
* /rtabmap/stereo_odometry/guess_min_rotation: 0.0
* /rtabmap/stereo_odometry/guess_min_translation: 0.0
* /rtabmap/stereo_odometry/keep_color: False
* /rtabmap/stereo_odometry/max_update_rate: 0.0
* /rtabmap/stereo_odometry/odom_frame_id: odom
* /rtabmap/stereo_odometry/publish_tf: True
* /rtabmap/stereo_odometry/queue_size: 10
* /rtabmap/stereo_odometry/subscribe_rgbd: False
* /rtabmap/stereo_odometry/wait_for_transform_duration: 0.2
* /rtabmap/stereo_odometry/wait_imu_to_init: False

NODES
/jet_drive_controller/
joy_node (joy/joy_node)
teleop_twist_joy (teleop_twist_joy/teleop_node)
/rtabmap/
rtabmap (rtabmap_ros/rtabmap)
rtabmapviz (rtabmap_ros/rtabmapviz)
stereo_odometry (rtabmap_ros/stereo_odometry)

ROS_MASTER_URI=http://192.168.1.179:11311

process[jet_drive_controller/joy_node-1]: started with pid [3086]
process[jet_drive_controller/teleop_twist_joy-2]: started with pid [3087]
process[rtabmap/stereo_odometry-3]: started with pid [3088]
process[rtabmap/rtabmap-4]: started with pid [3089]
process[rtabmap/rtabmapviz-5]: started with pid [3090]
[ INFO] [1644496975.793251089]: Starting node...
[ INFO] [1644496975.809966728]: Starting node...
[ WARN] [1644496975.818905663]: Couldn't set gain on joystick force feedback: Bad file descriptor
[ INFO] [1644496975.975571306]: Initializing nodelet with 8 worker threads.
[ INFO] [1644496975.975607554]: Initializing nodelet with 8 worker threads.
[ INFO] [1644496976.528676745]: rtabmapviz: Using configuration from "/home/rod/.ros/rtabmap_gui.ini"
[ INFO] [1644496976.698279047]: /rtabmap/rtabmap(maps): map_filter_radius = 0.000000
[ INFO] [1644496976.698351961]: /rtabmap/rtabmap(maps): map_filter_angle = 30.000000
[ INFO] [1644496976.698421034]: /rtabmap/rtabmap(maps): map_cleanup = true
[ INFO] [1644496976.698455396]: /rtabmap/rtabmap(maps): map_always_update = false
[ INFO] [1644496976.698485149]: /rtabmap/rtabmap(maps): map_empty_ray_tracing = true
[ INFO] [1644496976.698510501]: /rtabmap/rtabmap(maps): cloud_output_voxelized = true
[ INFO] [1644496976.698553733]: /rtabmap/rtabmap(maps): cloud_subtract_filtering = false
[ INFO] [1644496976.698582438]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
Warning: TF_OLD_DATA ignoring data from the past (Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained) for frame base_link at time 1644496899.043760 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
Warning: TF_OLD_DATA ignoring data from the past (Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained) for frame base_link at time 1644496899.043760 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
Warning: TF_OLD_DATA ignoring data from the past (Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained) for frame base_link at time 1644496899.043760 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
[ INFO] [1644496976.723983207]: /rtabmap/rtabmap(maps): octomap_tree_depth = 16
[ INFO] [1644496977.228591874]: Odometry: frame_id = camera_link
[ INFO] [1644496977.228648516]: Odometry: odom_frame_id = odom
[ INFO] [1644496977.228668421]: Odometry: publish_tf = true
[ INFO] [1644496977.228686579]: Odometry: wait_for_transform = true
[ INFO] [1644496977.228708579]: Odometry: wait_for_transform_duration = 0.200000
[ INFO] [1644496977.228750065]: Odometry: initial_pose = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000
[ INFO] [1644496977.228769062]: Odometry: ground_truth_frame_id =
[ INFO] [1644496977.228786662]: Odometry: ground_truth_base_frame_id =
[ INFO] [1644496977.228804472]: Odometry: config_path =
[ INFO] [1644496977.228821932]: Odometry: publish_null_when_lost = true
[ INFO] [1644496977.228840999]: Odometry: guess_frame_id =
[ INFO] [1644496977.228860275]: Odometry: guess_min_translation = 0.000000
[ INFO] [1644496977.228878923]: Odometry: guess_min_rotation = 0.000000
[ INFO] [1644496977.228899875]: Odometry: guess_min_time = 0.000000
[ INFO] [1644496977.228931304]: Odometry: expected_update_rate = 0.000000 Hz
[ INFO] [1644496977.228950440]: Odometry: max_update_rate = 0.000000 Hz
[ INFO] [1644496977.228969088]: Odometry: wait_imu_to_init = false
[ INFO] [1644496977.229010015]: Odometry: stereoParams_=1 visParams_=1 icpParams_=0
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
[ INFO] [1644496977.656951229]: rtabmapviz: Reading parameters from the ROS server...
[ INFO] [1644496977.667823305]: rtabmapviz: Cannot get rtabmap's parameters, waiting max 5 seconds in case the node has just been launched.
[ INFO] [1644496977.751104322]: rtabmap: frame_id = camera_link
[ INFO] [1644496977.751176468]: rtabmap: map_frame_id = map
[ INFO] [1644496977.751210830]: rtabmap: use_action_for_goal = false
[ INFO] [1644496977.751249872]: rtabmap: tf_delay = 0.050000
[ INFO] [1644496977.751276621]: rtabmap: tf_tolerance = 0.100000
[ INFO] [1644496977.751319154]: rtabmap: odom_sensor_sync = false
[ INFO] [1644496977.764539998]: rtabmap: stereo_to_depth = false
[ INFO] [1644496977.764612493]: rtabmap: gen_scan = false
[ INFO] [1644496977.764654537]: rtabmap: gen_depth = false
[ WARN] [1644496982.667970376]: rtabmapviz: Parameter BRIEF/Bytes not found
[ WARN] [1644496982.671372701]: rtabmapviz: Parameter BRISK/Octaves not found
[ WARN] [1644496982.677997790]: rtabmapviz: Parameter BRISK/PatternScale not found
[ WARN] [1644496982.690882486]: rtabmapviz: Parameter BRISK/Thresh not found
[ WARN] [1644496982.696815795]: rtabmapviz: Parameter Bayes/FullPredictionUpdate not found
[ WARN] [1644496982.700561042]: rtabmapviz: Parameter Bayes/PredictionLC not found
[ WARN] [1644496982.705361872]: rtabmapviz: Parameter Bayes/VirtualPlacePriorThr not found
[ WARN] [1644496982.713126144]: rtabmapviz: Parameter Db/TargetVersion not found
[ WARN] [1644496982.732456086]: rtabmapviz: Parameter DbSqlite3/CacheSize not found
[ WARN] [1644496982.737558911]: rtabmapviz: Parameter DbSqlite3/InMemory not found
[ WARN] [1644496982.742822161]: rtabmapviz: Parameter DbSqlite3/JournalMode not found
[ WARN] [1644496982.749014652]: rtabmapviz: Parameter DbSqlite3/Synchronous not found
[ WARN] [1644496982.758798109]: rtabmapviz: Parameter DbSqlite3/TempStore not found
[ WARN] [1644496982.764750066]: rtabmapviz: Parameter FAST/CV not found
[ WARN] [1644496982.769462686]: rtabmapviz: Parameter FAST/Gpu not found
[ WARN] [1644496982.774207503]: rtabmapviz: Parameter FAST/GpuKeypointsRatio not found
[ WARN] [1644496982.778094319]: rtabmapviz: Parameter FAST/GridCols not found
[ WARN] [1644496982.789847863]: rtabmapviz: Parameter FAST/GridRows not found
[ WARN] [1644496982.793485903]: rtabmapviz: Parameter FAST/MaxThreshold not found
[ WARN] [1644496982.802084571]: rtabmapviz: Parameter FAST/MinThreshold not found
[ WARN] [1644496982.807655682]: rtabmapviz: Parameter FAST/NonmaxSuppression not found
[ WARN] [1644496982.810754546]: rtabmapviz: Parameter FAST/Threshold not found
[ WARN] [1644496982.820787966]: rtabmapviz: Parameter FREAK/NOctaves not found
[ WARN] [1644496982.828104973]: rtabmapviz: Parameter FREAK/OrientationNormalized not found
[ WARN] [1644496982.832219542]: rtabmapviz: Parameter FREAK/PatternScale not found
[ WARN] [1644496982.838428654]: rtabmapviz: Parameter FREAK/ScaleNormalized not found
[ WARN] [1644496982.844567227]: rtabmapviz: Parameter GFTT/BlockSize not found
[ WARN] [1644496982.849568502]: rtabmapviz: Parameter GFTT/K not found
[ WARN] [1644496982.865816762]: rtabmapviz: Parameter GFTT/MinDistance not found
[ WARN] [1644496982.870516881]: rtabmapviz: Parameter GFTT/QualityLevel not found
[ WARN] [1644496982.875309539]: rtabmapviz: Parameter GFTT/UseHarrisDetector not found
[ WARN] [1644496982.888492528]: rtabmapviz: Parameter GMS/ThresholdFactor not found
[ WARN] [1644496982.894414383]: rtabmapviz: Parameter GMS/WithRotation not found
[ WARN] [1644496982.898655853]: rtabmapviz: Parameter GMS/WithScale not found
[ WARN] [1644496982.901777346]: rtabmapviz: Parameter GTSAM/Optimizer not found
[ WARN] [1644496982.906402176]: rtabmapviz: Parameter Grid/3D not found
[ WARN] [1644496982.912758445]: rtabmapviz: Parameter Grid/CellSize not found
[ WARN] [1644496982.924947381]: rtabmapviz: Parameter Grid/ClusterRadius not found
[ WARN] [1644496982.931294919]: rtabmapviz: Parameter Grid/DepthDecimation not found
[ WARN] [1644496982.937718724]: rtabmapviz: Parameter Grid/DepthRoiRatios not found
[ WARN] [1644496982.943638693]: rtabmapviz: Parameter Grid/FlatObstacleDetected not found
[ WARN] [1644496982.946613450]: rtabmapviz: Parameter Grid/FootprintHeight not found
[ WARN] [1644496982.958857211]: rtabmapviz: Parameter Grid/FootprintLength not found
[ WARN] [1644496982.963415552]: rtabmapviz: Parameter Grid/FootprintWidth not found
[ WARN] [1644496982.968262128]: rtabmapviz: Parameter Grid/GroundIsObstacle not found
[ WARN] [1644496982.974924093]: rtabmapviz: Parameter Grid/MapFrameProjection not found
[ WARN] [1644496982.980409438]: rtabmapviz: Parameter Grid/MaxGroundAngle not found
[ WARN] [1644496982.993104725]: rtabmapviz: Parameter Grid/MaxGroundHeight not found
[ WARN] [1644496983.002380645]: rtabmapviz: Parameter Grid/MaxObstacleHeight not found
[ WARN] [1644496983.008282874]: rtabmapviz: Parameter Grid/MinClusterSize not found
[ WARN] [1644496983.014246704]: rtabmapviz: Parameter Grid/MinGroundHeight not found
[ WARN] [1644496983.025865105]: rtabmapviz: Parameter Grid/NoiseFilteringMinNeighbors not found
