Remote Mapping using Intel Realsense R200

[TheCatalyst]

Hello,

I recently purchased Intel RTF Drone with Intel Aero onboard computer on it and am trying to set up autonomous navigation using rtabmap.

I followed all steps in the ROS Tutorial, but I'm facing the issue, that nothing will be published in rostopic.

1. I launched

roscore

2. Set up

ROS_IP

 on both robot and computer and

ROS_MASTER_URI

 on computer only

3. launch R200

roslaunch realsense_camera r200_nodelet_rgbd.launch publish_tf:=true

4. launch data throttle

roslaunch remote_mapping freenect_throttle.launch rate:=5

And here I get the following error:

[camera/camera_nodelet_manager-1] process has died [pid 26056, exit code -11, cmd /opt/ros/kinetic/lib/nodelet/nodelet manager __name:=camera_nodelet_manager __log:=/home/aero/.ros/log/97fc672e-1814-11e9-a449-3abd102e57ea/camera-camera_nodelet_manager-1.log].
log file: /home/aero/.ros/log/97fc672e-1814-11e9-a449-3abd102e57ea/camera-camera_nodelet_manager-1*.log
[FATAL] [1547482405.825143656]: Failed to unload nodelet '/camera/points_xyzrgb_sw_registered` from manager `camera_nodelet_manager'
[FATAL] [1547482405.830445299]: Failed to unload nodelet '/camera/depth_registered_sw_metric_rect` from manager `camera_nodelet_manager'
[FATAL] [1547482405.830702617]: Failed to unload nodelet '/camera/register_depth_rgb` from manager `camera_nodelet_manager'
[FATAL] [1547482405.833652395]: Failed to unload nodelet '/camera/disparity_depth` from manager `camera_nodelet_manager'
[FATAL] [1547482405.854959082]: Failed to unload nodelet '/camera/disparity_registered_sw` from manager `camera_nodelet_manager'
[FATAL] [1547482405.870759670]: Failed to unload nodelet '/camera/depth_metric` from manager `camera_nodelet_manager'

Can you please help me to do my remote mapping on pc since Intel Aero is not powerful enough to do it onboard

Thank you
Jamshid

[matlabbe]

Hi,

Can you try this launch on the drone?
r200_throttle.launch

<launch>
  <!-- 
       Based on those tutorials:
       http://wiki.ros.org/rtabmap_ros/Tutorials/HandHeldMapping
       http://wiki.ros.org/rtabmap_ros/Tutorials/RemoteMapping
  -->

  <include file="$(find realsense_camera)/launch/r200_nodelet_rgbd.launch"/>

  <arg name="rate"  default="10"/>
  <arg name="cloud_to_depth"  default="true"/> <!-- approach 2 from handheld tutorial above for r200 -->

  <!-- Use same nodelet used by realsense -->
  <group ns="camera">
    <node pkg="nodelet" type="nodelet" name="throttling_nodelet_manager" args="manager" output="screen"/>
    <node if="$(arg cloud_to_depth)" pkg="nodelet" type="nodelet" name="pointcloud_to_depthimage" args="load rtabmap_ros/pointcloud_to_depthimage throttling_nodelet_manager" output="screen">
      <remap from="cloud"       to="depth/points"/>
      <remap from="camera_info" to="rgb/camera_info"/>
      <remap from="image_raw"   to="depth/points/image_raw"/>
      <remap from="image"       to="depth/points/image"/>

      <param name="approx"          value="false"/>
      <param name="fill_holes_size" value="2"/>
    </node>

    <node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle throttling_nodelet_manager" output="screen">
      <param name="rate" type="double" value="$(arg rate)"/>
      <param name="approx_sync" type="bool" value="false"/>

      <remap from="rgb/image_in"       to="rgb/image_rect_color"/>
      <remap from="rgb/camera_info_in" to="rgb/camera_info"/>
      <remap     if="$(arg cloud_to_depth)" from="depth/image_in" to="depth/points/image_raw"/>
      <remap unless="$(arg cloud_to_depth)" from="depth/image_in" to="depth_registered/sw_registered/image_rect_raw"/>

      <remap from="rgb/image_out"       to="data_throttled_image"/>
      <remap from="depth/image_out"     to="data_throttled_image_depth"/>
      <remap from="rgb/camera_info_out" to="data_throttled_camera_info"/>
    </node>
  </group>      
</launch>

Verify you are receiving the compressed topics on remote computer with:

$ rostopic hz /camera/data_throttled_image/compressed /camera/data_throttled_image_depth/compressedDepth /camera/data_throttled_camera_info
subscribed to [/camera/data_throttled_image/compressed]
subscribed to [/camera/data_throttled_image_depth/compressedDepth]
subscribed to [/camera/data_throttled_camera_info]
                      topic                           rate   min_delta   max_delta   std_dev   window
=====================================================================================================
/camera/data_throttled_image/compressed              4.755   0.1998      0.2301      0.01398   4     
/camera/data_throttled_image_depth/compressedDepth   4.76    0.1992      0.2262      0.01163   4     
/camera/data_throttled_camera_info                   4.736   0.2002      0.2323      0.01497   4

If topics are received, you should be able to start rtabmap like this:

$ roslaunch rtabmap_ros rtabmap.launch \
   rgb_topic:=/camera/data_throttled_image \
   depth_topic:=/camera/data_throttled_image_depth \
   camera_info_topic:=/camera/data_throttled_camera_info \
   compressed:=true \
   rtabmap_args:="--delete_db_on_start" \
   approx_sync:=false

cheers,
Mathieu

[TheCatalyst]

Hi Mathieu,

thank you for your help. I just tried it. If I start r200_nodelet_rgbd.launch before r200_throttle.launch I get the same error message as earlier.
I tried without launching r200_nodelet_rgbd.launch and I could see topics on my remote computer, but I still have no image from the camera.

Any suggestions?

Thank you
Jamshid

[matlabbe]

I already included r200_nodelet_rgbd.launch in the launch above, so no need to start it again or before. Remove it from the launch file if you prefer to start it outside.

I could see topics on my remote computer, but I still have no image from the camera.

Which topics can you see? and those you cannot see?

What is the output of the following on remote computer:

$ rostopic hz /camera/data_throttled_image/compressed \
   /camera/data_throttled_image_depth/compressedDepth \
   /camera/data_throttled_camera_info

cheers,
Mathieu

[TheCatalyst]

Hi,

I see all 3 of them. Here the output:

subscribed to [/camera/data_throttled_image/compressed]
subscribed to [/camera/data_throttled_image_depth/compressedDepth]
subscribed to [/camera/data_throttled_camera_info]
                      topic                           rate   min_delta   max_delta   std_dev    window
======================================================================================================
/camera/data_throttled_image/compressed              4.126   0.1218      0.3125      0.07244    5     
/camera/data_throttled_image_depth/compressedDepth   3.778   0.2606      0.2688      0.004087   5     
/camera/data_throttled_camera_info                   3.568   0.2704      0.2901      0.009879   3     

and so on

UDP: Tried couple times and it worked, thank you very much for your spended time. Have a nice day :)