Troubleshoot using rtabmap with zed 2

[shihab_haque]

Hello ! When I tried to use rtabmap.launch with the zed2 camera, i frequently got warning messages saying :

Could not get transform from odom to base_link after 0.200000 seconds (for stamp=1599254522.535097)! Error="Lookup would require extrapolation into the past.  Requested time 1599254522.535096984 but the earliest data is at time 1599299099.096750700, when looking up transform from frame [base_link] to frame [odom]. canTransform returned after 0.201644 timeout was 0.2.".


I used the example launch file included in the package with parameters:

roslaunch rtabmap_ros rtabmap.launch \
    rtabmap_args:="--delete_db_on_start" \
    rgb_topic:=/zed2/left/image_rect_color \
    depth_topic:=/zed2/depth/depth_registered \
    camera_info_topic:=/zed2/left/camera_info \
    frame_id:=base_link


* I didn't set approx_sync:=false , did this cause the problem?

[matlabbe]

Normally approx_sync should be false for stereo cameras. That warning tells that rtabmap could not receive odometry pose since 200 ms. What is the frame rate of the odometry topic?

Another thing is the requested timestamp is in the past almost 1 day before than the latest one received:

1599254522.535096984 = Friday,   September 4, 2020 9:22:02.535 PM GMT
1599299099.096750700 = Saturday, September 5, 2020 9:44:59.096 AM GMT

Maybe there is something wrong with the stamps received form the camera topics and the computer time.

cheers,
Mathieu

[shihab_haque]

I didn't use odometry published from the zed2 camera, i.e /zed2/odom , rather I was using rtabmap odometry !


also, another question, i got another warning saying :  /scan_map topic is deprecated! Subscribe to /cloud_map topic instead with . Do "$ rosrun rtabmap_ros rtabmap --params | grep Grid" to see all occupancy grid parameters.


but the description says that Grid/FromDepth should be true for creating occupancy grip map from Depth images ! Should I leave it the way it is?

The parameters I was using :

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.9
 * /rtabmap/rgbd_odometry/approx_sync: False
 * /rtabmap/rgbd_odometry/config_path:
 * /rtabmap/rgbd_odometry/expected_update_rate: 0.0
 * /rtabmap/rgbd_odometry/frame_id: base_link
 * /rtabmap/rgbd_odometry/ground_truth_base_frame_id:
 * /rtabmap/rgbd_odometry/ground_truth_frame_id:
 * /rtabmap/rgbd_odometry/guess_frame_id:
 * /rtabmap/rgbd_odometry/guess_min_rotation: 0.0
 * /rtabmap/rgbd_odometry/guess_min_translation: 0.0
 * /rtabmap/rgbd_odometry/max_update_rate: 0.0
 * /rtabmap/rgbd_odometry/odom_frame_id: odom
 * /rtabmap/rgbd_odometry/publish_tf: True
 * /rtabmap/rgbd_odometry/queue_size: 10
 * /rtabmap/rgbd_odometry/subscribe_rgbd: False
 * /rtabmap/rgbd_odometry/wait_for_transform_duration: 0.2
 * /rtabmap/rgbd_odometry/wait_imu_to_init: False
 * /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/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_sensor_sync: False
 * /rtabmap/rtabmap/odom_tf_angular_variance: 1.0
 * /rtabmap/rtabmap/odom_tf_linear_variance: 1.0
 * /rtabmap/rtabmap/publish_tf: True
 * /rtabmap/rtabmap/queue_size: 10
 * /rtabmap/rtabmap/scan_cloud_max_points: 0
 * /rtabmap/rtabmap/subscribe_depth: True
 * /rtabmap/rtabmap/subscribe_odom_info: True
 * /rtabmap/rtabmap/subscribe_rgb: True
 * /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: False
 * /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: True
 * /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_scan_descriptor: False
 * /rtabmap/rtabmapviz/subscribe_stereo: False
 * /rtabmap/rtabmapviz/wait_for_transform_duration: 0.2

NODES
  /rtabmap/
    rgbd_odometry (rtabmap_ros/rgbd_odometry)
    rtabmap (rtabmap_ros/rtabmap)
    rtabmapviz (rtabmap_ros/rtabmapviz)

