Official RTAB-Map Forum

Stereo Odometry Error

Classic

List

Threaded

9 messages Options

rena_00

Stereo Odometry Error

Hello,
I am working on Gazebo 3D simulations with Erleqopter ( Iris model ), I need to use Rtabmap for mapping by stereo camera that I have done plug into the drone. Since I am new on this topic, I may need some help.
My Pointcloud node works properly on Rviz. But I can not use Stereo_mapping.launch file. The error is "Stereo Odometry process has died."

Do I need to do anything before launching the file?

Thank you for any help.

Here is my stereo_mapping.launch file;

<launch>
<arg name="rtabmapviz" default="true" />
<arg name="rviz" default="false" />

<arg name="localization" default="false"/>

<arg name="rtabmapviz_cfg" default="$(find rtabmap_ros)/launch/config/rgbd_gui.ini" />
<arg name="rviz_cfg" default="$(find rtabmap_ros)/launch/config/rgbd.rviz" />

<arg name="frame_id" default="iris/ground_truth/iris/ground_truth/odometry_sensorgt_link"/>
<arg name="database_path" default="~/.ros/rtabmap.db"/>
<arg name="rtabmap_args" default="delete_db_on_start"/>
<arg name="launch_prefix" default=""/>
<arg name="approx_sync" default="false"/>

<arg name="stereo_namespace" default="/multisense_sl/camera"/>
<arg name="left_image_topic" default="$(arg stereo_namespace)/left/image_rect_color" />
<arg name="right_image_topic" default="$(arg stereo_namespace)/right/image_rect" />
<arg name="left_camera_info_topic" default="$(arg stereo_namespace)/left/camera_info" />
<arg name="right_camera_info_topic" default="$(arg stereo_namespace)/right/camera_info" />
<arg name="compressed" default="false"/>

<arg name="subscribe_scan" default="false"/>
<arg name="scan_topic" default="scan"/>

<arg name="subscribe_scan_cloud" default="false"/>
<arg name="scan_cloud_topic" default="/scan_cloud"/>

<arg name="visual_odometry" default="true"/>
<arg name="odom_topic" default="/odom"/>
<arg name="odom_frame_id" default=""/>

<arg name="namespace" default="rtabmap"/>
<arg name="wait_for_transform" default="0.2"/>

<include file="$(find stereo_cam)/launch/rtabmap.launch">
<arg name="use_sim_time" value="true"/>
<arg name="stereo" value="true"/>
<arg name="rtabmapviz" value="$(arg rtabmapviz)" />
<arg name="rviz" value="$(arg rviz)" />
<arg name="localization" value="$(arg localization)"/>
<arg name="gui_cfg" value="$(arg rtabmapviz_cfg)" />
<arg name="rviz_cfg" value="$(arg rviz_cfg)" />

<arg name="frame_id" value="$(arg frame_id)"/>
<arg name="namespace" value="$(arg namespace)"/>
<arg name="database_path" value="$(arg database_path)"/>
<arg name="wait_for_transform" value="$(arg wait_for_transform)"/>
<arg name="rtabmap_args" value="$(arg rtabmap_args)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
<arg name="approx_sync" value="$(arg approx_sync)"/>

<arg name="stereo_namespace" value="$(arg stereo_namespace)"/>
<arg name="left_image_topic" value="$(arg left_image_topic)" />
<arg name="right_image_topic" value="$(arg right_image_topic)" />
<arg name="left_camera_info_topic" value="$(arg left_camera_info_topic)" />
<arg name="right_camera_info_topic" value="$(arg right_camera_info_topic)" />

<arg name="compressed" value="$(arg compressed)"/>

<arg name="subscribe_scan" value="$(arg subscribe_scan)"/>
<arg name="scan_topic" value="$(arg scan_topic)"/>

<arg name="subscribe_scan_cloud" value="$(arg subscribe_scan_cloud)"/>
<arg name="scan_cloud_topic" value="$(arg scan_cloud_topic)"/>

<arg name="visual_odometry" value="$(arg visual_odometry)"/>
<arg name="odom_topic" value="$(arg odom_topic)"/>
<arg name="odom_frame_id" value="$(arg odom_frame_id)"/>
<arg name="odom_args" value="$(arg rtabmap_args)"/>
</include>

</launch>

Here is my stereo_image_proc.launch file;

<launch>

<arg name="manager" />
<arg name="respawn" default="false" />
<arg name="left" default="left" />
<arg name="right" default="right" />

<arg if="$(arg respawn)" name="bond" value="" />
<arg unless="$(arg respawn)" name="bond" value="--no-bond" />

<include file="$(find image_proc)/launch/image_proc.launch"
ns="$(arg left)">
<arg name="manager" value="$(arg manager)" />
<arg name="respawn" value="$(arg respawn)" />
</include>

<include file="$(find image_proc)/launch/image_proc.launch"
ns="$(arg right)">
<arg name="manager" value="$(arg manager)" />
<arg name="respawn" value="$(arg respawn)" />
</include>

<node pkg="nodelet" type="nodelet" name="disparity"
args="load stereo_image_proc/disparity $(arg manager) $(arg bond)"
respawn="$(arg respawn)">
<remap from="left/image_rect" to="multisense_sl/camera/left/image_rect"/>
<remap from="left/camera_info" to="multisense_sl/camera/left/camera_info"/>
<remap from="right/image_rect" to="multisense_sl/camera/right/image_rect"/>
<remap from="right/camera_info" to="multisense_sl/camera/right/camera_info"/>
<remap from="/disparity" to="multisense_sl/camera/disparity"/>

</node>

<node pkg="nodelet" type="nodelet" name="point_cloud2"
args="load stereo_image_proc/point_cloud2 $(arg manager) $(arg bond)"
respawn="$(arg respawn)" >

<remap from="left/image_rect_color" to="multisense_sl/camera/left/image_rect_color"/>
<remap from="left/camera_info" to="multisense_sl/camera/left/camera_info"/>
<remap from="right/image_rect_color" to="multisense_sl/camera/right/image_rect_color"/>
<remap from="right/camera_info" to="multisense_sl/camera/right/camera_info"/>
<remap from="disparity" to="multisense_sl/camera/disparity"/>
</node>
</launch>

matlabbe

Re: Stereo Odometry Error

Administrator

Hi,

Are you using the rtabmap/rtabmap_ros binaries or did you build from source the package? Are you on Ubuntu 16.04/Kinetic?

Can you copy/paste the whole terminal output (in the forum message edition, click More->Raw text)?

Can you show what is the encoding used in the image messages:

$ rostopic echo /multisense_sl/camera/left/image_rect_color/encoding
$ rostopic echo /multisense_sl/camera/right/image_rect/encoding

cheers,
Mathieu

rena_00

Re: Stereo Odometry Error

Hello, thank you for the answer, I am using Ubuntu 16.04/Kinetic.

- For the following commands in the below;
$ rostopic echo /multisense_sl/camera/left/image_rect_color/encoding
$ rostopic echo /multisense_sl/camera/right/image_rect/encoding, the output is ;

---
"rgb8"
---
- I used stereo.launch file to get pointcloud which uses stereo_image_proc package before installing and using Rtabmap. After I installed Rtabmap, I followed Stereo handled mapping tutorial. Since I do not have a real camera and using the one from the simulation, should I start with the "3.Mapping Mode" part? ( here; http://wiki.ros.org/rtabmap_ros/Tutorials/StereoHandHeldMapping) I tried to use stereo_mapping.launch file there, but I am not sure if the following "default" parts are true;
<arg name="frame_id" default="base_link"/>

Or should it be the stereo camera frame called "left_camera_optical_frame" ?

<arg name="stereo_namespace" default="/multisense_sl/camera"/>

multisence_sl is the cameraname from the stereo camera's xacro file.