[ WARN] [1644496983.031372172]: rtabmapviz: Parameter Grid/NoiseFilteringRadius not found
[ WARN] [1644496983.034216604]: rtabmapviz: Parameter Grid/NormalK not found
[ WARN] [1644496983.038880126]: rtabmapviz: Parameter Grid/NormalsSegmentation not found
[ WARN] [1644496983.045409461]: rtabmapviz: Parameter Grid/PreVoxelFiltering not found
[ WARN] [1644496983.069150798]: rtabmapviz: Parameter Grid/RangeMax not found
[ WARN] [1644496983.073344357]: rtabmapviz: Parameter Grid/RangeMin not found
[ WARN] [1644496983.077106226]: rtabmapviz: Parameter Grid/RayTracing not found
[ WARN] [1644496983.080284710]: rtabmapviz: Parameter Grid/Scan2dUnknownSpaceFilled not found
[ WARN] [1644496983.090528911]: rtabmapviz: Parameter Grid/ScanDecimation not found
[ WARN] [1644496983.095902860]: rtabmapviz: Parameter Grid/Sensor not found
[ WARN] [1644496983.099350024]: rtabmapviz: Parameter GridGlobal/AltitudeDelta not found
[ WARN] [1644496983.104227819]: rtabmapviz: Parameter GridGlobal/Eroded not found
[ WARN] [1644496983.106903095]: rtabmapviz: Parameter GridGlobal/FloodFillDepth not found
[ WARN] [1644496983.112109564]: rtabmapviz: Parameter GridGlobal/FootprintRadius not found
[ WARN] [1644496983.114807050]: rtabmapviz: Parameter GridGlobal/FullUpdate not found
[ WARN] [1644496983.125593570]: rtabmapviz: Parameter GridGlobal/MaxNodes not found
[ WARN] [1644496983.132737650]: rtabmapviz: Parameter GridGlobal/MinSize not found
[ WARN] [1644496983.135652691]: rtabmapviz: Parameter GridGlobal/OccupancyThr not found
[ WARN] [1644496983.141322349]: rtabmapviz: Parameter GridGlobal/ProbClampingMax not found
[ WARN] [1644496983.145730181]: rtabmapviz: Parameter GridGlobal/ProbClampingMin not found
[ WARN] [1644496983.156836645]: rtabmapviz: Parameter GridGlobal/ProbHit not found
[ WARN] [1644496983.162495407]: rtabmapviz: Parameter GridGlobal/ProbMiss not found
[ WARN] [1644496983.165069902]: rtabmapviz: Parameter GridGlobal/UpdateError not found
[ WARN] [1644496983.169491982]: rtabmapviz: Parameter Icp/CCFilterOutFarthestPoints not found
[ WARN] [1644496983.172738142]: rtabmapviz: Parameter Icp/CCMaxFinalRMS not found
[ WARN] [1644496983.176866399]: rtabmapviz: Parameter Icp/CCSamplingLimit not found
[ WARN] [1644496983.191970935]: rtabmapviz: Parameter Icp/CorrespondenceRatio not found
[ WARN] [1644496983.198943135]: rtabmapviz: Parameter Icp/DebugExportFormat not found
[ WARN] [1644496983.205676059]: rtabmapviz: Parameter Icp/DownsamplingStep not found
[ WARN] [1644496983.210027739]: rtabmapviz: Parameter Icp/Epsilon not found
[ WARN] [1644496983.217092619]: rtabmapviz: Parameter Icp/Force4DoF not found
[ WARN] [1644496983.224868763]: rtabmapviz: Parameter Icp/Iterations not found
[ WARN] [1644496983.230712047]: rtabmapviz: Parameter Icp/MaxCorrespondenceDistance not found
[ WARN] [1644496983.233751197]: rtabmapviz: Parameter Icp/MaxRotation not found
[ WARN] [1644496983.238715665]: rtabmapviz: Parameter Icp/MaxTranslation not found
[ WARN] [1644496983.242855097]: rtabmapviz: Parameter Icp/OutlierRatio not found
[ WARN] [1644496983.254406800]: rtabmapviz: Parameter Icp/PMConfig not found
[ WARN] [1644496983.261463508]: rtabmapviz: Parameter Icp/PMMatcherEpsilon not found
[ WARN] [1644496983.270426259]: rtabmapviz: Parameter Icp/PMMatcherIntensity not found
[ WARN] [1644496983.273835778]: rtabmapviz: Parameter Icp/PMMatcherKnn not found
[ WARN] [1644496983.281669612]: rtabmapviz: Parameter Icp/PointToPlane not found
[ WARN] [1644496983.297155971]: rtabmapviz: Parameter Icp/PointToPlaneGroundNormalsUp not found
[ WARN] [1644496983.300774037]: rtabmapviz: Parameter Icp/PointToPlaneK not found
[ WARN] [1644496983.305829229]: rtabmapviz: Parameter Icp/PointToPlaneLowComplexityStrategy not found
[ WARN] [1644496983.309494996]: rtabmapviz: Parameter Icp/PointToPlaneMinComplexity not found
[ WARN] [1644496983.315072812]: rtabmapviz: Parameter Icp/PointToPlaneRadius not found
[ WARN] [1644496983.330407337]: rtabmapviz: Parameter Icp/RangeMax not found
[ WARN] [1644496983.336049826]: rtabmapviz: Parameter Icp/RangeMin not found
[ WARN] [1644496983.342478799]: rtabmapviz: Parameter Icp/Strategy not found
[ WARN] [1644496983.348929494]: rtabmapviz: Parameter Icp/VoxelSize not found
[ WARN] [1644496983.358044848]: rtabmapviz: Parameter ImuFilter/ComplementaryBiasAlpha not found
[ WARN] [1644496983.363971103]: rtabmapviz: Parameter ImuFilter/ComplementaryDoAdpativeGain not found
[ WARN] [1644496983.369485084]: rtabmapviz: Parameter ImuFilter/ComplementaryDoBiasEstimation not found
[ WARN] [1644496983.374433209]: rtabmapviz: Parameter ImuFilter/ComplementaryGainAcc not found
[ WARN] [1644496983.379942232]: rtabmapviz: Parameter ImuFilter/MadgwickGain not found
[ WARN] [1644496983.402108784]: rtabmapviz: Parameter ImuFilter/MadgwickZeta not found
[ WARN] [1644496983.406932243]: rtabmapviz: Parameter KAZE/Diffusivity not found
[ WARN] [1644496983.413477153]: rtabmapviz: Parameter KAZE/Extended not found
[ WARN] [1644496983.424249565]: rtabmapviz: Parameter KAZE/NOctaveLayers not found
[ WARN] [1644496983.427549643]: rtabmapviz: Parameter KAZE/NOctaves not found
[ WARN] [1644496983.433117402]: rtabmapviz: Parameter KAZE/Threshold not found
[ WARN] [1644496983.440759661]: rtabmapviz: Parameter KAZE/Upright not found
[ WARN] [1644496983.444312215]: rtabmapviz: Parameter Kp/BadSignRatio not found
[ WARN] [1644496983.464353283]: rtabmapviz: Parameter Kp/ByteToFloat not found
[ WARN] [1644496983.469861328]: rtabmapviz: Parameter Kp/DetectorStrategy not found
[ WARN] [1644496983.474048810]: rtabmapviz: Parameter Kp/DictionaryPath not found
[ WARN] [1644496983.480601473]: rtabmapviz: Parameter Kp/FlannRebalancingFactor not found
[ WARN] [1644496983.491790699]: rtabmapviz: Parameter Kp/GridCols not found
[ WARN] [1644496983.506979743]: rtabmapviz: Parameter Kp/GridRows not found
[ WARN] [1644496983.511055619]: rtabmapviz: Parameter Kp/IncrementalDictionary not found
[ WARN] [1644496983.520159659]: rtabmapviz: Parameter Kp/IncrementalFlann not found
[ WARN] [1644496983.534789623]: rtabmapviz: Parameter Kp/MaxDepth not found
[ WARN] [1644496983.539288459]: rtabmapviz: Parameter Kp/MaxFeatures not found
[ WARN] [1644496983.545347832]: rtabmapviz: Parameter Kp/MinDepth not found
[ WARN] [1644496983.558652904]: rtabmapviz: Parameter Kp/NNStrategy not found
[ WARN] [1644496983.565181890]: rtabmapviz: Parameter Kp/NewWordsComparedTogether not found
[ WARN] [1644496983.570435223]: rtabmapviz: Parameter Kp/NndrRatio not found
[ WARN] [1644496983.572867311]: rtabmapviz: Parameter Kp/Parallelized not found
[ WARN] [1644496983.579892172]: rtabmapviz: Parameter Kp/RoiRatios not found
[ WARN] [1644496983.592579775]: rtabmapviz: Parameter Kp/SubPixEps not found
[ WARN] [1644496983.598731758]: rtabmapviz: Parameter Kp/SubPixIterations not found
[ WARN] [1644496983.612189363]: rtabmapviz: Parameter Kp/SubPixWinSize not found
[ WARN] [1644496983.618040259]: rtabmapviz: Parameter Kp/TfIdfLikelihoodUsed not found
[ WARN] [1644496983.630586504]: rtabmapviz: Parameter Marker/CornerRefinementMethod not found
[ WARN] [1644496983.640351174]: rtabmapviz: Parameter Marker/Dictionary not found
[ WARN] [1644496983.672444918]: rtabmapviz: Parameter Marker/Length not found
[ WARN] [1644496983.678398062]: rtabmapviz: Parameter Marker/MaxDepthError not found
[ WARN] [1644496983.691937452]: rtabmapviz: Parameter Marker/MaxRange not found
[ WARN] [1644496983.698099072]: rtabmapviz: Parameter Marker/MinRange not found
[ WARN] [1644496983.701885875]: rtabmapviz: Parameter Marker/VarianceAngular not found
[ WARN] [1644496983.705971249]: rtabmapviz: Parameter Marker/VarianceLinear not found
[ WARN] [1644496983.711640418]: rtabmapviz: Parameter Mem/BadSignaturesIgnored not found
[ WARN] [1644496983.725395827]: rtabmapviz: Parameter Mem/BinDataKept not found
[ WARN] [1644496983.730329007]: rtabmapviz: Parameter Mem/CompressionParallelized not found
[ WARN] [1644496983.734179016]: rtabmapviz: Parameter Mem/CovOffDiagIgnored not found
[ WARN] [1644496983.739929410]: rtabmapviz: Parameter Mem/DepthAsMask not found
[ WARN] [1644496983.746344066]: rtabmapviz: Parameter Mem/GenerateIds not found
[ WARN] [1644496983.757704403]: rtabmapviz: Parameter Mem/ImageCompressionFormat not found
[ WARN] [1644496983.760903420]: rtabmapviz: Parameter Mem/ImageKept not found
[ WARN] [1644496983.765978378]: rtabmapviz: Parameter Mem/ImagePostDecimation not found
[ WARN] [1644496983.772753206]: rtabmapviz: Parameter Mem/ImagePreDecimation not found
[ WARN] [1644496983.794561612]: rtabmapviz: Parameter Mem/IntermediateNodeDataKept not found
[ WARN] [1644496983.798732403]: rtabmapviz: Parameter Mem/LaserScanDownsampleStepSize not found
[ WARN] [1644496983.802434697]: rtabmapviz: Parameter Mem/LaserScanNormalK not found
[ WARN] [1644496983.805598095]: rtabmapviz: Parameter Mem/LaserScanNormalRadius not found
[ WARN] [1644496983.809698485]: rtabmapviz: Parameter Mem/LaserScanVoxelSize not found
[ WARN] [1644496983.813110379]: rtabmapviz: Parameter Mem/LocalizationDataSaved not found
[ WARN] [1644496983.825176743]: rtabmapviz: Parameter Mem/MapLabelsAdded not found
[ WARN] [1644496983.828824421]: rtabmapviz: Parameter Mem/NotLinkedNodesKept not found
[ WARN] [1644496983.832209216]: rtabmapviz: Parameter Mem/RawDescriptorsKept not found
[ WARN] [1644496983.835852844]: rtabmapviz: Parameter Mem/RecentWmRatio not found
