Official RTAB-Map Forum

rtabmap 0.11.8 not working with rviz

Classic

List

Threaded

5 messages Options

jacksonkr

rtabmap 0.11.8 not working with rviz

rtabmap: 0.11.8
ros-indigo-rtabmap: 0.11.8

rtabmap runs fine standalone or when started with ros. The issue I'm having using rviz for display:

$ roslaunch rtabmap_ros rgbd_mapping.launch rtabmap_args:="--delete_db_on_start" rviz:=true rtabmapviz:=false
... logging to /home/jackson/.ros/log/b01755c0-9b99-11e6-81b1-00904c0df43e/roslaunch-jackson-MacBookPro-28767.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.1.100:35451/

SUMMARY
========

PARAMETERS
 * /points_xyzrgb/approx_sync: True
 * /points_xyzrgb/decimation: 2.0
 * /points_xyzrgb/voxel_size: 0.02
 * /rosdistro: indigo
 * /rosversion: 1.11.20
 * /rtabmap/rgbd_odometry/approx_sync: True
 * /rtabmap/rgbd_odometry/config_path: 
 * /rtabmap/rgbd_odometry/frame_id: camera_link
 * /rtabmap/rgbd_odometry/queue_size: 10
 * /rtabmap/rgbd_odometry/wait_for_transform_duration: 0.2
 * /rtabmap/rtabmap/Mem/IncrementalMemory: true
 * /rtabmap/rtabmap/Mem/InitWMWithAllNodes: false
 * /rtabmap/rtabmap/approx_sync: True
 * /rtabmap/rtabmap/config_path: 
 * /rtabmap/rtabmap/database_path: ~/.ros/rtabmap.db
 * /rtabmap/rtabmap/frame_id: camera_link
 * /rtabmap/rtabmap/odom_frame_id: 
 * /rtabmap/rtabmap/queue_size: 10
 * /rtabmap/rtabmap/subscribe_depth: True
 * /rtabmap/rtabmap/subscribe_scan: False
 * /rtabmap/rtabmap/subscribe_scan_cloud: False
 * /rtabmap/rtabmap/subscribe_stereo: False
 * /rtabmap/rtabmap/wait_for_transform_duration: 0.2

NODES
  /rtabmap/
    rgbd_odometry (rtabmap_ros/rgbd_odometry)
    rtabmap (rtabmap_ros/rtabmap)
  /
    points_xyzrgb (nodelet/nodelet)
    rviz (rviz/rviz)