ROS_MASTER_URI=http://localhost:11311

process[rtabmap/rgbd_odometry-1]: started with pid [26365]
process[rtabmap/rtabmap-2]: started with pid [26366]
process[rtabmap/rtabmapviz-3]: started with pid [26368]
[ INFO] [1599575582.744059807]: Starting node...
[ INFO] [1599575582.777006318]: Initializing nodelet with 16 worker threads.
[ INFO] [1599575582.783859082]: Initializing nodelet with 16 worker threads.
[ INFO] [1599575582.812070610]: Starting node...
[ INFO] [1599575582.830066878]: Odometry: frame_id               = base_link
[ INFO] [1599575582.830096063]: Odometry: odom_frame_id          = odom
[ INFO] [1599575582.830112494]: Odometry: publish_tf             = true
[ INFO] [1599575582.830131470]: Odometry: wait_for_transform     = true
[ INFO] [1599575582.830154374]: Odometry: wait_for_transform_duration  = 0.200000
[ INFO] [1599575582.830206052]: Odometry: initial_pose           = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000
[ INFO] [1599575582.830218897]: Odometry: ground_truth_frame_id  =
[ INFO] [1599575582.830231861]: Odometry: ground_truth_base_frame_id =
[ INFO] [1599575582.830242241]: Odometry: config_path            =
[ INFO] [1599575582.830253172]: Odometry: publish_null_when_lost = true
[ INFO] [1599575582.830263271]: Odometry: guess_frame_id         =
[ INFO] [1599575582.830277027]: Odometry: guess_min_translation  = 0.000000
[ INFO] [1599575582.830288348]: Odometry: guess_min_rotation     = 0.000000
[ INFO] [1599575582.830298478]: Odometry: guess_min_time         = 0.000000
[ INFO] [1599575582.830309318]: Odometry: expected_update_rate   = 0.000000 Hz
[ INFO] [1599575582.830326751]: Odometry: max_update_rate        = 0.000000 Hz
[ INFO] [1599575582.830337993]: Odometry: wait_imu_to_init       = false
[ INFO] [1599575582.830363551]: Odometry: stereoParams_=0 visParams_=1 icpParams_=0
[ INFO] [1599575582.861494904]: /rtabmap/rtabmap(maps): map_filter_radius          = 0.000000
[ INFO] [1599575582.861533398]: /rtabmap/rtabmap(maps): map_filter_angle           = 30.000000
[ INFO] [1599575582.861550730]: /rtabmap/rtabmap(maps): map_cleanup                = true
[ INFO] [1599575582.861565639]: /rtabmap/rtabmap(maps): map_always_update          = false
[ INFO] [1599575582.861580196]: /rtabmap/rtabmap(maps): map_empty_ray_tracing      = true
[ INFO] [1599575582.861596918]: /rtabmap/rtabmap(maps): cloud_output_voxelized     = true
[ INFO] [1599575582.861619872]: /rtabmap/rtabmap(maps): cloud_subtract_filtering   = false
[ INFO] [1599575582.861653375]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1599575582.878944704]: /rtabmap/rtabmap(maps): octomap_tree_depth         = 16
[ INFO] [1599575582.910427675]: rtabmap: frame_id      = base_link
[ INFO] [1599575582.910473392]: rtabmap: map_frame_id  = map
[ INFO] [1599575582.910496616]: rtabmap: use_action_for_goal  = false
[ INFO] [1599575582.910517846]: rtabmap: tf_delay      = 0.050000
[ INFO] [1599575582.910539818]: rtabmap: tf_tolerance  = 0.100000
[ INFO] [1599575582.910564926]: rtabmap: odom_sensor_sync   = false
[ INFO] [1599575582.945851500]: rtabmapviz: Using configuration from "/home/shihab/.ros/rtabmap_gui.ini"
[ INFO] [1599575583.184950017, 1498.364000000]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1599575583.185558192, 1498.364000000]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[ INFO] [1599575583.284027430, 1498.428000000]: RGBDOdometry: approx_sync    = false
[ INFO] [1599575583.284065873, 1498.428000000]: RGBDOdometry: queue_size     = 10
[ INFO] [1599575583.284076844, 1498.428000000]: RGBDOdometry: subscribe_rgbd = false
[ INFO] [1599575583.284102142, 1498.428000000]: RGBDOdometry: rgbd_cameras   = 1
[ INFO] [1599575583.296743009, 1498.435000000]:
/rtabmap/rgbd_odometry subscribed to (exact sync):
   /zed2/left/image_rect_color,
   /zed2/depth/depth_registered,
   /zed2/left/camera_info
  OpenType support missing for "Ubuntu", script 12
[ INFO] [1599575583.524514274, 1498.600000000]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1599575583.533981804, 1498.606000000]: rtabmap: Deleted database "/home/shihab/.ros/rtabmap.db" (--delete_db_on_start or -d are set).