[ WARN] [1644496983.842792288]: rtabmapviz: Parameter Mem/ReduceGraph not found
[ WARN] [1644496983.848632778]: rtabmapviz: Parameter Mem/RehearsalIdUpdatedToNewOne not found
[ WARN] [1644496983.859342053]: rtabmapviz: Parameter Mem/RehearsalSimilarity not found
[ WARN] [1644496983.866829893]: rtabmapviz: Parameter Mem/RehearsalWeightIgnoredWhileMoving not found
[ WARN] [1644496983.871773688]: rtabmapviz: Parameter Mem/STMSize not found
[ WARN] [1644496983.875046458]: rtabmapviz: Parameter Mem/SaveDepth16Format not found
[ WARN] [1644496983.879857205]: rtabmapviz: Parameter Mem/StereoFromMotion not found
[ WARN] [1644496983.893223738]: rtabmapviz: Parameter Mem/TransferSortingByWeightId not found
[ WARN] [1644496983.895844537]: rtabmapviz: Parameter Mem/UseOdomFeatures not found
[ WARN] [1644496983.901152277]: rtabmapviz: Parameter Mem/UseOdomGravity not found
[ WARN] [1644496983.906881229]: rtabmapviz: Parameter ORB/EdgeThreshold not found
[ WARN] [1644496983.912949193]: rtabmapviz: Parameter ORB/FirstLevel not found
[ WARN] [1644496983.922410681]: rtabmapviz: Parameter ORB/Gpu not found
[ WARN] [1644496983.930160007]: rtabmapviz: Parameter ORB/NLevels not found
[ WARN] [1644496983.933179741]: rtabmapviz: Parameter ORB/PatchSize not found
[ WARN] [1644496983.938025549]: rtabmapviz: Parameter ORB/ScaleFactor not found
[ WARN] [1644496983.944607335]: rtabmapviz: Parameter ORB/ScoreType not found
[ WARN] [1644496983.952162642]: rtabmapviz: Parameter ORB/WTA_K not found
[ WARN] [1644496983.959540411]: rtabmapviz: Parameter Optimizer/Epsilon not found
[ WARN] [1644496983.966095099]: rtabmapviz: Parameter Optimizer/GravitySigma not found
[ WARN] [1644496983.971961570]: rtabmapviz: Parameter Optimizer/Iterations not found
[ WARN] [1644496983.975129088]: rtabmapviz: Parameter Optimizer/LandmarksIgnored not found
[ WARN] [1644496983.981265845]: rtabmapviz: Parameter Optimizer/PriorsIgnored not found
[ WARN] [1644496983.990837683]: rtabmapviz: Parameter Optimizer/Robust not found
[ WARN] [1644496983.998395783]: rtabmapviz: Parameter Optimizer/Strategy not found
[ WARN] [1644496984.003611332]: rtabmapviz: Parameter Optimizer/VarianceIgnored not found
[ WARN] [1644496984.006843314]: rtabmapviz: Parameter PyDetector/Cuda not found
[ WARN] [1644496984.010888320]: rtabmapviz: Parameter PyDetector/Path not found
[ WARN] [1644496984.014298258]: rtabmapviz: Parameter PyMatcher/Cuda not found
[ WARN] [1644496984.025262105]: rtabmapviz: Parameter PyMatcher/Iterations not found
[ WARN] [1644496984.029744319]: rtabmapviz: Parameter PyMatcher/Model not found
[ WARN] [1644496984.033893947]: rtabmapviz: Parameter PyMatcher/Path not found
[ WARN] [1644496984.038611526]: rtabmapviz: Parameter PyMatcher/Threshold not found
[ WARN] [1644496984.042338614]: rtabmapviz: Parameter RGBD/AngularSpeedUpdate not found
[ WARN] [1644496984.046749031]: rtabmapviz: Parameter RGBD/AngularUpdate not found
[ WARN] [1644496984.057364370]: rtabmapviz: Parameter RGBD/CreateOccupancyGrid not found
[ WARN] [1644496984.066017094]: rtabmapviz: Parameter RGBD/Enabled not found
[ WARN] [1644496984.073474343]: rtabmapviz: Parameter RGBD/GoalReachedRadius not found
[ WARN] [1644496984.078185497]: rtabmapviz: Parameter RGBD/GoalsSavedInUserData not found
[ WARN] [1644496984.085489234]: rtabmapviz: Parameter RGBD/LinearSpeedUpdate not found
[ WARN] [1644496984.096734194]: rtabmapviz: Parameter RGBD/LinearUpdate not found
[ WARN] [1644496984.100460723]: rtabmapviz: Parameter RGBD/LocalBundleOnLoopClosure not found
[ WARN] [1644496984.104445386]: rtabmapviz: Parameter RGBD/LocalImmunizationRatio not found
[ WARN] [1644496984.107936619]: rtabmapviz: Parameter RGBD/LocalRadius not found
[ WARN] [1644496984.112404096]: rtabmapviz: Parameter RGBD/LoopClosureIdentityGuess not found
[ WARN] [1644496984.117495467]: rtabmapviz: Parameter RGBD/LoopClosureReextractFeatures not found
[ WARN] [1644496984.132098821]: rtabmapviz: Parameter RGBD/LoopCovLimited not found
[ WARN] [1644496984.137326871]: rtabmapviz: Parameter RGBD/MarkerDetection not found
[ WARN] [1644496984.140791495]: rtabmapviz: Parameter RGBD/MaxLocalRetrieved not found
[ WARN] [1644496984.146477426]: rtabmapviz: Parameter RGBD/MaxLoopClosureDistance not found
[ WARN] [1644496984.158464101]: rtabmapviz: Parameter RGBD/MaxOdomCacheSize not found
[ WARN] [1644496984.162943591]: rtabmapviz: Parameter RGBD/NeighborLinkRefining not found
[ WARN] [1644496984.168793299]: rtabmapviz: Parameter RGBD/NewMapOdomChangeDistance not found
[ WARN] [1644496984.172138215]: rtabmapviz: Parameter RGBD/OptimizeFromGraphEnd not found
[ WARN] [1644496984.176838683]: rtabmapviz: Parameter RGBD/OptimizeMaxError not found
[ WARN] [1644496984.180950108]: rtabmapviz: Parameter RGBD/PlanAngularVelocity not found
[ WARN] [1644496984.193011653]: rtabmapviz: Parameter RGBD/PlanLinearVelocity not found
[ WARN] [1644496984.200627442]: rtabmapviz: Parameter RGBD/PlanStuckIterations not found
[ WARN] [1644496984.203613233]: rtabmapviz: Parameter RGBD/ProximityAngle not found
[ WARN] [1644496984.210452735]: rtabmapviz: Parameter RGBD/ProximityBySpace not found
[ WARN] [1644496984.213552996]: rtabmapviz: Parameter RGBD/ProximityByTime not found
[ WARN] [1644496984.224946927]: rtabmapviz: Parameter RGBD/ProximityGlobalScanMap not found
[ WARN] [1644496984.230181682]: rtabmapviz: Parameter RGBD/ProximityMaxGraphDepth not found
[ WARN] [1644496984.233047485]: rtabmapviz: Parameter RGBD/ProximityMaxPaths not found
[ WARN] [1644496984.236015746]: rtabmapviz: Parameter RGBD/ProximityOdomGuess not found
[ WARN] [1644496984.240617109]: rtabmapviz: Parameter RGBD/ProximityPathFilteringRadius not found
[ WARN] [1644496984.245343279]: rtabmapviz: Parameter RGBD/ProximityPathMaxNeighbors not found
[ WARN] [1644496984.257888057]: rtabmapviz: Parameter RGBD/ProximityPathRawPosesUsed not found
[ WARN] [1644496984.262888633]: rtabmapviz: Parameter RGBD/ScanMatchingIdsSavedInLinks not found
[ WARN] [1644496984.268501440]: rtabmapviz: Parameter RGBD/StartAtOrigin not found
[ WARN] [1644496984.272443779]: rtabmapviz: Parameter Reg/Force3DoF not found
[ WARN] [1644496984.278980867]: rtabmapviz: Parameter Reg/RepeatOnce not found
[ WARN] [1644496984.291239435]: rtabmapviz: Parameter Reg/Strategy not found
[ WARN] [1644496984.297657095]: rtabmapviz: Parameter Rtabmap/ComputeRMSE not found
[ WARN] [1644496984.303797693]: rtabmapviz: Parameter Rtabmap/CreateIntermediateNodes not found
[ WARN] [1644496984.308069195]: rtabmapviz: Parameter Rtabmap/DetectionRate not found
[ WARN] [1644496984.312328963]: rtabmapviz: Parameter Rtabmap/ImageBufferSize not found
[ WARN] [1644496984.321317765]: rtabmapviz: Parameter Rtabmap/ImagesAlreadyRectified not found
[ WARN] [1644496984.327987691]: rtabmapviz: Parameter Rtabmap/LoopGPS not found
[ WARN] [1644496984.335483982]: rtabmapviz: Parameter Rtabmap/LoopRatio not found
[ WARN] [1644496984.339887973]: rtabmapviz: Parameter Rtabmap/LoopThr not found
[ WARN] [1644496984.343696496]: rtabmapviz: Parameter Rtabmap/MaxRetrieved not found
[ WARN] [1644496984.358905236]: rtabmapviz: Parameter Rtabmap/MemoryThr not found
[ WARN] [1644496984.363691818]: rtabmapviz: Parameter Rtabmap/PublishLastSignature not found
[ WARN] [1644496984.368331384]: rtabmapviz: Parameter Rtabmap/PublishLikelihood not found
[ WARN] [1644496984.374807990]: rtabmapviz: Parameter Rtabmap/PublishPdf not found
[ WARN] [1644496984.379108615]: rtabmapviz: Parameter Rtabmap/PublishRAMUsage not found
[ WARN] [1644496984.384651581]: rtabmapviz: Parameter Rtabmap/PublishStats not found
[ WARN] [1644496984.392874711]: rtabmapviz: Parameter Rtabmap/RectifyOnlyFeatures not found
[ WARN] [1644496984.403704602]: rtabmapviz: Parameter Rtabmap/SaveWMState not found
[ WARN] [1644496984.409010246]: rtabmapviz: Parameter Rtabmap/StartNewMapOnGoodSignature not found
[ WARN] [1644496984.412261225]: rtabmapviz: Parameter Rtabmap/StartNewMapOnLoopClosure not found
[ WARN] [1644496984.423601518]: rtabmapviz: Parameter Rtabmap/StatisticLogged not found
[ WARN] [1644496984.431254602]: rtabmapviz: Parameter Rtabmap/StatisticLoggedHeaders not found
[ WARN] [1644496984.434043161]: rtabmapviz: Parameter Rtabmap/StatisticLogsBufferedInRAM not found
[ WARN] [1644496984.442006900]: rtabmapviz: Parameter Rtabmap/TimeThr not found
[ WARN] [1644496984.457390034]: rtabmapviz: Parameter SIFT/ContrastThreshold not found
[ WARN] [1644496984.461685002]: rtabmapviz: Parameter SIFT/EdgeThreshold not found
[ WARN] [1644496984.468062573]: rtabmapviz: Parameter SIFT/NFeatures not found
[ WARN] [1644496984.475173827]: rtabmapviz: Parameter SIFT/NOctaveLayers not found
[ WARN] [1644496984.480466131]: rtabmapviz: Parameter SIFT/RootSIFT not found
[ WARN] [1644496984.489574571]: rtabmapviz: Parameter SIFT/Sigma not found
[ WARN] [1644496984.493874289]: rtabmapviz: Parameter SURF/Extended not found
[ WARN] [1644496984.499838957]: rtabmapviz: Parameter SURF/GpuKeypointsRatio not found
[ WARN] [1644496984.504126872]: rtabmapviz: Parameter SURF/GpuVersion not found
[ WARN] [1644496984.508378608]: rtabmapviz: Parameter SURF/HessianThreshold not found
[ WARN] [1644496984.512179100]: rtabmapviz: Parameter SURF/OctaveLayers not found
[ WARN] [1644496984.524538728]: rtabmapviz: Parameter SURF/Octaves not found
[ WARN] [1644496984.534577735]: rtabmapviz: Parameter SURF/Upright not found