ROS_MASTER_URI=http://192.168.1.100:11311

core service [/rosout] found
process[rtabmap/rgbd_odometry-1]: started with pid [28785]
process[rtabmap/rtabmap-2]: started with pid [28786]
process[rviz-3]: started with pid [28787]
process[points_xyzrgb-4]: started with pid [28788]
[ INFO] [1477499520.688157241]: Starting node...
[ INFO] [1477499520.716563157]: Initializing nodelet with 8 worker threads.
[ INFO] [1477499520.722092307]: Initializing nodelet with 8 worker threads.
[ INFO] [1477499520.940332100]: /rtabmap/rtabmap(maps): grid_cell_size             = 0.050000
[ INFO] [1477499520.940374589]: /rtabmap/rtabmap(maps): grid_incremental           = false
[ INFO] [1477499520.940397528]: /rtabmap/rtabmap(maps): grid_size                  = 0.000000
[ INFO] [1477499520.940417779]: /rtabmap/rtabmap(maps): grid_eroded                = false
[ INFO] [1477499520.940434357]: /rtabmap/rtabmap(maps): grid_footprint_radius      = 0.000000
[ INFO] [1477499520.940456343]: /rtabmap/rtabmap(maps): map_filter_radius          = 0.000000
[ INFO] [1477499520.940484448]: /rtabmap/rtabmap(maps): map_filter_angle           = 30.000000
[ INFO] [1477499520.940510414]: /rtabmap/rtabmap(maps): map_cleanup                = true
[ INFO] [1477499520.940526256]: /rtabmap/rtabmap(maps): map_negative_poses_ignored = false
[ INFO] [1477499520.940541939]: /rtabmap/rtabmap(maps): cloud_output_voxelized     = true
[ INFO] [1477499520.940557662]: /rtabmap/rtabmap(maps): cloud_subtract_filtering   = false
[ INFO] [1477499520.940573690]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1477499520.944757454]: /rtabmap/rtabmap(maps): octomap_tree_depth         = 16
[ INFO] [1477499520.944787274]: /rtabmap/rtabmap(maps): octomap_occupancy_thr      = 0.500000
[ INFO] [1477499520.981947250]: rtabmap: frame_id      = camera_link
[ INFO] [1477499520.981980558]: rtabmap: map_frame_id  = map
[ INFO] [1477499520.981998163]: rtabmap: tf_delay      = 0.050000
[ INFO] [1477499520.982013409]: rtabmap: tf_tolerance  = 0.100000
[ INFO] [1477499520.982025026]: rtabmap: odom_sensor_sync   = false
[ INFO] [1477499521.279623389]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1477499521.280343930]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[ INFO] [1477499521.408902654]: 
/rtabmap/rgbd_odometry subscribed to (approx sync):
   /camera/rgb/image_rect_color,
   /camera/depth_registered/image_raw,
   /camera/rgb/camera_info
[ INFO] [1477499521.704782315]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1477499521.704908891]: rtabmap: Deleted database "/home/jackson/.ros/rtabmap.db" (--delete_db_on_start is set).
[ INFO] [1477499521.704929976]: rtabmap: Using database from "/home/jackson/.ros/rtabmap.db".
[ INFO] [1477499522.166744117]: rtabmap: Database version = "0.11.11".
[ INFO] [1477499522.189216552]: /rtabmap/rtabmap: queue_size    = 10
[ INFO] [1477499522.189243835]: /rtabmap/rtabmap: rgbd_cameras = 1
[ INFO] [1477499522.189254593]: /rtabmap/rtabmap: approx_sync   = true
[ INFO] [1477499522.189298519]: Setup depth callback
[ INFO] [1477499522.250120383]: 
/rtabmap/rtabmap subscribed to (approx sync):
   /rtabmap/odom,
   /camera/rgb/image_rect_color,
   /camera/depth_registered/image_raw,
   /camera/rgb/camera_info
[ INFO] [1477499522.250257530]: rtabmap 0.11.11 started...
[ WARN] [1477499526.409145091]: /rtabmap/rgbd_odometry: 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. 
/rtabmap/rgbd_odometry subscribed to (approx sync):
   /camera/rgb/image_rect_color,
   /camera/depth_registered/image_raw,
   /camera/rgb/camera_info
[ WARN] [1477499527.250380711]: /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"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10).
/rtabmap/rtabmap subscribed to (approx sync):
   /rtabmap/odom,
   /camera/rgb/image_rect_color,
   /camera/depth_registered/image_raw,
   /camera/rgb/camera_info

matlabbe

Re: rtabmap 0.11.8 not working with rviz

Administrator

Hi,

What is the RVIZ error?

Note that 0.11.11 is detected:

[ INFO] [1477499522.250257530]: rtabmap 0.11.11 started...

jacksonkr

Re: rtabmap 0.11.8 not working with rviz

That must be residue from the numerous installs / branch changes / reinstalls. I'll dig in more to make sure the version numbers match. Thanks for your patience with my on this one..

jacksonkr

Re: rtabmap 0.11.8 not working with rviz

I've updated all the apps and now I'm seeing:

rtabmap: 11.11.0 (source)
rtabmap_ros: 11.10.0 (source)
rviz: 1.11.15

Also, the debian packages have been completely uninstalled. Any ideas?