1.When I tried <arg name="frame_id" default="base_link"/>, the output is;


SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.13
 * /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: base_link
 * /rtabmap/rtabmap/ground_truth_base_frame_id: 
 * /rtabmap/rtabmap/ground_truth_frame_id: 
 * /rtabmap/rtabmap/map_frame_id: map
 * /rtabmap/rtabmap/odom_frame_id: 
 * /rtabmap/rtabmap/odom_sensor_sync: False
 * /rtabmap/rtabmap/odom_tf_angular_variance: 1.0
 * /rtabmap/rtabmap/odom_tf_linear_variance: 1.0
 * /rtabmap/rtabmap/queue_size: 10
 * /rtabmap/rtabmap/scan_normal_k: 0
 * /rtabmap/rtabmap/subscribe_depth: False
 * /rtabmap/rtabmap/subscribe_odom_info: True
 * /rtabmap/rtabmap/subscribe_rgbd: False
 * /rtabmap/rtabmap/subscribe_scan: False
 * /rtabmap/rtabmap/subscribe_scan_cloud: 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: base_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_rgbd: False
 * /rtabmap/rtabmapviz/subscribe_scan: False
 * /rtabmap/rtabmapviz/subscribe_scan_cloud: 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/frame_id: base_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/odom_frame_id: /odom
 * /rtabmap/stereo_odometry/queue_size: 10
 * /rtabmap/stereo_odometry/subscribe_rgbd: False
 * /rtabmap/stereo_odometry/wait_for_transform_duration: 0.2
 * /use_sim_time: True

NODES
  /rtabmap/
    rtabmap (rtabmap_ros/rtabmap)
    rtabmapviz (rtabmap_ros/rtabmapviz)
    stereo_odometry (rtabmap_ros/stereo_odometry)