[ WARN] [1644496984.538362233]: rtabmapviz: Parameter Stereo/DenseStrategy not found
[ WARN] [1644496984.541509637]: rtabmapviz: Parameter Stereo/Eps not found
[ WARN] [1644496984.550318457]: rtabmapviz: Parameter Stereo/Iterations not found
[ WARN] [1644496984.560106315]: rtabmapviz: Parameter Stereo/MaxDisparity not found
[ WARN] [1644496984.565050390]: rtabmapviz: Parameter Stereo/MaxLevel not found
[ WARN] [1644496984.569387193]: rtabmapviz: Parameter Stereo/MinDisparity not found
[ WARN] [1644496984.572818293]: rtabmapviz: Parameter Stereo/OpticalFlow not found
[ WARN] [1644496984.577767327]: rtabmapviz: Parameter Stereo/SSD not found
[ WARN] [1644496984.592713672]: rtabmapviz: Parameter Stereo/WinHeight not found
[ WARN] [1644496984.597657189]: rtabmapviz: Parameter Stereo/WinWidth not found
[ WARN] [1644496984.605104939]: rtabmapviz: Parameter StereoBM/BlockSize not found
[ WARN] [1644496984.608011041]: rtabmapviz: Parameter StereoBM/Disp12MaxDiff not found
[ WARN] [1644496984.614180065]: rtabmapviz: Parameter StereoBM/MinDisparity not found
[ WARN] [1644496984.625342192]: rtabmapviz: Parameter StereoBM/NumDisparities not found
[ WARN] [1644496984.630007809]: rtabmapviz: Parameter StereoBM/PreFilterCap not found
[ WARN] [1644496984.633348464]: rtabmapviz: Parameter StereoBM/PreFilterSize not found
[ WARN] [1644496984.638178069]: rtabmapviz: Parameter StereoBM/SpeckleRange not found
[ WARN] [1644496984.641485899]: rtabmapviz: Parameter StereoBM/SpeckleWindowSize not found
[ WARN] [1644496984.645625051]: rtabmapviz: Parameter StereoBM/TextureThreshold not found
[ WARN] [1644496984.659631052]: rtabmapviz: Parameter StereoBM/UniquenessRatio not found
[ WARN] [1644496984.666396591]: rtabmapviz: Parameter StereoSGBM/BlockSize not found
[ WARN] [1644496984.670105381]: rtabmapviz: Parameter StereoSGBM/Disp12MaxDiff not found
[ WARN] [1644496984.674095003]: rtabmapviz: Parameter StereoSGBM/MinDisparity not found
[ WARN] [1644496984.679281497]: rtabmapviz: Parameter StereoSGBM/Mode not found
[ INFO] [1644496984.691052572]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ WARN] [1644496984.691172420]: rtabmapviz: Parameter StereoSGBM/NumDisparities not found
[ INFO] [1644496984.694017969]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[ WARN] [1644496984.697740727]: rtabmapviz: Parameter StereoSGBM/P1 not found
[ WARN] [1644496984.701271351]: rtabmapviz: Parameter StereoSGBM/P2 not found
[ WARN] [1644496984.706988571]: rtabmapviz: Parameter StereoSGBM/PreFilterCap not found
[ WARN] [1644496984.709912342]: rtabmapviz: Parameter StereoSGBM/SpeckleRange not found
[ WARN] [1644496984.714878208]: rtabmapviz: Parameter StereoSGBM/SpeckleWindowSize not found
[ WARN] [1644496984.728879319]: rtabmapviz: Parameter StereoSGBM/UniquenessRatio not found
[ WARN] [1644496984.734223236]: rtabmapviz: Parameter SuperPoint/Cuda not found
[ WARN] [1644496984.738501164]: rtabmapviz: Parameter SuperPoint/ModelPath not found
[ WARN] [1644496984.743327765]: rtabmapviz: Parameter SuperPoint/NMS not found
[ WARN] [1644496984.747970405]: rtabmapviz: Parameter SuperPoint/NMSRadius not found
[ WARN] [1644496984.758567096]: rtabmapviz: Parameter SuperPoint/Threshold not found
[ WARN] [1644496984.763827063]: rtabmapviz: Parameter VhEp/Enabled not found
[ WARN] [1644496984.766708372]: rtabmapviz: Parameter VhEp/MatchCountMin not found
[ WARN] [1644496984.770775238]: rtabmapviz: Parameter VhEp/RansacParam1 not found
[ WARN] [1644496984.775220575]: rtabmapviz: Parameter VhEp/RansacParam2 not found
[ WARN] [1644496984.780162834]: rtabmapviz: Parameter Vis/BundleAdjustment not found
[ WARN] [1644496984.791687788]: rtabmapviz: Parameter Vis/CorFlowEps not found
[ WARN] [1644496984.796952784]: rtabmapviz: Parameter Vis/CorFlowIterations not found
[ WARN] [1644496984.802270231]: rtabmapviz: Parameter Vis/CorFlowMaxLevel not found
[ WARN] [1644496984.805154962]: rtabmapviz: Parameter Vis/CorFlowWinSize not found
[ WARN] [1644496984.810912829]: rtabmapviz: Parameter Vis/CorGuessMatchToProjection not found
[ WARN] [1644496984.818420294]: rtabmapviz: Parameter Vis/CorGuessWinSize not found
[ WARN] [1644496984.826436065]: rtabmapviz: Parameter Vis/CorNNDR not found
[ WARN] [1644496984.832918607]: rtabmapviz: Parameter Vis/CorNNType not found
[ WARN] [1644496984.839833607]: rtabmapviz: Parameter Vis/CorType not found
[ WARN] [1644496984.844869034]: rtabmapviz: Parameter Vis/DepthAsMask not found
[ WARN] [1644496984.848426407]: rtabmapviz: Parameter Vis/EpipolarGeometryVar not found
[ WARN] [1644496984.858926438]: rtabmapviz: Parameter Vis/EstimationType not found
[ WARN] [1644496984.870891742]: rtabmapviz: Parameter Vis/FeatureType not found
[ WARN] [1644496984.877180544]: rtabmapviz: Parameter Vis/ForwardEstOnly not found
[ WARN] [1644496984.880884235]: rtabmapviz: Parameter Vis/GridCols not found
[ WARN] [1644496984.890267221]: rtabmapviz: Parameter Vis/GridRows not found
[ WARN] [1644496984.896760868]: rtabmapviz: Parameter Vis/InlierDistance not found
[ WARN] [1644496984.901396523]: rtabmapviz: Parameter Vis/Iterations not found
[ WARN] [1644496984.905224113]: rtabmapviz: Parameter Vis/MaxDepth not found
[ WARN] [1644496984.909301875]: rtabmapviz: Parameter Vis/MaxFeatures not found
[ WARN] [1644496984.919928248]: rtabmapviz: Parameter Vis/MeanInliersDistance not found
[ WARN] [1644496984.926396263]: rtabmapviz: Parameter Vis/MinDepth not found
[ WARN] [1644496984.932282150]: rtabmapviz: Parameter Vis/MinInliers not found
[ WARN] [1644496984.936774560]: rtabmapviz: Parameter Vis/MinInliersDistribution not found
[ WARN] [1644496984.942880727]: rtabmapviz: Parameter Vis/PnPFlags not found
[ WARN] [1644496984.950495119]: rtabmapviz: Parameter Vis/PnPRefineIterations not found
[ WARN] [1644496984.959975674]: rtabmapviz: Parameter Vis/PnPReprojError not found
[ WARN] [1644496984.964427506]: rtabmapviz: Parameter Vis/RefineIterations not found
[ WARN] [1644496984.971828603]: rtabmapviz: Parameter Vis/RoiRatios not found
[ WARN] [1644496984.975275208]: rtabmapviz: Parameter Vis/SubPixEps not found
[ WARN] [1644496984.980844293]: rtabmapviz: Parameter Vis/SubPixIterations not found
[ WARN] [1644496984.992449844]: rtabmapviz: Parameter Vis/SubPixWinSize not found
[ WARN] [1644496984.998405781]: rtabmapviz: Parameter g2o/Baseline not found
[ WARN] [1644496985.003401399]: rtabmapviz: Parameter g2o/Optimizer not found
[ WARN] [1644496985.009291965]: rtabmapviz: Parameter g2o/PixelVariance not found
[ WARN] [1644496985.012104410]: rtabmapviz: Parameter g2o/RobustKernelDelta not found
[ WARN] [1644496985.027966865]: rtabmapviz: Parameter g2o/Solver not found
[ INFO] [1644496985.028032447]: rtabmapviz: Parameters read = 2
[ INFO] [1644496985.635908094]: /rtabmap/rtabmapviz: subscribe_depth = false
[ INFO] [1644496985.635980171]: /rtabmap/rtabmapviz: subscribe_rgb = false
[ INFO] [1644496985.636014952]: /rtabmap/rtabmapviz: subscribe_stereo = true
[ INFO] [1644496985.636047358]: /rtabmap/rtabmapviz: subscribe_rgbd = false (rgbd_cameras=1)
[ INFO] [1644496985.636079834]: /rtabmap/rtabmapviz: subscribe_odom_info = true
[ INFO] [1644496985.636106584]: /rtabmap/rtabmapviz: subscribe_user_data = false
[ INFO] [1644496985.636136546]: /rtabmap/rtabmapviz: subscribe_scan = false
[ INFO] [1644496985.636164761]: /rtabmap/rtabmapviz: subscribe_scan_cloud = false
[ INFO] [1644496985.636194863]: /rtabmap/rtabmapviz: subscribe_scan_descriptor = false
[ INFO] [1644496985.636222311]: /rtabmap/rtabmapviz: queue_size = 10
[ INFO] [1644496985.636250247]: /rtabmap/rtabmapviz: approx_sync = false
[ INFO] [1644496985.637452079]: Setup stereo callback
[ INFO] [1644496985.914993613]:
/rtabmap/rtabmapviz subscribed to (exact sync):
/rtabmap/odom \
/camera/infra1/image_rect_raw \
/camera/infra2/image_rect_raw \
/camera/infra1/camera_info \
/camera/infra2/camera_info \
/rtabmap/odom_info
[ INFO] [1644496985.915202299]: rtabmapviz started.
[ WARN] [1644496990.915236927]: /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):
/rtabmap/odom \
/camera/infra1/image_rect_raw \
/camera/infra2/image_rect_raw \
/camera/infra1/camera_info \
/camera/infra2/camera_info \
/rtabmap/odom_info
[ INFO] [1644496991.075018197]: StereoOdometry: approx_sync = false
[ INFO] [1644496991.075100609]: StereoOdometry: queue_size = 10
[ INFO] [1644496991.075134343]: StereoOdometry: subscribe_rgbd = false
[ INFO] [1644496991.075166470]: StereoOdometry: keep_color = false
[ INFO] [1644496991.374596029]:
/rtabmap/stereo_odometry subscribed to (exact sync):
/camera/infra1/image_rect_raw \
/camera/infra2/image_rect_raw \
/camera/infra1/camera_info \
/camera/infra2/camera_info
[ WARN] [1644496995.915452305]: /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):
/rtabmap/odom \
/camera/infra1/image_rect_raw \
/camera/infra2/image_rect_raw \
/camera/infra1/camera_info \
/camera/infra2/camera_info \
/rtabmap/odom_info
[ WARN] [1644496996.374953395]: /rtabmap/stereo_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. Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
/rtabmap/stereo_odometry subscribed to (exact sync):
/camera/infra1/image_rect_raw \
/camera/infra2/image_rect_raw \
/camera/infra1/camera_info \
/camera/infra2/camera_info
[ INFO] [1644496999.954077036]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1644496999.976729127]: rtabmap: Deleted database "/home/rod/.ros/rtabmap.db" (--delete_db_on_start or -d are set).