[ INFO] [1599575587.382990547, 1501.665000000]: /rtabmap/rtabmapviz: subscribe_depth = true
[ INFO] [1599575587.383019342, 1501.665000000]: /rtabmap/rtabmapviz: subscribe_rgb = false
[ INFO] [1599575587.383033428, 1501.665000000]: /rtabmap/rtabmapviz: subscribe_stereo = false
[ INFO] [1599575587.383052374, 1501.665000000]: /rtabmap/rtabmapviz: subscribe_rgbd = false (rgbd_cameras=1)
[ INFO] [1599575587.383063616, 1501.665000000]: /rtabmap/rtabmapviz: subscribe_odom_info = true
[ INFO] [1599575587.383073575, 1501.665000000]: /rtabmap/rtabmapviz: subscribe_user_data = false
[ INFO] [1599575587.383084576, 1501.665000000]: /rtabmap/rtabmapviz: subscribe_scan = false
[ INFO] [1599575587.383096288, 1501.665000000]: /rtabmap/rtabmapviz: subscribe_scan_cloud = false
[ INFO] [1599575587.383111437, 1501.665000000]: /rtabmap/rtabmapviz: subscribe_scan_descriptor = false
[ INFO] [1599575587.383123840, 1501.665000000]: /rtabmap/rtabmapviz: queue_size    = 10
[ INFO] [1599575587.383136394, 1501.665000000]: /rtabmap/rtabmapviz: approx_sync   = false
[ INFO] [1599575587.383168525, 1501.665000000]: Setup depth callback
[ INFO] [1599575587.460875124, 1501.714000000]:
/rtabmap/rtabmapviz subscribed to (exact sync):
   /rtabmap/odom,
   /zed2/left/image_rect_color,
   /zed2/depth/depth_registered,
   /zed2/left/camera_info,
   /rtabmap/odom_info
[ INFO] [1599575587.460972298, 1501.714000000]: rtabmapviz started.
[ INFO] [1599575587.477655002, 1501.725000000]: Odom: quality=875, std dev=0.000273m|0.000032rad, update time=0.054597s
[ INFO] [1599575587.712037106, 1501.917000000]: Odom: quality=873, std dev=0.001464m|0.000032rad, update time=0.050321s
[ INFO] [1599575587.858360751, 1502.033000000]: rtabmap: Database version = "0.20.0".
[ INFO] [1599575587.873940520, 1502.046000000]: /rtabmap/rtabmap: subscribe_depth = true
[ INFO] [1599575587.873977139, 1502.046000000]: /rtabmap/rtabmap: subscribe_rgb = true
[ INFO] [1599575587.873996386, 1502.046000000]: /rtabmap/rtabmap: subscribe_stereo = false
[ INFO] [1599575587.874011925, 1502.046000000]: /rtabmap/rtabmap: subscribe_rgbd = false (rgbd_cameras=1)
[ INFO] [1599575587.874034077, 1502.046000000]: /rtabmap/rtabmap: subscribe_odom_info = true
[ INFO] [1599575587.874054306, 1502.046000000]: /rtabmap/rtabmap: subscribe_user_data = false
[ INFO] [1599575587.874072120, 1502.046000000]: /rtabmap/rtabmap: subscribe_scan = false
[ INFO] [1599575587.874087659, 1502.046000000]: /rtabmap/rtabmap: subscribe_scan_cloud = false
[ INFO] [1599575587.874104000, 1502.046000000]: /rtabmap/rtabmap: subscribe_scan_descriptor = false
[ INFO] [1599575587.874120682, 1502.046000000]: /rtabmap/rtabmap: queue_size    = 10
[ INFO] [1599575587.874138656, 1502.046000000]: /rtabmap/rtabmap: approx_sync   = false
[ INFO] [1599575587.874181317, 1502.046000000]: Setup depth callback
[ INFO] [1599575587.884725562, 1502.052000000]:
/rtabmap/rtabmap subscribed to (exact sync):
   /rtabmap/odom,
   /zed2/left/image_rect_color,
   /zed2/depth/depth_registered,
   /zed2/left/camera_info,
   /rtabmap/odom_info
[ INFO] [1599575587.955953978, 1502.108000000]: Odom: quality=874, std dev=0.000303m|0.000032rad, update time=0.056572s
[ INFO] [1599575587.992330574, 1502.136000000]: rtabmap 0.20.0 started...

[matlabbe]

Hi,

The output seems fine. Odometry seems working:

[ INFO] [1599575587.477655002, 1501.725000000]: Odom: quality=875, std dev=0.000273m|0.000032rad, update time=0.054597s
[ INFO] [1599575587.712037106, 1501.917000000]: Odom: quality=873, std dev=0.001464m|0.000032rad, update time=0.050321s 

Grid/FromDepth should be true if you don't use a lidar.