ROS_MASTER_URI=http://localhost:11311

process[rtabmap/stereo_odometry-1]: started with pid [18425]
process[rtabmap/rtabmap-2]: started with pid [18426]
process[rtabmap/rtabmapviz-3]: started with pid [18427]
[ INFO] [1537540348.757583667]: Initializing nodelet with 4 worker threads.
[ INFO] [1537540348.798073511]: Starting node...
[ INFO] [1537540348.949551956]: Initializing nodelet with 4 worker threads.
[ INFO] [1537540349.272848474]: Starting node...
[ INFO] [1537540349.643567013, 3429.845000000]: Odometry: frame_id               = base_link
[ INFO] [1537540349.643717934, 3429.845000000]: Odometry: odom_frame_id          = /odom
[ INFO] [1537540349.643883877, 3429.845000000]: Odometry: publish_tf             = true
[ INFO] [1537540349.643993432, 3429.845000000]: Odometry: wait_for_transform     = true
[ INFO] [1537540349.644058388, 3429.845000000]: Odometry: wait_for_transform_duration  = 0.200000
[ INFO] [1537540349.644179333, 3429.845000000]: Odometry: initial_pose           = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000
[ INFO] [1537540349.644324712, 3429.845000000]: Odometry: ground_truth_frame_id  = 
[ INFO] [1537540349.644415358, 3429.845000000]: Odometry: ground_truth_base_frame_id = 
[ INFO] [1537540349.644509141, 3429.845000000]: Odometry: config_path            = 
[ INFO] [1537540349.644609559, 3429.845000000]: Odometry: publish_null_when_lost = true
[ INFO] [1537540349.644687014, 3429.845000000]: Odometry: guess_frame_id         = 
[ INFO] [1537540349.644763187, 3429.845000000]: Odometry: guess_min_translation  = 0.000000
[ INFO] [1537540349.644839604, 3429.845000000]: Odometry: guess_min_rotation     = 0.000000
[ INFO] [1537540349.797031720]: rtabmapviz: Using configuration from "/opt/ros/kinetic/share/rtabmap_ros/launch/config/rgbd_gui.ini"
[ INFO] [1537540349.923040502, 3430.037500000]: /rtabmap/rtabmap(maps): map_filter_radius          = 0.000000
[ INFO] [1537540349.923346841, 3430.037500000]: /rtabmap/rtabmap(maps): map_filter_angle           = 30.000000
[ INFO] [1537540349.923534899, 3430.037500000]: /rtabmap/rtabmap(maps): map_cleanup                = true
[ INFO] [1537540349.923660374, 3430.037500000]: /rtabmap/rtabmap(maps): map_negative_poses_ignored = true
[ INFO] [1537540349.923757211, 3430.037500000]: /rtabmap/rtabmap(maps): map_negative_scan_ray_tracing = true
[ INFO] [1537540349.923844639, 3430.037500000]: /rtabmap/rtabmap(maps): cloud_output_voxelized     = true
[ INFO] [1537540349.923934616, 3430.037500000]: /rtabmap/rtabmap(maps): cloud_subtract_filtering   = false
[ INFO] [1537540349.924023894, 3430.037500000]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1537540349.946285036, 3430.045000000]: /rtabmap/rtabmap(maps): octomap_tree_depth         = 16
[ INFO] [1537540350.098999839, 3430.205000000]: rtabmap: frame_id      = base_link
[ INFO] [1537540350.099088977, 3430.205000000]: rtabmap: map_frame_id  = map
[ INFO] [1537540350.099143034, 3430.205000000]: rtabmap: tf_delay      = 0.050000
[ INFO] [1537540350.099181017, 3430.205000000]: rtabmap: tf_tolerance  = 0.100000
[ INFO] [1537540350.099215849, 3430.205000000]: rtabmap: odom_sensor_sync   = false
[ INFO] [1537540350.110597962, 3430.232500000]: rtabmap: stereo_to_depth = true
[ INFO] [1537540351.615232703, 3431.590000000]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1537540351.618397079, 3431.592500000]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[ INFO] [1537540351.990879250, 3431.795000000]: Reading parameters from the ROS server...
[ INFO] [1537540352.317017643, 3432.130000000]: StereoOdometry: approx_sync = false
[ INFO] [1537540352.317089120, 3432.130000000]: StereoOdometry: queue_size = 10
[ INFO] [1537540352.317128923, 3432.130000000]: StereoOdometry: subscribe_rgbd = false
[ INFO] [1537540352.464727919, 3432.280000000]: 
/rtabmap/stereo_odometry subscribed to (exact sync):
   /multisense_sl/camera/left/image_rect_color,
   /multisense_sl/camera/right/image_rect,
   /multisense_sl/camera/left/camera_info,
   /multisense_sl/camera/right/camera_info
[ WARN] [1537540353.276277341, 3432.872500000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3432.575000) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2025 timeout was 0.2."
[ WARN] [1537540353.604864593, 3433.085000000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3432.667500) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2025 timeout was 0.2."
[ INFO] [1537540353.673761738, 3433.140000000]: Parameters read = 347
[ INFO] [1537540353.673936277, 3433.140000000]: Parameters successfully read.
[ WARN] [1537540353.927222918, 3433.285000000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3432.882500) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2 timeout was 0.2."
[ WARN] [1537540354.210651322, 3433.487500000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3433.147500) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2 timeout was 0.2."
[ WARN] [1537540354.582750601, 3433.690000000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3433.285000) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2025 timeout was 0.2."
[ WARN] [1537540354.756649673, 3433.890000000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3433.577500) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2 timeout was 0.2."
[ INFO] [1537540355.068590064, 3434.055000000]: /rtabmap/rtabmapviz: queue_size    = 10
[ INFO] [1537540355.068682674, 3434.055000000]: /rtabmap/rtabmapviz: rgbd_cameras = 1
[ INFO] [1537540355.068731257, 3434.055000000]: /rtabmap/rtabmapviz: approx_sync   = false
[ INFO] [1537540355.068789276, 3434.055000000]: Setup stereo callback
[ WARN] [1537540355.227700157, 3434.155000000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3433.650000) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2 timeout was 0.2."
[ INFO] [1537540355.353920573, 3434.250000000]: 
/rtabmap/rtabmapviz subscribed to (exact sync):
   /odom,
   /multisense_sl/camera/left/image_rect_color,
   /multisense_sl/camera/right/image_rect,
   /multisense_sl/camera/left/camera_info,
   /multisense_sl/camera/right/camera_info,
   /rtabmap/odom_info
[ INFO] [1537540355.354109667, 3434.250000000]: rtabmapviz started.
[ WARN] [1537540355.617390481, 3434.387500000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3433.952500) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2 timeout was 0.2."
[ WARN] [1537540355.990971631, 3434.632500000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3434.185000) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2 timeout was 0.2."
[ WARN] [1537540356.217615291, 3434.832500000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3434.427500) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2 timeout was 0.2."
[ INFO] [1537540356.460868795, 3435.017500000]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1537540356.461318309, 3435.017500000]: rtabmap: Deleted database "/home/beril/.ros/rtabmap.db" (--delete_db_on_start or -d are set).
[ INFO] [1537540356.461404670, 3435.017500000]: rtabmap: Using database from "/home/beril/.ros/rtabmap.db" (0 MB).
[ WARN] [1537540356.510896907, 3435.032500000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3434.585000) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2 timeout was 0.2."
[ WARN] [1537540356.730620008, 3435.232500000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3434.757500) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2 timeout was 0.2."
[ WARN] [1537540356.950990237, 3435.432500000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3434.987500) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2 timeout was 0.2."
[ WARN] [1537540357.201346205, 3435.635000000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3435.137500) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2025 timeout was 0.2."
[ WARN] [1537540357.424572137, 3435.835000000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3435.442500) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2 timeout was 0.2."
[ WARN] [1537540357.689797247, 3436.035000000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3435.707500) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2 timeout was 0.2."
[ WARN] [1537540357.900750418, 3436.237500000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3435.830000) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2025 timeout was 0.2."
[ WARN] [1537540358.113051909, 3436.437500000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3435.952500) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2 timeout was 0.2."
[ WARN] [1537540358.334211776, 3436.645000000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3436.127500) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2075 timeout was 0.2."
[ WARN] [1537540358.518021133, 3436.845000000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3436.460000) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2 timeout was 0.2."
[ WARN] [1537540358.723676799, 3437.045000000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3436.567500) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2 timeout was 0.2."
[ WARN] [1537540358.872619256, 3437.245000000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3436.790000) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2 timeout was 0.2."
[ WARN] [1537540359.077830219, 3437.452500000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3436.935000) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2 timeout was 0.2."
[ WARN] [1537540359.312848389, 3437.655000000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3437.255000) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2 timeout was 0.2."
[ INFO] [1537540359.541494200, 3437.800000000]: rtabmap: Database version = "0.17.1".
[ INFO] [1537540359.624735446, 3437.837500000]: /rtabmap/rtabmap: queue_size    = 10
[ INFO] [1537540359.624786399, 3437.837500000]: /rtabmap/rtabmap: rgbd_cameras = 1
[ INFO] [1537540359.624935213, 3437.837500000]: /rtabmap/rtabmap: approx_sync   = false
[ INFO] [1537540359.625067767, 3437.837500000]: Setup stereo callback
[ WARN] [1537540359.668762142, 3437.857500000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3437.452500) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2025 timeout was 0.2."
[ INFO] [1537540359.685572783, 3437.867500000]: 
/rtabmap/rtabmap subscribed to (exact sync):
   /odom,
   /multisense_sl/camera/left/image_rect_color,
   /multisense_sl/camera/right/image_rect,
   /multisense_sl/camera/left/camera_info,
   /multisense_sl/camera/right/camera_info,
   /rtabmap/odom_info
[ INFO] [1537540359.711229048, 3437.880000000]: rtabmap 0.17.1 started...
[ WARN] [1537540360.010355968, 3438.057500000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3437.732500) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2 timeout was 0.2."
[ WARN] [1537540360.285998167, 3438.257500000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3437.912500) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2 timeout was 0.2."
[ WARN] [1537540360.634924156, 3438.460000000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3438.090000) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2025 timeout was 0.2."
[ WARN] [1537540360.947569961, 3438.660000000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3438.307500) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2 timeout was 0.2."
[ WARN] [1537540361.202770956, 3438.860000000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3438.552500) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2 timeout was 0.2."
[ WARN] [1537540361.453553398, 3439.060000000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3438.617500) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2 timeout was 0.2."
[ WARN] [1537540361.680147058, 3439.250000000]: /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):
   /odom,
   /multisense_sl/camera/left/image_rect_color,
   /multisense_sl/camera/right/image_rect,
   /multisense_sl/camera/left/camera_info,
   /multisense_sl/camera/right/camera_info,
   /rtabmap/odom_info
[ WARN] [1537540361.701722891, 3439.260000000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3438.895000) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2 timeout was 0.2."
[ WARN] [1537540362.024209909, 3439.462500000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3439.115000) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2025 timeout was 0.2."
[ WARN] [1537540362.300672677, 3439.662500000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3439.347500) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2 timeout was 0.2."
[ WARN] [1537540362.557328577, 3439.862500000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3439.537500) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2 timeout was 0.2."
[ WARN] [1537540362.852305943, 3440.062500000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3439.625000) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2 timeout was 0.2."
[ WARN] [1537540363.053737000, 3440.267500000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3439.885000) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.205 timeout was 0.2."
[ WARN] [1537540363.284797102, 3440.470000000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3439.982500) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2025 timeout was 0.2."
[ WARN] [1537540363.584587116, 3440.670000000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3440.290000) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2 timeout was 0.2."
[ WARN] [1537540363.876659346, 3440.870000000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3440.547500) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2 timeout was 0.2."
[ WARN] [1537540364.112884893, 3441.075000000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3440.700000) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.205 timeout was 0.2."
[ WARN] [1537540364.340378937, 3441.280000000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3440.940000) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.205 timeout was 0.2."
[ WARN] [1537540364.579424753, 3441.482500000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3441.050000) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2025 timeout was 0.2."
[ WARN] [1537540364.813443995, 3441.682500000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3441.220000) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2 timeout was 0.2."
[ WARN] [1537540365.176018465, 3441.892500000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3441.520000) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.205 timeout was 0.2."
[ WARN] [1537540365.453239500, 3442.092500000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3441.785000) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2 timeout was 0.2."
[ WARN] [1537540365.732246055, 3442.297500000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3441.877500) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.205 timeout was 0.2."
[ WARN] [1537540366.059428039, 3442.505000000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3442.155000) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.205 timeout was 0.2."
[ WARN] [1537540366.308668382, 3442.705000000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3442.347500) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2 timeout was 0.2."
[ WARN] [1537540366.531128406, 3442.867500000]: /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):
   /odom,
   /multisense_sl/camera/left/image_rect_color,
   /multisense_sl/camera/right/image_rect,
   /multisense_sl/camera/left/camera_info,
   /multisense_sl/camera/right/camera_info,
   /rtabmap/odom_info
[ WARN] [1537540366.572486029, 3442.905000000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3442.532500) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2 timeout was 0.2."
[ WARN] [1537540366.872491410, 3443.107500000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3442.775000) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2 timeout was 0.2."
[ WARN] [1537540367.173155788, 3443.310000000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3442.907500) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2025 timeout was 0.2."
[ WARN] [1537540367.424921766, 3443.510000000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3443.112500) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2 timeout was 0.2."
[ WARN] [1537540367.816281803, 3443.717500000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3443.230000) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2075 timeout was 0.2."
[ WARN] [1537540368.054816446, 3443.917500000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3443.625000) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2 timeout was 0.2."
[ WARN] [1537540368.317683503, 3444.117500000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3443.687500) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2 timeout was 0.2."
[ WARN] [1537540368.505599657, 3444.250000000]: /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):
   /odom,
   /multisense_sl/camera/left/image_rect_color,
   /multisense_sl/camera/right/image_rect,
   /multisense_sl/camera/left/camera_info,
   /multisense_sl/camera/right/camera_info,
   /rtabmap/odom_info
[ WARN] [1537540368.599679950, 3444.317500000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3443.950000) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2 timeout was 0.2."
[ WARN] [1537540368.833094929, 3444.517500000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3444.142500) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2 timeout was 0.2."
[ WARN] [1537540369.090645186, 3444.717500000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3444.290000) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2 timeout was 0.2."
[ WARN] [1537540369.303679817, 3444.917500000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3444.472500) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2 timeout was 0.2."
[ WARN] [1537540369.535008219, 3445.120000000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3444.587500) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2025 timeout was 0.2."
[ WARN] [1537540369.769954141, 3445.320000000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3444.932500) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2 timeout was 0.2."
[ WARN] [1537540370.026312199, 3445.520000000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3445.100000) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2 timeout was 0.2."
[ WARN] [1537540370.281744626, 3445.720000000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3445.292500) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2 timeout was 0.2."
[ WARN] [1537540370.524385110, 3445.920000000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3445.537500) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2 timeout was 0.2."
[ WARN] [1537540370.775827653, 3446.122500000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3445.662500) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2025 timeout was 0.2."
[ WARN] [1537540370.996162115, 3446.325000000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3445.925000) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2025 timeout was 0.2."
[ WARN] [1537540371.218411692, 3446.525000000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3446.202500) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2 timeout was 0.2."
[ WARN] [1537540371.477187272, 3446.727500000]: odometry: Could not get transform from base_link to left_camera_optical_frame (stamp=3446.312500) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.2025 timeout was 0.2."