[ INFO] [1644496999.976840035]: rtabmap: Using database from "/home/rod/.ros/rtabmap.db" (0 MB).
[ INFO] [1644497000.052992477]: rtabmap: Database version = "0.20.16".
[ INFO] [1644497000.053066858]: rtabmap: SLAM mode (Mem/IncrementalMemory=true)
[ INFO] [1644497000.767592117]: /rtabmap/rtabmap: subscribe_depth = false
[ INFO] [1644497000.767719647]: /rtabmap/rtabmap: subscribe_rgb = false
[ INFO] [1644497000.767764346]: /rtabmap/rtabmap: subscribe_stereo = true
[ INFO] [1644497000.767819171]: /rtabmap/rtabmap: subscribe_rgbd = false (rgbd_cameras=1)
[ INFO] [1644497000.767862612]: /rtabmap/rtabmap: subscribe_odom_info = true
[ INFO] [1644497000.767894600]: /rtabmap/rtabmap: subscribe_user_data = false
[ INFO] [1644497000.767926797]: /rtabmap/rtabmap: subscribe_scan = false
[ INFO] [1644497000.767968143]: /rtabmap/rtabmap: subscribe_scan_cloud = false
[ INFO] [1644497000.767995800]: /rtabmap/rtabmap: subscribe_scan_descriptor = false
[ INFO] [1644497000.768030162]: /rtabmap/rtabmap: queue_size = 10
[ INFO] [1644497000.768061172]: /rtabmap/rtabmap: approx_sync = false
[ INFO] [1644497000.768190239]: Setup stereo callback
[ WARN] [1644497000.915659093]: /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):
/rtabmap/odom \
/camera/infra1/image_rect_raw \
/camera/infra2/image_rect_raw \
/camera/infra1/camera_info \
/camera/infra2/camera_info \
/rtabmap/odom_info
[ INFO] [1644497001.247554511]:
/rtabmap/rtabmap subscribed to (exact sync):
/rtabmap/odom \
/camera/infra1/image_rect_raw \
/camera/infra2/image_rect_raw \
/camera/infra1/camera_info \
/camera/infra2/camera_info \
/rtabmap/odom_info
[ WARN] [1644497001.375183859]: /rtabmap/stereo_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. Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
/rtabmap/stereo_odometry subscribed to (exact sync):
/camera/infra1/image_rect_raw \
/camera/infra2/image_rect_raw \
/camera/infra1/camera_info \
/camera/infra2/camera_info
[ WARN] [1644497005.915919380]: /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):
/rtabmap/odom \
/camera/infra1/image_rect_raw \
/camera/infra2/image_rect_raw \
/camera/infra1/camera_info \
/camera/infra2/camera_info \
/rtabmap/odom_info
[ WARN] [1644497006.247768773]: /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 \
/camera/infra1/image_rect_raw \
/camera/infra2/image_rect_raw \
/camera/infra1/camera_info \
/camera/infra2/camera_info \
/rtabmap/odom_info
[ WARN] [1644497006.375387295]: /rtabmap/stereo_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. Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
/rtabmap/stereo_odometry subscribed to (exact sync):
/camera/infra1/image_rect_raw \
/camera/infra2/image_rect_raw \
/camera/infra1/camera_info \
/camera/infra2/camera_info
[ INFO] [1644497006.470601000]: rtabmap 0.20.16 started...
[ WARN] [1644497010.916190213]: /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):
/rtabmap/odom \
/camera/infra1/image_rect_raw \
/camera/infra2/image_rect_raw \
/camera/infra1/camera_info \
/camera/infra2/camera_info \
/rtabmap/odom_info
[ WARN] [1644497011.248050641]: /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 \
/camera/infra1/image_rect_raw \
/camera/infra2/image_rect_raw \
/camera/infra1/camera_info \
/camera/infra2/camera_info \
/rtabmap/odom_info
[ WARN] [1644497011.375603234]: /rtabmap/stereo_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. Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
/rtabmap/stereo_odometry subscribed to (exact sync):
/camera/infra1/image_rect_raw \
/camera/infra2/image_rect_raw \
/camera/infra1/camera_info \
/camera/infra2/camera_info
[ WARN] [1644497015.916413695]: /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):
/rtabmap/odom \
/camera/infra1/image_rect_raw \
/camera/infra2/image_rect_raw \
/camera/infra1/camera_info \
/camera/infra2/camera_info \
/rtabmap/odom_info
[ WARN] [1644497016.248294237]: /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 \
/camera/infra1/image_rect_raw \
/camera/infra2/image_rect_raw \
/camera/infra1/camera_info \
/camera/infra2/camera_info \
/rtabmap/odom_info
[ WARN] [1644497016.375805204]: /rtabmap/stereo_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. Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
/rtabmap/stereo_odometry subscribed to (exact sync):
/camera/infra1/image_rect_raw \
/camera/infra2/image_rect_raw \
/camera/infra1/camera_info \
/camera/infra2/camera_info
[ WARN] [1644497020.916680619]: /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):
/rtabmap/odom \
/camera/infra1/image_rect_raw \
/camera/infra2/image_rect_raw \
/camera/infra1/camera_info \
/camera/infra2/camera_info \
/rtabmap/odom_info
[ WARN] [1644497021.248557879]: /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 \
/camera/infra1/image_rect_raw \
/camera/infra2/image_rect_raw \
/camera/infra1/camera_info \
/camera/infra2/camera_info \
/rtabmap/odom_info
[ WARN] [1644497021.376001518]: /rtabmap/stereo_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. Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
/rtabmap/stereo_odometry subscribed to (exact sync):
/camera/infra1/image_rect_raw \
/camera/infra2/image_rect_raw \
/camera/infra1/camera_info \
/camera/infra2/camera_info
[ WARN] [1644497025.916946076]: /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):
/rtabmap/odom \
/camera/infra1/image_rect_raw \
/camera/infra2/image_rect_raw \
/camera/infra1/camera_info \
/camera/infra2/camera_info \
/rtabmap/odom_info
[ WARN] [1644497026.248826968]: /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 \
/camera/infra1/image_rect_raw \
/camera/infra2/image_rect_raw \
/camera/infra1/camera_info \
/camera/infra2/camera_info \
/rtabmap/odom_info
[ WARN] [1644497026.376202582]: /rtabmap/stereo_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. Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
/rtabmap/stereo_odometry subscribed to (exact sync):
/camera/infra1/image_rect_raw \
/camera/infra2/image_rect_raw \
/camera/infra1/camera_info \
/camera/infra2/camera_info
[ WARN] [1644497030.917152937]: /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):
/rtabmap/odom \
/camera/infra1/image_rect_raw \
/camera/infra2/image_rect_raw \
/camera/infra1/camera_info \
/camera/infra2/camera_info \
/rtabmap/odom_info
[ WARN] [1644497031.249054153]: /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 \
/camera/infra1/image_rect_raw \
/camera/infra2/image_rect_raw \
/camera/infra1/camera_info \
/camera/infra2/camera_info \
/rtabmap/odom_info
[ WARN] [1644497031.376420268]: /rtabmap/stereo_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. Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
/rtabmap/stereo_odometry subscribed to (exact sync):
/camera/infra1/image_rect_raw \
/camera/infra2/image_rect_raw \
/camera/infra1/camera_info \
/camera/infra2/camera_info
[ WARN] [1644497035.917632809]: /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):
/rtabmap/odom \
/camera/infra1/image_rect_raw \
/camera/infra2/image_rect_raw \
/camera/infra1/camera_info \
/camera/infra2/camera_info \
/rtabmap/odom_info
[ WARN] [1644497036.249543383]: /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 \
/camera/infra1/image_rect_raw \
/camera/infra2/image_rect_raw \
/camera/infra1/camera_info \
/camera/infra2/camera_info \
/rtabmap/odom_info
[ WARN] [1644497036.376695505]: /rtabmap/stereo_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. Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
/rtabmap/stereo_odometry subscribed to (exact sync):
/camera/infra1/image_rect_raw \
/camera/infra2/image_rect_raw \
/camera/infra1/camera_info \
/camera/infra2/camera_info
[ WARN] [1644497040.917920338]: /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):
/rtabmap/odom \
/camera/infra1/image_rect_raw \
/camera/infra2/image_rect_raw \
/camera/infra1/camera_info \
/camera/infra2/camera_info \
/rtabmap/odom_info
[ WARN] [1644497041.249816664]: /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 \
/camera/infra1/image_rect_raw \
/camera/infra2/image_rect_raw \
/camera/infra1/camera_info \
/camera/infra2/camera_info \
/rtabmap/odom_info
[ WARN] [1644497041.376977167]: /rtabmap/stereo_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. Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
/rtabmap/stereo_odometry subscribed to (exact sync):
/camera/infra1/image_rect_raw \
/camera/infra2/image_rect_raw \
/camera/infra1/camera_info \
/camera/infra2/camera_info
[ WARN] [1644497045.918183981]: /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):
/rtabmap/odom \
/camera/infra1/image_rect_raw \
/camera/infra2/image_rect_raw \
/camera/infra1/camera_info \
/camera/infra2/camera_info \
/rtabmap/odom_info
[ WARN] [1644497046.250066828]: /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 \
/camera/infra1/image_rect_raw \
/camera/infra2/image_rect_raw \
/camera/infra1/camera_info \
/camera/infra2/camera_info \
/rtabmap/odom_info
[ WARN] [1644497046.377205820]: /rtabmap/stereo_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. Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
/rtabmap/stereo_odometry subscribed to (exact sync):
/camera/infra1/image_rect_raw \
/camera/infra2/image_rect_raw \
/camera/infra1/camera_info \
/camera/infra2/camera_info

