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ROS2 Version: Humble
RTABMap Version: RTABMap ROS2 Latest
Hi Matlabbe,
I captured a ros2bag with my zed2i camera with this command:
camera launch:
`ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i`
`ros2 bag record -o zed2i /tf /tf_static /zed/zed_node/rgb/image_rect_color /zed/zed_node/depth/depth_registered /zed/zed_node/rgb/camera_info /zed/zed_node/imu/data \`
after launching rtabmap with this command:
```
ros2 launch rtabmap_launch rtabmap.launch.py
args:="--delete_db_on_start"
frame_id:=zed_camera_link
odom_topic:=/zed/zed_node/odom
visual_odometry:=false
rgb_topic:=/zed/zed_node/rgb/image_rect_color
depth_topic:=/zed/zed_node/depth/depth_registered
camera_info_topic:=/zed/zed_node/rgb/camera_info
wait_imu_to_init:=true
imu_topic:=/zed/zed_node/imu/data
rviz:=true
approx_sync:=false
rgbd_sync:=true
approx_rgbd_sync:=false
topic_queue_size:=2
```
I recieved this while showing nothing in Gui:
[rtabmap-2] [WARN] [1746483355.608654908] [rtabmap.rtabmap]: rtabmap: Did not receive data since 5 seconds! Make sure the input topics are published ("$ ros2 topic 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-2] rtabmap subscribed to (exact sync):
[rtabmap-2] /rtabmap/odom \
[rtabmap-2] /camera/rgb/image_rect_color \
[rtabmap-2] /camera/depth_registered/image_raw \
[rtabmap-2] /camera/rgb/camera_info \
[rtabmap-2] /rtabmap/odom_info
I also have a ros2bag recorded using this command:
```
ros2 bag record -o zed2i \
/tf \
/tf_static \
/zed/zed_node/depth/camera_info \
/zed/zed_node/depth/depth_registered \
/zed/zed_node/imu/data \
/zed/zed_node/left/camera_info \
/zed/zed_node/left/image_rect_color/compressed \
/zed/zed_node/odom \
/zed/zed_node/path_map \
/zed/zed_node/path_odom \
/zed/zed_node/pose_with_covariance \
/zed/zed_node/right/camera_info \
/zed/zed_node/right/image_rect_color/compressed
```
Would you please guide me in this matter?
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