2. When I tried <arg name="frame_id" default="left_camera_optical_frame"/>, the output is;

Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.



SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.13
 * /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: left_camera_optic...
 * /rtabmap/rtabmap/ground_truth_base_frame_id: 
 * /rtabmap/rtabmap/ground_truth_frame_id: 
 * /rtabmap/rtabmap/map_frame_id: map
 * /rtabmap/rtabmap/odom_frame_id: 
 * /rtabmap/rtabmap/odom_sensor_sync: False
 * /rtabmap/rtabmap/odom_tf_angular_variance: 1.0
 * /rtabmap/rtabmap/odom_tf_linear_variance: 1.0
 * /rtabmap/rtabmap/queue_size: 10
 * /rtabmap/rtabmap/scan_normal_k: 0
 * /rtabmap/rtabmap/subscribe_depth: False
 * /rtabmap/rtabmap/subscribe_odom_info: True
 * /rtabmap/rtabmap/subscribe_rgbd: False
 * /rtabmap/rtabmap/subscribe_scan: False
 * /rtabmap/rtabmap/subscribe_scan_cloud: 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: left_camera_optic...
 * /rtabmap/rtabmapviz/odom_frame_id: 
 * /rtabmap/rtabmapviz/queue_size: 10
 * /rtabmap/rtabmapviz/subscribe_depth: False
 * /rtabmap/rtabmapviz/subscribe_odom_info: True
 * /rtabmap/rtabmapviz/subscribe_rgbd: False
 * /rtabmap/rtabmapviz/subscribe_scan: False
 * /rtabmap/rtabmapviz/subscribe_scan_cloud: 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/frame_id: left_camera_optic...
 * /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/odom_frame_id: /odom
 * /rtabmap/stereo_odometry/queue_size: 10
 * /rtabmap/stereo_odometry/subscribe_rgbd: False
 * /rtabmap/stereo_odometry/wait_for_transform_duration: 0.2
 * /use_sim_time: True

NODES
  /rtabmap/
    rtabmap (rtabmap_ros/rtabmap)
    rtabmapviz (rtabmap_ros/rtabmapviz)
    stereo_odometry (rtabmap_ros/stereo_odometry)