matlabbe

Re: Raspi and D435 won't work with Rtabmap

Administrator

Hi,

Do

rostopic hz /camera/infra1/image_rect_raw \
   /camera/infra2/image_rect_raw \
   /camera/infra1/camera_info \
   /camera/infra2/camera_info

on the RPI4 and on the laptop to see if all topics are published and also received.

"rostopic list" can show the topics but doesn't tell if the remote computer can indeed receive them.

Rodolfo

Re: Raspi and D435 won't work with Rtabmap

On the laptop computer:

Certainly isn't 30 hz but enough to supply rtabmap, no?

rod@rod-HP-Pavilion-Laptop-15-eh0xxx:~$ rostopic hz /camera/infra1/image_rect_raw /camera/infra2/image_rect_raw /camera/infra1/camera_info /camera/infra2/camera_info
subscribed to [/camera/infra1/image_rect_raw]
subscribed to [/camera/infra2/image_rect_raw]
subscribed to [/camera/infra1/camera_info]
subscribed to [/camera/infra2/camera_info]
topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 4.458 0.2098 0.2573 0.01923 5
/camera/infra2/image_rect_raw 4.06 0.2293 0.2786 0.02281 5
/camera/infra1/camera_info 31.88 9.68e-05 0.0641 0.01314 4
/camera/infra2/camera_info 29.7 0.008314 0.05459 0.01142 4

topic rate min_delta max_delta std_dev window
=================================================================================
/camera/infra1/image_rect_raw 5.194 0.13 0.2573 0.03631 11
/camera/infra2/image_rect_raw 5.082 0.1335 0.2786 0.04356 11
/camera/infra1/camera_info 30.96 9.68e-05 0.0641 0.01048 10
/camera/infra2/camera_info 30.11 0.008314 0.05459 0.009258 10

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 5.076 0.13 0.2573 0.03457 15
/camera/infra2/image_rect_raw 5.158 0.1335 0.2786 0.03661 15
/camera/infra1/camera_info 30.68 4.458e-05 0.08192 0.01312 15
/camera/infra2/camera_info 30.08 5.364e-05 0.09992 0.01336 15

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 5.143 0.13 0.2573 0.03158 21
/camera/infra2/image_rect_raw 5.415 0.1335 0.2786 0.03483 21
/camera/infra1/camera_info 30.47 4.458e-05 0.08192 0.01275 21
/camera/infra2/camera_info 30.06 5.364e-05 0.09992 0.01273 21

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 5.214 0.13 0.2573 0.02924 26
/camera/infra2/image_rect_raw 5.647 0.1147 0.2786 0.03513 26
/camera/infra1/camera_info 30.28 4.458e-05 0.08192 0.01231 28
/camera/infra2/camera_info 29.9 4.911e-05 0.09992 0.01233 28

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 5.253 0.13 0.2573 0.02807 32
/camera/infra2/image_rect_raw 5.746 0.1147 0.2786 0.0327 32
/camera/infra1/camera_info 30.3 4.458e-05 0.08192 0.01308 34
/camera/infra2/camera_info 29.99 4.911e-05 0.09992 0.0129 34

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 5.331 0.1232 0.2573 0.02863 37
/camera/infra2/image_rect_raw 5.836 0.1147 0.2786 0.03214 37
/camera/infra1/camera_info 30.14 4.458e-05 0.08973 0.01399 40
/camera/infra2/camera_info 29.9 4.911e-05 0.1029 0.01427 40

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 5.357 0.1232 0.2573 0.02791 43
/camera/infra2/image_rect_raw 5.862 0.1147 0.2786 0.03096 43
/camera/infra1/camera_info 30.2 4.458e-05 0.08973 0.01377 46
/camera/infra2/camera_info 30.03 4.578e-05 0.1029 0.01406 46

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 5.4 0.1232 0.2573 0.02722 49
/camera/infra2/image_rect_raw 5.918 0.1147 0.2786 0.02953 49
/camera/infra1/camera_info 30.12 4.458e-05 0.08973 0.01328 53
/camera/infra2/camera_info 29.87 4.578e-05 0.1029 0.01359 53

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 5.354 0.1232 0.2648 0.02845 54
/camera/infra2/image_rect_raw 5.854 0.1147 0.2786 0.03203 54
/camera/infra1/camera_info 30.13 1.74e-05 0.1428 0.01547 58
/camera/infra2/camera_info 29.97 1.788e-05 0.1412 0.01551 58

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 5.329 0.1232 0.2648 0.02843 59
/camera/infra2/image_rect_raw 5.956 0.1108 0.2786 0.03199 59
/camera/infra1/camera_info 30.11 1.74e-05 0.1428 0.01652 65
/camera/infra2/camera_info 29.84 1.788e-05 0.1412 0.01671 65

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 5.359 0.1232 0.2648 0.02803 65
/camera/infra2/image_rect_raw 6.114 0.09447 0.2786 0.03326 65
/camera/infra1/camera_info 30.14 1.74e-05 0.1428 0.01634 73
/camera/infra2/camera_info 30.0 1.788e-05 0.1412 0.0166 73

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 5.306 0.1232 0.2648 0.02858 69
/camera/infra2/image_rect_raw 6.188 0.09447 0.2786 0.03304 69
/camera/infra1/camera_info 30.07 1.74e-05 0.1428 0.0171 80
/camera/infra2/camera_info 29.95 1.788e-05 0.1412 0.01737 80

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 5.264 0.1232 0.2648 0.02885 73
/camera/infra2/image_rect_raw 6.211 0.09447 0.2786 0.03307 73
/camera/infra1/camera_info 30.1 1.74e-05 0.1428 0.01746 86
/camera/infra2/camera_info 29.98 1.788e-05 0.1412 0.01773 86

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 5.197 0.1232 0.2834 0.03057 78
/camera/infra2/image_rect_raw 6.262 0.09447 0.2786 0.03309 78
/camera/infra1/camera_info 30.13 1.645e-05 0.1428 0.01813 93
/camera/infra2/camera_info 30.02 1.669e-05 0.1412 0.01833 93

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 5.156 0.1232 0.2834 0.03051 83
/camera/infra2/image_rect_raw 6.347 0.09447 0.2786 0.03306 83
/camera/infra1/camera_info 29.87 1.645e-05 0.1428 0.01839 101
/camera/infra2/camera_info 29.7 1.669e-05 0.1412 0.01854 101

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 5.092 0.1232 0.2834 0.03212 87
/camera/infra2/image_rect_raw 6.343 0.09447 0.2786 0.03262 87
/camera/infra1/camera_info 30.08 1.645e-05 0.1428 0.0189 107
/camera/infra2/camera_info 29.99 1.24e-05 0.1412 0.01942 107

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 4.998 0.1232 0.3667 0.03914 90
/camera/infra2/image_rect_raw 6.283 0.09447 0.2786 0.03344 90
/camera/infra1/camera_info 30.07 1.645e-05 0.1428 0.01909 112
/camera/infra2/camera_info 29.98 1.24e-05 0.1412 0.01958 112

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 4.938 0.1232 0.3667 0.04121 94
/camera/infra2/image_rect_raw 6.292 0.09447 0.2786 0.03286 94
/camera/infra1/camera_info 30.08 1.645e-05 0.1428 0.01926 118
/camera/infra2/camera_info 30.0 1.24e-05 0.1412 0.01961 118

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 4.883 0.1232 0.3667 0.04194 98
/camera/infra2/image_rect_raw 6.259 0.09447 0.2786 0.03332 98
/camera/infra1/camera_info 29.95 1.526e-05 0.1428 0.01966 124
/camera/infra2/camera_info 29.87 1.24e-05 0.1412 0.01983 124

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 4.817 0.1232 0.3667 0.04417 102
/camera/infra2/image_rect_raw 6.221 0.09447 0.2786 0.03381 102
/camera/infra1/camera_info 30.07 1.526e-05 0.1428 0.01983 130
/camera/infra2/camera_info 29.99 1.24e-05 0.1412 0.02014 130

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 4.81 0.1232 0.3667 0.04342 106
/camera/infra2/image_rect_raw 6.241 0.09447 0.2786 0.03361 106
/camera/infra1/camera_info 30.03 1.526e-05 0.1428 0.01983 136
/camera/infra2/camera_info 29.96 1.24e-05 0.1412 0.02009 136

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 4.838 0.1232 0.3667 0.04335 112
/camera/infra2/image_rect_raw 6.217 0.09447 0.2786 0.03377 112
/camera/infra1/camera_info 29.97 1.526e-05 0.1428 0.02024 142
/camera/infra2/camera_info 29.9 1.24e-05 0.1412 0.02045 142

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 4.876 0.1232 0.3667 0.0435 117
/camera/infra2/image_rect_raw 6.156 0.09447 0.2786 0.03432 117
/camera/infra1/camera_info 30.04 1.526e-05 0.1428 0.0203 147
/camera/infra2/camera_info 29.97 1.24e-05 0.1412 0.02062 147

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 4.871 0.1232 0.3667 0.0436 122
/camera/infra2/image_rect_raw 6.074 0.09447 0.3048 0.03706 122
/camera/infra1/camera_info 30.01 1.526e-05 0.1428 0.02036 151
/camera/infra2/camera_info 29.95 1.24e-05 0.1412 0.02061 151

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 4.874 0.1232 0.3667 0.04411 127
/camera/infra2/image_rect_raw 6.014 0.09447 0.3048 0.0379 127
/camera/infra1/camera_info 29.95 1.526e-05 0.1428 0.02048 156
/camera/infra2/camera_info 29.89 1.24e-05 0.1412 0.02105 156

