Replaying from raw_image bags

[zlacelle]

I'm attempting to play back the full rtabmap pipeline, using image_raw topics.

I'm running them through image_proc to produce left/right image_rect and image_rect_color.  I'm also playing back an odometry topic to provide odom.  At this point, from what I understand, rtabmap should be able to run just as if it were live on a robot.

Contents of bag:
version:     2.0
duration:    10:02s (602s)
start:       Dec 29 2017 13:26:20.18 (1514571980.18)
end:         Dec 29 2017 13:36:23.02 (1514572583.02)
size:        8.4 GB
messages:    166384
compression: none [9647/9647 chunks]
types:       nav_msgs/Odometry      [cd5e73d190d741a2f92e81eda573aca7]
             sensor_msgs/CameraInfo [c9a58c1b0b154e0e6da7578cb991d214]
             sensor_msgs/Image      [060021388200f6f0f447d0fcd9c64743]
             tf2_msgs/TFMessage     [94810edda583a504dfda3829e70d7eec]
topics:      /bumblebee2/left/camera_info    14469 msgs    : sensor_msgs/CameraInfo
             /bumblebee2/left/image_raw      14469 msgs    : sensor_msgs/Image    
             /bumblebee2/right/camera_info   14469 msgs    : sensor_msgs/CameraInfo
             /bumblebee2/right/image_raw     14469 msgs    : sensor_msgs/Image    
             /odometry/filtered              30142 msgs    : nav_msgs/Odometry    
             /tf                             78366 msgs    : tf2_msgs/TFMessage     (3 connections)

I playback the bag using "--clock" so that it's using the bag as clock source, and setting "approx_sync" in both rtabmap and rtabmapviz.  I'm also setting "use_sim_time=true".

rtabmap itself seems happy!

However, I'm getting these printouts from rtabmapviz:
"
[ WARN] [1514925239.130301193, 1514571990.189462058]: /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"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10).
/rtabmap/rtabmapviz subscribed to (approx sync):
   /odometry/filtered,
   /bumblebee2/left/image_rect_color,
   /bumblebee2/right/image_rect,
   /bumblebee2/left/camera_info,
   /bumblebee2/right/camera_info,
   /rtabmap/odom_info
"

All of those topics are there, save for /rtabmap/odom_info.  This topic doesn't exist on the vehicle collecting the data (ros indigo).

[matlabbe]

Hi,

for some reasons, "subscribe_odom_info" parameter of rtabmapviz node is set to true. Set it to false so that odom_info is not subscribed. Note also that it is preferred to use exact synchronization with stereo. I see the bumblebee2 is used, so left and right images must be already synchronized.

For rtabmap and rtabmapviz nodes, set "odom_frame_id" to odometry frame recorded in the bag (to use TF for odometry) instead of having to synchronize the /odometry/filtered topic (which can be problematic if exact synchronization is used for the images).

"odom_tf_linear_variance" and "odom_tf_angular_variance" parameters for rtabmap node can be modified (default is 1) to set a default fixed covariance for odometry when TF is used instead of the topic.

cheers,
Mathieu