ROS_MASTER_URI=http://localhost:11311

process[rtabmap/stereo_odometry-1]: started with pid [22947]
process[rtabmap/rtabmap-2]: started with pid [22948]
process[rtabmap/rtabmapviz-3]: started with pid [22949]
[ INFO] [1537540515.607481034]: Initializing nodelet with 4 worker threads.
[ INFO] [1537540515.684427016]: Starting node...
[ INFO] [1537540515.854414675]: Initializing nodelet with 4 worker threads.
[ INFO] [1537540516.174603472, 3636.085000000]: Odometry: frame_id               = left_camera_optical_frame
[ INFO] [1537540516.174758159, 3636.085000000]: Odometry: odom_frame_id          = /odom
[ INFO] [1537540516.174846848, 3636.085000000]: Odometry: publish_tf             = true
[ INFO] [1537540516.174960165, 3636.087500000]: Odometry: wait_for_transform     = true
[ INFO] [1537540516.175054948, 3636.087500000]: Odometry: wait_for_transform_duration  = 0.200000
[ INFO] [1537540516.175164011, 3636.087500000]: Odometry: initial_pose           = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000
[ INFO] [1537540516.175247399, 3636.087500000]: Odometry: ground_truth_frame_id  = 
[ INFO] [1537540516.175328152, 3636.087500000]: Odometry: ground_truth_base_frame_id = 
[ INFO] [1537540516.175410101, 3636.087500000]: Odometry: config_path            = 
[ INFO] [1537540516.175483079, 3636.087500000]: Odometry: publish_null_when_lost = true
[ INFO] [1537540516.175558920, 3636.087500000]: Odometry: guess_frame_id         = 
[ INFO] [1537540516.175637009, 3636.087500000]: Odometry: guess_min_translation  = 0.000000
[ INFO] [1537540516.175718599, 3636.087500000]: Odometry: guess_min_rotation     = 0.000000
[ INFO] [1537540516.372724078]: Starting node...
[ INFO] [1537540516.786828556, 3636.602500000]: /rtabmap/rtabmap(maps): map_filter_radius          = 0.000000
[ INFO] [1537540516.786968314, 3636.602500000]: /rtabmap/rtabmap(maps): map_filter_angle           = 30.000000
[ INFO] [1537540516.787051129, 3636.602500000]: /rtabmap/rtabmap(maps): map_cleanup                = true
[ INFO] [1537540516.787127794, 3636.602500000]: /rtabmap/rtabmap(maps): map_negative_poses_ignored = true
[ INFO] [1537540516.787202322, 3636.602500000]: /rtabmap/rtabmap(maps): map_negative_scan_ray_tracing = true
[ INFO] [1537540516.787275368, 3636.602500000]: /rtabmap/rtabmap(maps): cloud_output_voxelized     = true
[ INFO] [1537540516.787348557, 3636.602500000]: /rtabmap/rtabmap(maps): cloud_subtract_filtering   = false
[ INFO] [1537540516.787422339, 3636.602500000]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1537540516.792363752, 3636.602500000]: /rtabmap/rtabmap(maps): octomap_tree_depth         = 16
[ INFO] [1537540516.986608239]: rtabmapviz: Using configuration from "/opt/ros/kinetic/share/rtabmap_ros/launch/config/rgbd_gui.ini"
[ INFO] [1537540516.991714247, 3636.830000000]: rtabmap: frame_id      = left_camera_optical_frame
[ INFO] [1537540516.991842661, 3636.830000000]: rtabmap: map_frame_id  = map
[ INFO] [1537540516.991930449, 3636.830000000]: rtabmap: tf_delay      = 0.050000
[ INFO] [1537540516.992047593, 3636.832500000]: rtabmap: tf_tolerance  = 0.100000
[ INFO] [1537540516.992123401, 3636.832500000]: rtabmap: odom_sensor_sync   = false
[ INFO] [1537540516.996662970, 3636.837500000]: rtabmap: stereo_to_depth = true
[ INFO] [1537540518.514329738, 3638.177500000]: StereoOdometry: approx_sync = false
[ INFO] [1537540518.514405510, 3638.177500000]: StereoOdometry: queue_size = 10
[ INFO] [1537540518.514447641, 3638.177500000]: StereoOdometry: subscribe_rgbd = false
[ INFO] [1537540518.619621752, 3638.222500000]: 
/rtabmap/stereo_odometry subscribed to (exact sync):
   /multisense_sl/camera/left/image_rect_color,
   /multisense_sl/camera/right/image_rect,
   /multisense_sl/camera/left/camera_info,
   /multisense_sl/camera/right/camera_info
[ INFO] [1537540518.685508634, 3638.255000000]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1537540518.687614406, 3638.257500000]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[ INFO] [1537540519.201294602, 3638.555000000]: Reading parameters from the ROS server...
[rtabmap/stereo_odometry-1] process has died [pid 22947, exit code -11, cmd /opt/ros/kinetic/lib/rtabmap_ros/stereo_odometry --delete_db_on_start --delete_db_on_start left/image_rect:=/multisense_sl/camera/left/image_rect_color right/image_rect:=/multisense_sl/camera/right/image_rect left/camera_info:=/multisense_sl/camera/left/camera_info right/camera_info:=/multisense_sl/camera/right/camera_info rgbd_image:=rgbd_image odom:=/odom __name:=stereo_odometry __log:=/home/beril/.ros/log/9a33555e-bda4-11e8-9582-a8a795b8b6f5/rtabmap-stereo_odometry-1.log].
log file: /home/beril/.ros/log/9a33555e-bda4-11e8-9582-a8a795b8b6f5/rtabmap-stereo_odometry-1*.log
[ INFO] [1537540520.389230822, 3639.497500000]: Parameters read = 0
[ INFO] [1537540521.656367449, 3640.682500000]: /rtabmap/rtabmapviz: queue_size    = 10
[ INFO] [1537540521.656549931, 3640.682500000]: /rtabmap/rtabmapviz: rgbd_cameras = 1
[ INFO] [1537540521.656634816, 3640.682500000]: /rtabmap/rtabmapviz: approx_sync   = false
[ INFO] [1537540521.656728424, 3640.682500000]: Setup stereo callback
[ INFO] [1537540521.993301292, 3641.040000000]: 
/rtabmap/rtabmapviz subscribed to (exact sync):
   /odom,
   /multisense_sl/camera/left/image_rect_color,
   /multisense_sl/camera/right/image_rect,
   /multisense_sl/camera/left/camera_info,
   /multisense_sl/camera/right/camera_info,
   /rtabmap/odom_info
[ INFO] [1537540521.993401466, 3641.040000000]: rtabmapviz started.
[ INFO] [1537540522.746903407, 3641.515000000]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1537540522.747225275, 3641.515000000]: rtabmap: Deleted database "/home/beril/.ros/rtabmap.db" (--delete_db_on_start or -d are set).
[ INFO] [1537540522.747343806, 3641.515000000]: rtabmap: Using database from "/home/beril/.ros/rtabmap.db" (0 MB).
[rtabmap/rtabmapviz-3] process has died [pid 22949, exit code -11, cmd /opt/ros/kinetic/lib/rtabmap_ros/rtabmapviz -d /opt/ros/kinetic/share/rtabmap_ros/launch/config/rgbd_gui.ini rgb/image:=/camera/rgb/image_rect_color depth/image:=/camera/depth_registered/image_raw rgb/camera_info:=/camera/rgb/camera_info rgbd_image:=rgbd_image left/image_rect:=/multisense_sl/camera/left/image_rect_color right/image_rect:=/multisense_sl/camera/right/image_rect left/camera_info:=/multisense_sl/camera/left/camera_info right/camera_info:=/multisense_sl/camera/right/camera_info scan:=scan scan_cloud:=/scan_cloud odom:=/odom __name:=rtabmapviz __log:=/home/beril/.ros/log/9a33555e-bda4-11e8-9582-a8a795b8b6f5/rtabmap-rtabmapviz-3.log].
log file: /home/beril/.ros/log/9a33555e-bda4-11e8-9582-a8a795b8b6f5/rtabmap-rtabmapviz-3*.log
[ INFO] [1537540525.651227495, 3645.140000000]: rtabmap: Database version = "0.17.1".
[ INFO] [1537540525.777009392, 3645.297500000]: /rtabmap/rtabmap: queue_size    = 10
[ INFO] [1537540525.777088358, 3645.297500000]: /rtabmap/rtabmap: rgbd_cameras = 1
[ INFO] [1537540525.777132303, 3645.297500000]: /rtabmap/rtabmap: approx_sync   = false
[ INFO] [1537540525.777237262, 3645.297500000]: Setup stereo callback
[ INFO] [1537540525.867730054, 3645.400000000]: 
/rtabmap/rtabmap subscribed to (exact sync):
   /odom,
   /multisense_sl/camera/left/image_rect_color,
   /multisense_sl/camera/right/image_rect,
   /multisense_sl/camera/left/camera_info,
   /multisense_sl/camera/right/camera_info,
   /rtabmap/odom_info
[ INFO] [1537540525.908526028, 3645.440000000]: rtabmap 0.17.1 started...
[rtabmap/rtabmap-2] process has died [pid 22948, exit code -11, cmd /opt/ros/kinetic/lib/rtabmap_ros/rtabmap --delete_db_on_start rgb/image:=/camera/rgb/image_rect_color depth/image:=/camera/depth_registered/image_raw rgb/camera_info:=/camera/rgb/camera_info rgbd_image:=rgbd_image left/image_rect:=/multisense_sl/camera/left/image_rect_color right/image_rect:=/multisense_sl/camera/right/image_rect left/camera_info:=/multisense_sl/camera/left/camera_info right/camera_info:=/multisense_sl/camera/right/camera_info scan:=scan scan_cloud:=/scan_cloud user_data:=/user_data user_data_async:=/user_data_async odom:=/odom __name:=rtabmap __log:=/home/beril/.ros/log/9a33555e-bda4-11e8-9582-a8a795b8b6f5/rtabmap-rtabmap-2.log].
log file: /home/beril/.ros/log/9a33555e-bda4-11e8-9582-a8a795b8b6f5/rtabmap-rtabmap-2*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done

Thank you :)

matlabbe

Re: Stereo Odometry Error

Administrator

Hi,

The nodes seem crashing when trying to process the image topics. To reproduce the problem here, would you record a small rosbag (just 5/10 sec) and share it (link to a google drive / dropbox)?

$ rosbag record  /multisense_sl/camera/left/image_rect_color /multisense_sl/camera/right/image_rect /multisense_sl/camera/left/camera_info /multisense_sl/camera/right/camera_info

cheers,
Mathieu

rena_00

Re: Stereo Odometry Error

Hello,

Here is the link of the rosbag.

https://drive.google.com/open?id=1-QHAu1iWmMjN4GbpVFJE0HOdewG_BtO6

Thank you :)

matlabbe

Re: Stereo Odometry Error

Administrator

I cannot reproduce the problem here, using rtabmap ros binaries...