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 4.895 0.1232 0.3667 0.04423 133
/camera/infra2/image_rect_raw 5.954 0.09447 0.3142 0.03984 133
/camera/infra1/camera_info 29.89 1.526e-05 0.1428 0.02098 160
/camera/infra2/camera_info 29.83 1.24e-05 0.1412 0.02144 160

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 4.907 0.1232 0.3667 0.04393 138
/camera/infra2/image_rect_raw 5.905 0.09447 0.3142 0.04061 138
/camera/infra1/camera_info 29.88 1.526e-05 0.1428 0.02109 164
/camera/infra2/camera_info 29.75 1.24e-05 0.1412 0.02147 164

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 4.9 0.1232 0.3667 0.04422 142
/camera/infra2/image_rect_raw 5.835 0.09447 0.3142 0.04251 142
/camera/infra1/camera_info 29.92 1.526e-05 0.1428 0.02159 168
/camera/infra2/camera_info 29.89 1.24e-05 0.1412 0.02186 168

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 4.925 0.1232 0.3667 0.04387 148
/camera/infra2/image_rect_raw 5.801 0.09447 0.3142 0.04281 148
/camera/infra1/camera_info 29.86 1.526e-05 0.1428 0.0215 174
/camera/infra2/camera_info 29.79 1.24e-05 0.1412 0.02167 174

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 4.953 0.1232 0.3667 0.04425 154
/camera/infra2/image_rect_raw 5.775 0.09447 0.3142 0.04329 154
/camera/infra1/camera_info 29.92 1.526e-05 0.1428 0.02184 179
/camera/infra2/camera_info 29.87 1.24e-05 0.1412 0.02181 179

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 4.945 0.1232 0.3667 0.04401 159
/camera/infra2/image_rect_raw 5.739 0.09447 0.3142 0.04364 159
/camera/infra1/camera_info 29.93 1.526e-05 0.1428 0.02187 183
/camera/infra2/camera_info 29.87 1.24e-05 0.1412 0.02199 183

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 4.963 0.1232 0.3667 0.04418 164
/camera/infra2/image_rect_raw 5.715 0.09447 0.3142 0.04363 164
/camera/infra1/camera_info 29.92 1.526e-05 0.1428 0.02219 188
/camera/infra2/camera_info 29.9 1.24e-05 0.1412 0.02246 188

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 4.913 0.1232 0.4702 0.04878 167
/camera/infra2/image_rect_raw 5.648 0.09447 0.5055 0.04963 167
/camera/infra1/camera_info 29.93 1.383e-05 0.3162 0.02394 191
/camera/infra2/camera_info 29.88 1.24e-05 0.2693 0.0236 191

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 4.916 0.1232 0.4702 0.0482 172
/camera/infra2/image_rect_raw 5.614 0.09447 0.5055 0.04949 172
/camera/infra1/camera_info 29.9 1.383e-05 0.3162 0.02377 196
/camera/infra2/camera_info 29.88 1.24e-05 0.2693 0.0235 196

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 4.892 0.1232 0.4702 0.04801 177
/camera/infra2/image_rect_raw 5.58 0.09447 0.5055 0.04974 177
/camera/infra1/camera_info 29.92 1.383e-05 0.3162 0.02359 200
/camera/infra2/camera_info 29.88 1.24e-05 0.2693 0.02339 200

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 4.898 0.1232 0.4702 0.04804 182
/camera/infra2/image_rect_raw 5.569 0.09447 0.5055 0.04978 182
/camera/infra1/camera_info 29.93 1.383e-05 0.3162 0.02357 205
/camera/infra2/camera_info 29.9 1.24e-05 0.2693 0.02344 205

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 4.908 0.1232 0.4702 0.04774 187
/camera/infra2/image_rect_raw 5.542 0.09447 0.5055 0.04956 187
/camera/infra1/camera_info 29.73 1.383e-05 0.3162 0.02422 210
/camera/infra2/camera_info 29.68 1.24e-05 0.2693 0.02391 210

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 4.895 0.1232 0.4702 0.04765 191
/camera/infra2/image_rect_raw 5.511 0.09447 0.5055 0.0498 191
/camera/infra1/camera_info 29.87 1.383e-05 0.3162 0.02411 214
/camera/infra2/camera_info 29.82 1.24e-05 0.2693 0.0239 214

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 4.921 0.1187 0.4702 0.04773 197
/camera/infra2/image_rect_raw 5.495 0.09447 0.5055 0.04949 197
/camera/infra1/camera_info 29.85 1.383e-05 0.3162 0.02392 219
/camera/infra2/camera_info 29.81 1.24e-05 0.2693 0.02379 219

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 4.92 0.1187 0.4702 0.04732 202
/camera/infra2/image_rect_raw 5.474 0.09447 0.5055 0.04928 202
/camera/infra1/camera_info 29.87 1.383e-05 0.3162 0.02383 224
/camera/infra2/camera_info 29.83 1.24e-05 0.2693 0.02368 224

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 4.884 0.1187 0.4702 0.04823 206
/camera/infra2/image_rect_raw 5.428 0.09447 0.5055 0.05045 206
/camera/infra1/camera_info 29.87 1.383e-05 0.3162 0.02371 228
/camera/infra2/camera_info 29.83 1.24e-05 0.2693 0.02353 228

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 4.847 0.1187 0.4702 0.0503 209
/camera/infra2/image_rect_raw 5.385 0.09447 0.5055 0.05274 209
/camera/infra1/camera_info 29.85 1.383e-05 0.3162 0.02385 230
/camera/infra2/camera_info 29.81 1.24e-05 0.2693 0.02346 230

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 4.857 0.1187 0.4702 0.05031 214
/camera/infra2/image_rect_raw 5.358 0.09447 0.5055 0.05354 214
/camera/infra1/camera_info 29.84 1.383e-05 0.3162 0.02411 235
/camera/infra2/camera_info 29.81 1.24e-05 0.2693 0.02404 235

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 4.826 0.1187 0.4702 0.05145 218
/camera/infra2/image_rect_raw 5.313 0.09447 0.5055 0.05529 218
/camera/infra1/camera_info 29.85 1.383e-05 0.3162 0.0242 238
/camera/infra2/camera_info 29.81 1.24e-05 0.2693 0.02406 238

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 4.805 0.1187 0.4702 0.05177 222
/camera/infra2/image_rect_raw 5.261 0.09447 0.5055 0.05745 222
/camera/infra1/camera_info 29.87 1.383e-05 0.3162 0.02441 241
/camera/infra2/camera_info 29.84 1.24e-05 0.2693 0.02413 241

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 4.775 0.1187 0.4702 0.05261 225
/camera/infra2/image_rect_raw 5.232 0.09447 0.5055 0.0577 225
/camera/infra1/camera_info 29.82 1.383e-05 0.3162 0.02454 245
/camera/infra2/camera_info 29.78 1.24e-05 0.2693 0.02419 245

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 4.757 0.1187 0.4702 0.05326 229
/camera/infra2/image_rect_raw 5.199 0.09447 0.5055 0.0584 229
/camera/infra1/camera_info 29.83 1.383e-05 0.3162 0.02436 249
/camera/infra2/camera_info 29.79 1.24e-05 0.2693 0.02412 249

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 4.742 0.1187 0.4702 0.05308 233
/camera/infra2/image_rect_raw 5.161 0.09447 0.5055 0.05912 233
/camera/infra1/camera_info 29.86 1.383e-05 0.3162 0.02444 253
/camera/infra2/camera_info 29.82 1.24e-05 0.2693 0.02411 253

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 4.739 0.1187 0.4702 0.05286 237
/camera/infra2/image_rect_raw 5.139 0.09447 0.5055 0.05927 237
/camera/infra1/camera_info 29.86 1.383e-05 0.3162 0.02453 256
/camera/infra2/camera_info 29.81 1.24e-05 0.2693 0.02415 256

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 4.732 0.1187 0.4702 0.05277 242
/camera/infra2/image_rect_raw 5.114 0.09447 0.5055 0.05937 242
/camera/infra1/camera_info 29.83 1.383e-05 0.3162 0.02473 260
/camera/infra2/camera_info 29.8 1.24e-05 0.2693 0.02424 260

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 4.755 0.1187 0.4702 0.05256 248
/camera/infra2/image_rect_raw 5.086 0.09447 0.5055 0.05968 248
/camera/infra1/camera_info 29.87 1.383e-05 0.3162 0.02475 264
/camera/infra2/camera_info 29.84 1.24e-05 0.2693 0.02438 264

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 4.798 0.1119 0.4702 0.05314 255
/camera/infra2/image_rect_raw 5.067 0.09447 0.5055 0.0596 255
/camera/infra1/camera_info 29.88 1.383e-05 0.3162 0.02461 268
/camera/infra2/camera_info 29.85 1.24e-05 0.2693 0.02424 268

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 4.85 0.1043 0.4702 0.05403 263
/camera/infra2/image_rect_raw 5.05 0.09447 0.5055 0.05941 263
/camera/infra1/camera_info 29.88 1.383e-05 0.3162 0.02454 273
/camera/infra2/camera_info 29.85 1.24e-05 0.2693 0.02416 273

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 4.879 0.1043 0.4702 0.05428 269
/camera/infra2/image_rect_raw 5.028 0.09447 0.5055 0.0598 269
/camera/infra1/camera_info 29.87 1.383e-05 0.3162 0.02454 276
/camera/infra2/camera_info 29.84 1.24e-05 0.2693 0.02418 276

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 4.883 0.1043 0.4702 0.05394 274
/camera/infra2/image_rect_raw 4.99 0.09447 0.5055 0.06156 274
/camera/infra1/camera_info 29.8 1.383e-05 0.3162 0.02452 279
/camera/infra2/camera_info 29.77 1.24e-05 0.2693 0.02418 279

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 4.876 0.1043 0.4702 0.05361 279
/camera/infra2/image_rect_raw 4.957 0.09447 0.5055 0.06254 279
/camera/infra1/camera_info 29.86 1.383e-05 0.3162 0.02454 282
/camera/infra2/camera_info 29.83 1.24e-05 0.2693 0.02419 282

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 4.879 0.1043 0.4702 0.05316 284
/camera/infra2/image_rect_raw 4.926 0.09447 0.5055 0.06347 284
/camera/infra1/camera_info 29.86 1.383e-05 0.3162 0.02454 285
/camera/infra2/camera_info 29.83 1.24e-05 0.2693 0.02431 285

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 4.904 0.1025 0.4702 0.05346 290
/camera/infra2/image_rect_raw 4.888 0.09447 0.5055 0.06528 290
/camera/infra1/camera_info 29.86 1.383e-05 0.3162 0.02483 288
/camera/infra2/camera_info 29.84 1.24e-05 0.2693 0.02478 288

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 4.932 0.1025 0.4702 0.05343 297
/camera/infra2/image_rect_raw 4.867 0.09447 0.5055 0.06553 297
/camera/infra1/camera_info 29.87 1.383e-05 0.3162 0.02494 291
/camera/infra2/camera_info 29.83 1.24e-05 0.2693 0.02483 291

