Rtabmap Turtlebot Tutorial Launch Error

[asabet]

I'm trying to reproduce part 6 of the Rtabmap Turtlebot tutorial , but I get this error at step 2:

.

What could be causing this error?

[matlabbe]

Hi,

Can you verify that all topics are published?

$ rostopic hz /odom
$ rostopic hz /camera/rgb/image_raw
$ rostopic hz /camera/depth/image_raw
$ rostopic hz /camera/rgb/camera_info
$ rostopic hz /scan

In the tutorial, if /scan is not published, there is a modification that can be done to fix it (see bullet points in part 6).

EDIT: fixed error /camera/rgb/camera_raw -> /camera/rgb/image_raw

cheers,
Mathieu

[asabet]

Hi Mathieu,

Thank you for the prompt reply.

- /odom is not being published
- /camera/rgb/camera_raw is published as rostopic hz /camera/rgb/image_raw or not at all
- /camera/depth/image_raw is publishing at:
average rate: 22.093
        min: 0.020s max: 0.070s std dev: 0.01352s window: 20
- /camera/rgb/camera_info:
average rate: 9.375
        min: 0.090s max: 0.140s std dev: 0.01414s window: 10
- /scan:
average rate: 10.294
        min: 0.080s max: 0.100s std dev: 0.00700s window: 8

I'm calling roslaunch turtlebot_gazebo turtlebot_world.launch to launch the turtlebot in gazebo,  as in part 6 of http://wiki.ros.org/rtabmap_ros/Tutorials/MappingAndNavigationOnTurtlebot. Also, should I remap /camera/rgb/image_raw to /camera/rgb/camera_raw?

Thanks,

[asabet]

The contents of my launch turtlebot_world.launch

----
<launch>
  <arg name="gui"        default="true"/>
  <arg name="world_file" default="$(env TURTLEBOT_GAZEBO_WORLD_FILE)"/>

  <arg name="base"       value="$(optenv TURTLEBOT_BASE kobuki)"/> 
  <arg name="battery"    value="$(optenv TURTLEBOT_BATTERY /proc/acpi/battery/BAT0)"/> 
  <arg name="stacks"     value="$(optenv TURTLEBOT_STACKS hexagons)"/> 
  <arg name="3d_sensor"  value="$(optenv TURTLEBOT_3D_SENSOR kinect)"/> 

  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="use_sim_time" value="true"/>
    <arg name="debug" value="false"/>
    <arg name="gui" value="$(arg gui)" />
    <arg name="world_name" value="$(arg world_file)"/>
  </include>

  <include file="$(find turtlebot_gazebo)/launch/includes/$(arg base).launch.xml">
    <arg name="base" value="$(arg base)"/>
    <arg name="stacks" value="$(arg stacks)"/>
    <arg name="3d_sensor" value="$(arg 3d_sensor)"/>
  </include>

  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
   
  </node>

 
  <node pkg="nodelet" type="nodelet" name="laserscan_nodelet_manager" args="manager"/>
  <node pkg="nodelet" type="nodelet" name="depthimage_to_laserscan"
        args="load depthimage_to_laserscan/DepthImageToLaserScanNodelet laserscan_nodelet_manager">
   
   
   
    <remap from="image" to="/camera/depth/image_raw"/>
    <remap from="scan" to="/scan"/>
  </node>
</launch>

[matlabbe]

Sorry about "/camera/rgb/camera_raw", I meant /camera/rgb/image_raw (I corrected the post).

Are you on ROS kinetic?

Here is what I have on ros kinetic with default launch files of the tutorial:

$ roslaunch turtlebot_gazebo turtlebot_world.launch
$ roslaunch rtabmap_ros demo_turtlebot_mapping.launch simulation:=true
$ roslaunch rtabmap_ros demo_turtlebot_rviz.launch