What I did:

$ roslaunch rtabmap_ros rtabmap.launch args:="-d" stereo:=true stereo_namespace:="/multisense_sl/camera" use_sim_time:=true
$ rosrun tf static_transform_publisher 0 0 0 -1.5707963267948966 0 -1.5707963267948966 camera_link left_camera_optical_frame 100
$ rosbag play --clock 2018-09-24-09-11-44.bag

rena_00

Re: Stereo Odometry Error

Hello,

Thank you so much for the response. At least it is good to see that my topics work.
I did the same things; I tried without rosbag as laucnhed my senario and tried the 1. and 2. command you gave. The first command has crushed again with stereo odometry error, Here is the output:

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.13
 * /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/ground_truth_base_frame_id: 
 * /rtabmap/rtabmap/ground_truth_frame_id: 
 * /rtabmap/rtabmap/map_frame_id: map
 * /rtabmap/rtabmap/odom_frame_id: 
 * /rtabmap/rtabmap/odom_sensor_sync: False
 * /rtabmap/rtabmap/odom_tf_angular_variance: 1.0
 * /rtabmap/rtabmap/odom_tf_linear_variance: 1.0
 * /rtabmap/rtabmap/queue_size: 10
 * /rtabmap/rtabmap/scan_normal_k: 0
 * /rtabmap/rtabmap/subscribe_depth: False
 * /rtabmap/rtabmap/subscribe_odom_info: True
 * /rtabmap/rtabmap/subscribe_rgbd: False
 * /rtabmap/rtabmap/subscribe_scan: False
 * /rtabmap/rtabmap/subscribe_scan_cloud: 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_rgbd: False
 * /rtabmap/rtabmapviz/subscribe_scan: False
 * /rtabmap/rtabmapviz/subscribe_scan_cloud: 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/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/odom_frame_id: odom
 * /rtabmap/stereo_odometry/queue_size: 10
 * /rtabmap/stereo_odometry/subscribe_rgbd: False
 * /rtabmap/stereo_odometry/wait_for_transform_duration: 0.2
 * /use_sim_time: True

NODES
  /rtabmap/
    rtabmap (rtabmap_ros/rtabmap)
    rtabmapviz (rtabmap_ros/rtabmapviz)
    stereo_odometry (rtabmap_ros/stereo_odometry)

ROS_MASTER_URI=http://localhost:11311

process[rtabmap/stereo_odometry-1]: started with pid [5175]
process[rtabmap/rtabmap-2]: started with pid [5176]
process[rtabmap/rtabmapviz-3]: started with pid [5177]
[ INFO] [1538066812.900244092]: Starting node...
[ INFO] [1538066812.966426812]: Initializing nodelet with 4 worker threads.
[ INFO] [1538066813.054445323]: Initializing nodelet with 4 worker threads.
[ INFO] [1538066813.207685037]: Starting node...
[ INFO] [1538066813.564508821, 173.325000000]: Odometry: frame_id               = camera_link
[ INFO] [1538066813.564798197, 173.325000000]: Odometry: odom_frame_id          = odom
[ INFO] [1538066813.564991456, 173.325000000]: Odometry: publish_tf             = true
[ INFO] [1538066813.565169788, 173.325000000]: Odometry: wait_for_transform     = true
[ INFO] [1538066813.565355129, 173.325000000]: Odometry: wait_for_transform_duration  = 0.200000
[ INFO] [1538066813.566453861, 173.327500000]: Odometry: initial_pose           = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000
[ INFO] [1538066813.566610270, 173.327500000]: Odometry: ground_truth_frame_id  = 
[ INFO] [1538066813.566709797, 173.327500000]: Odometry: ground_truth_base_frame_id = 
[ INFO] [1538066813.566811990, 173.327500000]: Odometry: config_path            = 
[ INFO] [1538066813.567252453, 173.327500000]: Odometry: publish_null_when_lost = true
[ INFO] [1538066813.567448952, 173.327500000]: Odometry: guess_frame_id         = 
[ INFO] [1538066813.567740591, 173.327500000]: Odometry: guess_min_translation  = 0.000000
[ INFO] [1538066813.568076463, 173.327500000]: Odometry: guess_min_rotation     = 0.000000
[ INFO] [1538066813.638767214]: rtabmapviz: Using configuration from "/home/beril/.ros/rtabmap_gui.ini"
[ INFO] [1538066813.870368743, 173.570000000]: /rtabmap/rtabmap(maps): map_filter_radius          = 0.000000
[ INFO] [1538066813.870422775, 173.570000000]: /rtabmap/rtabmap(maps): map_filter_angle           = 30.000000
[ INFO] [1538066813.870450336, 173.570000000]: /rtabmap/rtabmap(maps): map_cleanup                = true
[ INFO] [1538066813.870473289, 173.570000000]: /rtabmap/rtabmap(maps): map_negative_poses_ignored = true
[ INFO] [1538066813.870495425, 173.570000000]: /rtabmap/rtabmap(maps): map_negative_scan_ray_tracing = true
[ INFO] [1538066813.870517987, 173.570000000]: /rtabmap/rtabmap(maps): cloud_output_voxelized     = true
[ INFO] [1538066813.870544856, 173.570000000]: /rtabmap/rtabmap(maps): cloud_subtract_filtering   = false
[ INFO] [1538066813.870572105, 173.570000000]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1538066813.879320164, 173.572500000]: /rtabmap/rtabmap(maps): octomap_tree_depth         = 16
[ INFO] [1538066814.059875580, 173.725000000]: rtabmap: frame_id      = camera_link
[ INFO] [1538066814.060044382, 173.725000000]: rtabmap: map_frame_id  = map
[ INFO] [1538066814.060154159, 173.725000000]: rtabmap: tf_delay      = 0.050000
[ INFO] [1538066814.060250586, 173.725000000]: rtabmap: tf_tolerance  = 0.100000
[ INFO] [1538066814.060351284, 173.725000000]: rtabmap: odom_sensor_sync   = false
[ INFO] [1538066814.067510669, 173.732500000]: rtabmap: stereo_to_depth = true
[ INFO] [1538066815.792191129, 175.110000000]: Reading parameters from the ROS server...
[ INFO] [1538066816.156593362, 175.467500000]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1538066816.161133175, 175.472500000]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[ INFO] [1538066816.726707328, 176.027500000]: StereoOdometry: approx_sync = false
[ INFO] [1538066816.726769014, 176.030000000]: StereoOdometry: queue_size = 10
[ INFO] [1538066816.726800041, 176.030000000]: StereoOdometry: subscribe_rgbd = false
[ INFO] [1538066816.878691961, 176.165000000]: 
/rtabmap/stereo_odometry subscribed to (exact sync):
   /multisense_sl/camera/left/image_rect_color,
   /multisense_sl/camera/right/image_rect,
   /multisense_sl/camera/left/camera_info,
   /multisense_sl/camera/right/camera_info
[ INFO] [1538066817.562278165, 176.640000000]: Parameters read = 347
[ INFO] [1538066817.562413661, 176.640000000]: Parameters successfully read.
[rtabmap/stereo_odometry-1] process has died [pid 5175, exit code -11, cmd /opt/ros/kinetic/lib/rtabmap_ros/stereo_odometry -d left/image_rect:=/multisense_sl/camera/left/image_rect_color right/image_rect:=/multisense_sl/camera/right/image_rect left/camera_info:=/multisense_sl/camera/left/camera_info right/camera_info:=/multisense_sl/camera/right/camera_info rgbd_image:=rgbd_image odom:=odom __name:=stereo_odometry __log:=/home/beril/.ros/log/9ffcfc4a-c274-11e8-a88f-a8a795b8b6f5/rtabmap-stereo_odometry-1.log].
log file: /home/beril/.ros/log/9ffcfc4a-c274-11e8-a88f-a8a795b8b6f5/rtabmap-stereo_odometry-1*.log
[ INFO] [1538066818.780488748, 177.580000000]: /rtabmap/rtabmapviz: queue_size    = 10
[ INFO] [1538066818.780565009, 177.580000000]: /rtabmap/rtabmapviz: rgbd_cameras = 1
[ INFO] [1538066818.780612970, 177.580000000]: /rtabmap/rtabmapviz: approx_sync   = false
[ INFO] [1538066818.780678797, 177.582500000]: Setup stereo callback
[ INFO] [1538066818.995003502, 177.750000000]: 
/rtabmap/rtabmapviz subscribed to (exact sync):
   /rtabmap/odom,
   /multisense_sl/camera/left/image_rect_color,
   /multisense_sl/camera/right/image_rect,
   /multisense_sl/camera/left/camera_info,
   /multisense_sl/camera/right/camera_info,
   /rtabmap/odom_info
[ INFO] [1538066818.995129659, 177.750000000]: rtabmapviz started.
[rtabmap/rtabmapviz-3] process has died [pid 5177, exit code -11, cmd /opt/ros/kinetic/lib/rtabmap_ros/rtabmapviz -d ~/.ros/rtabmap_gui.ini rgb/image:=/camera/rgb/image_rect_color depth/image:=/camera/depth_registered/image_raw rgb/camera_info:=/camera/rgb/camera_info rgbd_image:=rgbd_image left/image_rect:=/multisense_sl/camera/left/image_rect_color right/image_rect:=/multisense_sl/camera/right/image_rect left/camera_info:=/multisense_sl/camera/left/camera_info right/camera_info:=/multisense_sl/camera/right/camera_info scan:=/scan scan_cloud:=/scan_cloud odom:=odom __name:=rtabmapviz __log:=/home/beril/.ros/log/9ffcfc4a-c274-11e8-a88f-a8a795b8b6f5/rtabmap-rtabmapviz-3.log].
log file: /home/beril/.ros/log/9ffcfc4a-c274-11e8-a88f-a8a795b8b6f5/rtabmap-rtabmapviz-3*.log
[ INFO] [1538066820.791392114, 179.177500000]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1538066820.791611472, 179.177500000]: rtabmap: Deleted database "/home/beril/.ros/rtabmap.db" (--delete_db_on_start or -d are set).
[ INFO] [1538066820.791685024, 179.177500000]: rtabmap: Using database from "/home/beril/.ros/rtabmap.db" (0 MB).
[ INFO] [1538066823.626125131, 182.760000000]: rtabmap: Database version = "0.17.1".
[ INFO] [1538066823.695023622, 182.812500000]: /rtabmap/rtabmap: queue_size    = 10
[ INFO] [1538066823.695080451, 182.812500000]: /rtabmap/rtabmap: rgbd_cameras = 1
[ INFO] [1538066823.695106037, 182.812500000]: /rtabmap/rtabmap: approx_sync   = false
[ INFO] [1538066823.695203454, 182.812500000]: Setup stereo callback
[ INFO] [1538066823.765208155, 182.875000000]: 
/rtabmap/rtabmap subscribed to (exact sync):
   /rtabmap/odom,
   /multisense_sl/camera/left/image_rect_color,
   /multisense_sl/camera/right/image_rect,
   /multisense_sl/camera/left/camera_info,
   /multisense_sl/camera/right/camera_info,
   /rtabmap/odom_info
[ INFO] [1538066823.783114743, 182.892500000]: rtabmap 0.17.1 started...
[rtabmap/rtabmap-2] process has died [pid 5176, exit code -11, cmd /opt/ros/kinetic/lib/rtabmap_ros/rtabmap -d rgb/image:=/camera/rgb/image_rect_color depth/image:=/camera/depth_registered/image_raw rgb/camera_info:=/camera/rgb/camera_info rgbd_image:=rgbd_image left/image_rect:=/multisense_sl/camera/left/image_rect_color right/image_rect:=/multisense_sl/camera/right/image_rect left/camera_info:=/multisense_sl/camera/left/camera_info right/camera_info:=/multisense_sl/camera/right/camera_info scan:=/scan scan_cloud:=/scan_cloud user_data:=/user_data user_data_async:=/user_data_async odom:=odom __name:=rtabmap __log:=/home/beril/.ros/log/9ffcfc4a-c274-11e8-a88f-a8a795b8b6f5/rtabmap-rtabmap-2.log].
log file: /home/beril/.ros/log/9ffcfc4a-c274-11e8-a88f-a8a795b8b6f5/rtabmap-rtabmap-2*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done

