commonDepthCallback() Condition FATAL error when trying to run RTAB with the Intel Realsense

[Gabe]

Hi,

I have installed an Intel Realsense on a Clearpath Jackal according to this guide :https://github.com/intel-ros/realsense/tree/indigo-devel/realsense_camera. RTAB has previously worked for me with other cameras, but now when I launch RTAB using the following command:

roslaunch rtabmap_ros rgbd_mapping.launch rtabmap_args:="--delete_db_on_start" odom:=/odometry/filtered rgb_topic:=/camera/rgb/image_raw depth_registered_topic:=/camera/depth/image_raw camera_info_topic:=/camera/rgb/camera_info queue_size:=10 RGBD/AngularUpdate:=0.01 RGBD/LinearUpdate:=0.01 Rtabmap/TimeThr:=700 Mem/RehearsalSimilarity:=0.45 RGBD/OptimizeFromGraphEnd:=true visual_odometry:=false odom_topic:=/odometry/filtered rtabmapviz:=true rviz:=false subscribe_scan:=true scan_topic:=/front/scan

I get the following error:

[FATAL] (2016-07-24 04:06:40.592) CoreWrapper.cpp:819::commonDepthCallback() Condition (depthMsgs[i]->width == imageWidth && depthMsgs[i]->height == imageHeight) not met!

And my RTAB process then dies. How could I go about fixing this? Thanks.

Best,

Gabriel

[matlabbe]

Hi,

depth image should be registered with the color image, so they must have the same size. Use these topics:

/camera/depth_registered/sw_registered/image_rect_raw
/camera/rgb/image_rect_color

[Gabe]

Hi,

Thanks it worked :)
ᐧ