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 4.957 0.1025 0.4702 0.05339 303
/camera/infra2/image_rect_raw 4.83 0.09447 0.5055 0.0667 303
/camera/infra1/camera_info 29.87 1.383e-05 0.3162 0.02502 295
/camera/infra2/camera_info 29.83 1.24e-05 0.2693 0.02497 295

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 4.986 0.1025 0.4702 0.05338 310
/camera/infra2/image_rect_raw 4.803 0.09447 0.5055 0.06738 310
/camera/infra1/camera_info 29.87 1.383e-05 0.3162 0.02488 298
/camera/infra2/camera_info 29.84 1.24e-05 0.2693 0.02487 298

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 5.011 0.1025 0.4702 0.05333 317
/camera/infra2/image_rect_raw 4.778 0.09447 0.5055 0.06792 317
/camera/infra1/camera_info 29.88 1.383e-05 0.3162 0.02505 301
/camera/infra2/camera_info 29.86 1.24e-05 0.2693 0.02507 301

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 5.032 0.08883 0.4702 0.05369 323
/camera/infra2/image_rect_raw 4.759 0.09447 0.5055 0.06862 323
/camera/infra1/camera_info 29.87 1.383e-05 0.3162 0.02507 304
/camera/infra2/camera_info 29.84 1.24e-05 0.2693 0.02508 304

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 5.042 0.08883 0.4702 0.05358 329
/camera/infra2/image_rect_raw 4.724 0.09447 0.5055 0.07012 329
/camera/infra1/camera_info 29.85 1.383e-05 0.3162 0.02501 307
/camera/infra2/camera_info 29.82 1.24e-05 0.2693 0.025 307

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 5.06 0.08883 0.4702 0.05351 335
/camera/infra2/image_rect_raw 4.694 0.09447 0.5055 0.07108 335
/camera/infra1/camera_info 29.84 1.383e-05 0.3162 0.02513 310
/camera/infra2/camera_info 29.81 1.24e-05 0.2693 0.02498 310

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 5.059 0.08883 0.4702 0.05325 340
/camera/infra2/image_rect_raw 4.672 0.09447 0.5055 0.072 340
/camera/infra1/camera_info 29.87 1.383e-05 0.3162 0.02509 312
/camera/infra2/camera_info 29.84 1.24e-05 0.2693 0.02513 312

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 5.072 0.08883 0.4702 0.05306 346
/camera/infra2/image_rect_raw 4.645 0.09447 0.5055 0.0729 346
/camera/infra1/camera_info 29.87 1.383e-05 0.3162 0.02514 315
/camera/infra2/camera_info 29.86 1.24e-05 0.2693 0.0252 315

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 5.085 0.08883 0.4702 0.05281 352
/camera/infra2/image_rect_raw 4.616 0.09447 0.5055 0.07374 352
/camera/infra1/camera_info 29.87 1.383e-05 0.3162 0.02535 319
/camera/infra2/camera_info 29.85 1.24e-05 0.2693 0.0255 319

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 5.069 0.08883 0.4702 0.0533 356
/camera/infra2/image_rect_raw 4.582 0.09447 0.5679 0.07657 356
/camera/infra1/camera_info 29.83 1.383e-05 0.3162 0.02552 321
/camera/infra2/camera_info 29.82 1.24e-05 0.2693 0.0257 321

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 5.072 0.08883 0.4702 0.05333 361
/camera/infra2/image_rect_raw 4.552 0.09447 0.5679 0.07852 361
/camera/infra1/camera_info 29.82 1.335e-05 0.3162 0.02567 323
/camera/infra2/camera_info 29.81 1.24e-05 0.2693 0.02583 323

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 5.078 0.08883 0.4702 0.05344 367
/camera/infra2/image_rect_raw 4.527 0.09447 0.5679 0.07945 367
/camera/infra1/camera_info 29.8 1.311e-05 0.3162 0.02587 326
/camera/infra2/camera_info 29.78 1.24e-05 0.2693 0.02598 326

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 5.099 0.08883 0.4702 0.05339 373
/camera/infra2/image_rect_raw 4.514 0.09447 0.5679 0.07949 373
/camera/infra1/camera_info 29.74 1.311e-05 0.3162 0.02592 329
/camera/infra2/camera_info 29.72 1.24e-05 0.2693 0.02603 329

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 5.108 0.08883 0.4702 0.05323 379
/camera/infra2/image_rect_raw 4.492 0.09447 0.5679 0.08012 379
/camera/infra1/camera_info 29.79 1.24e-05 0.3162 0.02622 332
/camera/infra2/camera_info 29.78 1.24e-05 0.2693 0.02613 332

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 5.143 0.08883 0.4702 0.0536 387
/camera/infra2/image_rect_raw 4.472 0.09447 0.5679 0.08045 387
/camera/infra1/camera_info 29.71 1.24e-05 0.3162 0.02626 336
/camera/infra2/camera_info 29.7 1.24e-05 0.2693 0.0262 336

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 5.158 0.08883 0.4702 0.0534 393
/camera/infra2/image_rect_raw 4.46 0.09447 0.5679 0.08062 393
/camera/infra1/camera_info 29.73 1.24e-05 0.3162 0.02641 338
/camera/infra2/camera_info 29.72 1.24e-05 0.2693 0.02633 338

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 5.163 0.08883 0.4702 0.05309 399
/camera/infra2/image_rect_raw 4.433 0.09447 0.5679 0.08168 399
/camera/infra1/camera_info 29.73 1.24e-05 0.3162 0.02645 341
/camera/infra2/camera_info 29.72 1.24e-05 0.2693 0.02635 341

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 5.173 0.08883 0.4702 0.05294 405
/camera/infra2/image_rect_raw 4.409 0.09447 0.5679 0.08252 405
/camera/infra1/camera_info 29.72 1.24e-05 0.3162 0.02636 344
/camera/infra2/camera_info 29.72 1.24e-05 0.2693 0.0263 344

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 5.175 0.08883 0.4702 0.05277 410
/camera/infra2/image_rect_raw 4.393 0.09447 0.5679 0.08311 410
/camera/infra1/camera_info 29.64 1.24e-05 0.3162 0.02644 346
/camera/infra2/camera_info 29.64 1.24e-05 0.2693 0.02648 346

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 5.181 0.08883 0.4702 0.05251 416
/camera/infra2/image_rect_raw 4.364 0.09447 0.5679 0.08466 416
/camera/infra1/camera_info 29.74 1.24e-05 0.3162 0.02655 349
/camera/infra2/camera_info 29.73 1.24e-05 0.2693 0.0265 349

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 5.191 0.08883 0.4702 0.05229 422
/camera/infra2/image_rect_raw 4.344 0.09447 0.5679 0.08559 422
/camera/infra1/camera_info 29.74 1.24e-05 0.3162 0.02667 351
/camera/infra2/camera_info 29.74 1.24e-05 0.2693 0.02657 351

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 5.196 0.08883 0.4702 0.05205 427
/camera/infra2/image_rect_raw 4.324 0.09447 0.5679 0.08607 427
/camera/infra1/camera_info 29.72 1.24e-05 0.3162 0.02676 355
/camera/infra2/camera_info 29.71 1.24e-05 0.2693 0.02656 355

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 5.189 0.08883 0.4702 0.05239 432
/camera/infra2/image_rect_raw 4.301 0.09447 0.5679 0.08747 432
/camera/infra1/camera_info 29.76 1.24e-05 0.3162 0.02705 357
/camera/infra2/camera_info 29.74 1.24e-05 0.2693 0.02679 357

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 5.191 0.08883 0.4702 0.05222 437
/camera/infra2/image_rect_raw 4.283 0.09447 0.5679 0.08782 437
/camera/infra1/camera_info 29.76 1.24e-05 0.3162 0.02711 360
/camera/infra2/camera_info 29.75 1.24e-05 0.2693 0.0268 360

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 5.2 0.08883 0.4702 0.05201 443
/camera/infra2/image_rect_raw 4.265 0.09447 0.5679 0.08816 443
/camera/infra1/camera_info 29.72 1.24e-05 0.3162 0.02719 363
/camera/infra2/camera_info 29.71 1.24e-05 0.2693 0.02698 363

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 5.202 0.08883 0.4702 0.05176 448
/camera/infra2/image_rect_raw 4.247 0.09447 0.5679 0.08925 448
/camera/infra1/camera_info 29.77 1.24e-05 0.3162 0.02713 365
/camera/infra2/camera_info 29.76 1.24e-05 0.2693 0.02693 365

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 5.205 0.08883 0.4702 0.05154 454
/camera/infra2/image_rect_raw 4.228 0.09447 0.5679 0.08973 454
/camera/infra1/camera_info 29.69 1.24e-05 0.3162 0.02725 368
/camera/infra2/camera_info 29.69 1.24e-05 0.2693 0.02692 368

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 5.22 0.08883 0.4702 0.05149 461
/camera/infra2/image_rect_raw 4.218 0.09447 0.5679 0.08966 461
/camera/infra1/camera_info 29.73 1.24e-05 0.3162 0.02726 371
/camera/infra2/camera_info 29.7 1.24e-05 0.2693 0.02706 371

topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 5.243 0.08883 0.4702 0.05159 468
/camera/infra2/image_rect_raw 4.21 0.09447 0.5679 0.08935 468
/camera/infra1/camera_info 29.72 1.24e-05 0.3162 0.02733 375
/camera/infra2/camera_info 29.71 1.24e-05 0.2693 0.02724 375

^C topic rate min_delta max_delta std_dev window
================================================================================
/camera/infra1/image_rect_raw 5.254 0.08883 0.4702 0.05165 471
/camera/infra2/image_rect_raw 4.207 0.09447 0.5679 0.08929 471
/camera/infra1/camera_info 29.74 1.24e-05 0.3162 0.0273 376
/camera/infra2/camera_info 29.71 1.24e-05 0.2693 0.02721 376

matlabbe

Re: Raspi and D435 won't work with Rtabmap

Administrator

Hi,

5 Hz is too slow for visual odometry, though ok for rtabmap (if you switch to wheel odometry instead). If stereo_odometry is complaining not receiving data, it is maybe because it cannot synchronize them. With approx_sync = false, it won't be able to synchronize the data if you are not receiving images with exact same stamps. Like explained in this tutorial, you may want to use stereo_sync node on the PI to pre-sync images, then make stereo_odometry / rtabmap subscribe to the generated rgbd_image topic. Another option would be to set approx_sync to true, but I don't recommend it with low framerate and particularly with stereo cameras.

cheers,
Mathieu

Alan

Re: Raspi and D435 won't work with Rtabmap

In reply to this post by Rodolfo

Hi

You may want to check whether you have global time enabled in the realsense node:

<rosparam>
/camera/l500_depth_sensor/global_time_enabled: true
/camera/motion_module/global_time_enabled: true
/camera/rgb_camera/global_time_enabled: true
</rosparam>

(change accordingly for DXXX camera)

Another issue may be with the installation of the USB drivers used by realsense. The "transfer error, resource unavailable" in your logs can indicate reduced bandwidth between the camera and Pi, which could explain the 5hz stereo rate.