Also, I tried with the rosbag as you did. The result is the same as here you can see;

SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.13
 * /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/ground_truth_base_frame_id: 
 * /rtabmap/rtabmap/ground_truth_frame_id: 
 * /rtabmap/rtabmap/map_frame_id: map
 * /rtabmap/rtabmap/odom_frame_id: 
 * /rtabmap/rtabmap/odom_sensor_sync: False
 * /rtabmap/rtabmap/odom_tf_angular_variance: 1.0
 * /rtabmap/rtabmap/odom_tf_linear_variance: 1.0
 * /rtabmap/rtabmap/queue_size: 10
 * /rtabmap/rtabmap/scan_normal_k: 0
 * /rtabmap/rtabmap/subscribe_depth: False
 * /rtabmap/rtabmap/subscribe_odom_info: True
 * /rtabmap/rtabmap/subscribe_rgbd: False
 * /rtabmap/rtabmap/subscribe_scan: False
 * /rtabmap/rtabmap/subscribe_scan_cloud: 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_rgbd: False
 * /rtabmap/rtabmapviz/subscribe_scan: False
 * /rtabmap/rtabmapviz/subscribe_scan_cloud: 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/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/odom_frame_id: odom
 * /rtabmap/stereo_odometry/queue_size: 10
 * /rtabmap/stereo_odometry/subscribe_rgbd: False
 * /rtabmap/stereo_odometry/wait_for_transform_duration: 0.2
 * /use_sim_time: True

NODES
  /rtabmap/
    rtabmap (rtabmap_ros/rtabmap)
    rtabmapviz (rtabmap_ros/rtabmapviz)
    stereo_odometry (rtabmap_ros/stereo_odometry)

auto-starting new master
process[master]: started with pid [9561]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 62af231c-c275-11e8-a88f-a8a795b8b6f5
process[rosout-1]: started with pid [9574]
started core service [/rosout]
process[rtabmap/stereo_odometry-2]: started with pid [9598]
process[rtabmap/rtabmap-3]: started with pid [9599]
process[rtabmap/rtabmapviz-4]: started with pid [9600]
[ INFO] [1538067006.626698401]: Starting node...
[ INFO] [1538067006.674731454]: Initializing nodelet with 4 worker threads.
[ INFO] [1538067006.762427799]: Initializing nodelet with 4 worker threads.
[ INFO] [1538067006.868024063]: Starting node...
[ INFO] [1538067007.003789903]: rtabmapviz: Using configuration from "/home/beril/.ros/rtabmap_gui.ini"
[ INFO] [1538067007.123417430]: Odometry: frame_id               = camera_link
[ INFO] [1538067007.123453257]: Odometry: odom_frame_id          = odom
[ INFO] [1538067007.123495530]: Odometry: publish_tf             = true
[ INFO] [1538067007.123520549]: Odometry: wait_for_transform     = true
[ INFO] [1538067007.123551259]: Odometry: wait_for_transform_duration  = 0.200000
[ INFO] [1538067007.123595382]: Odometry: initial_pose           = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000
[ INFO] [1538067007.123613951]: Odometry: ground_truth_frame_id  = 
[ INFO] [1538067007.123663380]: Odometry: ground_truth_base_frame_id = 
[ INFO] [1538067007.123738479]: Odometry: config_path            = 
[ INFO] [1538067007.123757591]: Odometry: publish_null_when_lost = true
[ INFO] [1538067007.123784202]: Odometry: guess_frame_id         = 
[ INFO] [1538067007.123810730]: Odometry: guess_min_translation  = 0.000000
[ INFO] [1538067007.123885858]: Odometry: guess_min_rotation     = 0.000000
[ INFO] [1538067007.514064807]: StereoOdometry: approx_sync = false
[ INFO] [1538067007.514106153]: StereoOdometry: queue_size = 10
[ INFO] [1538067007.514129627]: StereoOdometry: subscribe_rgbd = false
[ INFO] [1538067007.536996792]: 
/rtabmap/stereo_odometry subscribed to (exact sync):
   /multisense_sl/camera/left/image_rect_color,
   /multisense_sl/camera/right/image_rect,
   /multisense_sl/camera/left/camera_info,
   /multisense_sl/camera/right/camera_info
[ INFO] [1538067008.052267811]: Reading parameters from the ROS server...
[ INFO] [1538067008.217575669]: Parameters read = 0
[ INFO] [1538067009.316621780]: /rtabmap/rtabmapviz: queue_size    = 10
[ INFO] [1538067009.316668760]: /rtabmap/rtabmapviz: rgbd_cameras = 1
[ INFO] [1538067009.316695865]: /rtabmap/rtabmapviz: approx_sync   = false
[ INFO] [1538067009.316744877]: Setup stereo callback
[ INFO] [1538067009.395190702]: 
/rtabmap/rtabmapviz subscribed to (exact sync):
   /rtabmap/odom,
   /multisense_sl/camera/left/image_rect_color,
   /multisense_sl/camera/right/image_rect,
   /multisense_sl/camera/left/camera_info,
   /multisense_sl/camera/right/camera_info,
   /rtabmap/odom_info
[ INFO] [1538067009.395355835]: rtabmapviz started.
[ INFO] [1538067051.750285455, 107.452500000]: /rtabmap/rtabmap(maps): map_filter_radius          = 0.000000
[ INFO] [1538067051.750327981, 107.452500000]: /rtabmap/rtabmap(maps): map_filter_angle           = 30.000000
[ INFO] [1538067051.750357586, 107.452500000]: /rtabmap/rtabmap(maps): map_cleanup                = true
[ INFO] [1538067051.750380102, 107.452500000]: /rtabmap/rtabmap(maps): map_negative_poses_ignored = true
[ INFO] [1538067051.750434441, 107.452500000]: /rtabmap/rtabmap(maps): map_negative_scan_ray_tracing = true
[ INFO] [1538067051.750473565, 107.452500000]: /rtabmap/rtabmap(maps): cloud_output_voxelized     = true
[ INFO] [1538067051.750556645, 107.452500000]: /rtabmap/rtabmap(maps): cloud_subtract_filtering   = false
[ INFO] [1538067051.750575986, 107.452500000]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1538067051.772635952, 107.468469305]: /rtabmap/rtabmap(maps): octomap_tree_depth         = 16
[ INFO] [1538067051.826574968, 107.519064503]: rtabmap: frame_id      = camera_link
[ INFO] [1538067051.826671718, 107.519064503]: rtabmap: map_frame_id  = map
[ INFO] [1538067051.826802194, 107.519064503]: rtabmap: tf_delay      = 0.050000
[ INFO] [1538067051.826913317, 107.519064503]: rtabmap: tf_tolerance  = 0.100000
[ INFO] [1538067051.827018603, 107.519064503]: rtabmap: odom_sensor_sync   = false
[ INFO] [1538067051.828924726, 107.519064503]: rtabmap: stereo_to_depth = true
[rtabmap/stereo_odometry-2] process has died [pid 9598, exit code -11, cmd /opt/ros/kinetic/lib/rtabmap_ros/stereo_odometry -d left/image_rect:=/multisense_sl/camera/left/image_rect_color right/image_rect:=/multisense_sl/camera/right/image_rect left/camera_info:=/multisense_sl/camera/left/camera_info right/camera_info:=/multisense_sl/camera/right/camera_info rgbd_image:=rgbd_image odom:=odom __name:=stereo_odometry __log:=/home/beril/.ros/log/62af231c-c275-11e8-a88f-a8a795b8b6f5/rtabmap-stereo_odometry-2.log].
log file: /home/beril/.ros/log/62af231c-c275-11e8-a88f-a8a795b8b6f5/rtabmap-stereo_odometry-2*.log
[rtabmap/rtabmapviz-4] process has died [pid 9600, exit code -11, cmd /opt/ros/kinetic/lib/rtabmap_ros/rtabmapviz -d ~/.ros/rtabmap_gui.ini rgb/image:=/camera/rgb/image_rect_color depth/image:=/camera/depth_registered/image_raw rgb/camera_info:=/camera/rgb/camera_info rgbd_image:=rgbd_image left/image_rect:=/multisense_sl/camera/left/image_rect_color right/image_rect:=/multisense_sl/camera/right/image_rect left/camera_info:=/multisense_sl/camera/left/camera_info right/camera_info:=/multisense_sl/camera/right/camera_info scan:=/scan scan_cloud:=/scan_cloud odom:=odom __name:=rtabmapviz __log:=/home/beril/.ros/log/62af231c-c275-11e8-a88f-a8a795b8b6f5/rtabmap-rtabmapviz-4.log].
log file: /home/beril/.ros/log/62af231c-c275-11e8-a88f-a8a795b8b6f5/rtabmap-rtabmapviz-4*.log
[ INFO] [1538067052.168112200, 107.861409993]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1538067052.168624143, 107.861409993]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[ INFO] [1538067053.074900962, 108.767486649]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1538067053.075049452, 108.767486649]: rtabmap: Deleted database "/home/beril/.ros/rtabmap.db" (--delete_db_on_start or -d are set).
[ INFO] [1538067053.075092761, 108.767486649]: rtabmap: Using database from "/home/beril/.ros/rtabmap.db" (0 MB).
[ INFO] [1538067055.732858029, 111.430342405]: rtabmap: Database version = "0.17.1".
[ INFO] [1538067055.779994224, 111.470663451]: /rtabmap/rtabmap: queue_size    = 10
[ INFO] [1538067055.780028601, 111.470663451]: /rtabmap/rtabmap: rgbd_cameras = 1
[ INFO] [1538067055.780048445, 111.470663451]: /rtabmap/rtabmap: approx_sync   = false
[ INFO] [1538067055.780127118, 111.470663451]: Setup stereo callback
[ INFO] [1538067055.806273840, 111.500830124]: 
/rtabmap/rtabmap subscribed to (exact sync):
   /rtabmap/odom,
   /multisense_sl/camera/left/image_rect_color,
   /multisense_sl/camera/right/image_rect,
   /multisense_sl/camera/left/camera_info,
   /multisense_sl/camera/right/camera_info,
   /rtabmap/odom_info
[ INFO] [1538067055.814047427, 111.510888116]: rtabmap 0.17.1 started...
[rtabmap/rtabmap-3] process has died [pid 9599, exit code -11, cmd /opt/ros/kinetic/lib/rtabmap_ros/rtabmap -d rgb/image:=/camera/rgb/image_rect_color depth/image:=/camera/depth_registered/image_raw rgb/camera_info:=/camera/rgb/camera_info rgbd_image:=rgbd_image left/image_rect:=/multisense_sl/camera/left/image_rect_color right/image_rect:=/multisense_sl/camera/right/image_rect left/camera_info:=/multisense_sl/camera/left/camera_info right/camera_info:=/multisense_sl/camera/right/camera_info scan:=/scan scan_cloud:=/scan_cloud user_data:=/user_data user_data_async:=/user_data_async odom:=odom __name:=rtabmap __log:=/home/beril/.ros/log/62af231c-c275-11e8-a88f-a8a795b8b6f5/rtabmap-rtabmap-3.log].
log file: /home/beril/.ros/log/62af231c-c275-11e8-a88f-a8a795b8b6f5/rtabmap-rtabmap-3*.log

Is it a problem about my Rtabmap? What should I do?

Thank you :)

matlabbe

Re: Stereo Odometry Error

Administrator

If you do:

$ sudo apt-get upgrade

are there ros packages that should be updated? Sometimes if you have rtabmap binaries from latest kinetic release while other ros core packages are still on previous version, this can cause crashes on start when looking up at the library dependencies.

rena_00

Re: Stereo Odometry Error

Yes! It worked. Thank you so much :)