$ roslaunch rtabmap_ros rgbd_mapping.launch rtabmap_args:="--delete_db_on_start" rviz:=true rtabmapviz:=false
... logging to /home/jackson/.ros/log/5747f25e-a2a8-11e6-9a4b-00904c0df43e/roslaunch-jackson-MacBookPro-26546.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.1.100:43978/

SUMMARY
========

PARAMETERS
 * /points_xyzrgb/approx_sync: True
 * /points_xyzrgb/decimation: 2.0
 * /points_xyzrgb/voxel_size: 0.02
 * /rosdistro: indigo
 * /rosversion: 1.11.20
 * /rtabmap/rgbd_odometry/approx_sync: True
 * /rtabmap/rgbd_odometry/config_path: 
 * /rtabmap/rgbd_odometry/frame_id: camera_link
 * /rtabmap/rgbd_odometry/queue_size: 10
 * /rtabmap/rgbd_odometry/wait_for_transform_duration: 0.2
 * /rtabmap/rtabmap/Mem/IncrementalMemory: true
 * /rtabmap/rtabmap/Mem/InitWMWithAllNodes: false
 * /rtabmap/rtabmap/approx_sync: True
 * /rtabmap/rtabmap/config_path: 
 * /rtabmap/rtabmap/database_path: ~/.ros/rtabmap.db
 * /rtabmap/rtabmap/frame_id: camera_link
 * /rtabmap/rtabmap/odom_frame_id: 
 * /rtabmap/rtabmap/queue_size: 10
 * /rtabmap/rtabmap/subscribe_depth: True
 * /rtabmap/rtabmap/subscribe_scan: False
 * /rtabmap/rtabmap/subscribe_scan_cloud: False
 * /rtabmap/rtabmap/subscribe_stereo: False
 * /rtabmap/rtabmap/wait_for_transform_duration: 0.2

NODES
  /rtabmap/
    rgbd_odometry (rtabmap_ros/rgbd_odometry)
    rtabmap (rtabmap_ros/rtabmap)
  /
    points_xyzrgb (nodelet/nodelet)
    rviz (rviz/rviz)

ROS_MASTER_URI=http://192.168.1.100:11311

core service [/rosout] found
process[rtabmap/rgbd_odometry-1]: started with pid [26564]
process[rtabmap/rtabmap-2]: started with pid [26565]
process[rviz-3]: started with pid [26566]
process[points_xyzrgb-4]: started with pid [26567]
[ INFO] [1478275480.599330862]: Starting node...
[ INFO] [1478275480.631565226]: Initializing nodelet with 8 worker threads.
[ INFO] [1478275480.652276769]: Initializing nodelet with 8 worker threads.
[ INFO] [1478275480.834217747]: /rtabmap/rtabmap(maps): grid_cell_size             = 0.050000
[ INFO] [1478275480.834246891]: /rtabmap/rtabmap(maps): grid_incremental           = false
[ INFO] [1478275480.834271171]: /rtabmap/rtabmap(maps): grid_size                  = 0.000000
[ INFO] [1478275480.834288076]: /rtabmap/rtabmap(maps): grid_eroded                = false
[ INFO] [1478275480.834303623]: /rtabmap/rtabmap(maps): grid_footprint_radius      = 0.000000
[ INFO] [1478275480.834319364]: /rtabmap/rtabmap(maps): map_filter_radius          = 0.000000
[ INFO] [1478275480.834335627]: /rtabmap/rtabmap(maps): map_filter_angle           = 30.000000
[ INFO] [1478275480.834349497]: /rtabmap/rtabmap(maps): map_cleanup                = true
[ INFO] [1478275480.834362763]: /rtabmap/rtabmap(maps): map_negative_poses_ignored = false
[ INFO] [1478275480.834375934]: /rtabmap/rtabmap(maps): cloud_output_voxelized     = true
[ INFO] [1478275480.834389350]: /rtabmap/rtabmap(maps): cloud_subtract_filtering   = false
[ INFO] [1478275480.834404139]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1478275480.840181826]: /rtabmap/rtabmap(maps): octomap_tree_depth         = 16
[ INFO] [1478275480.840211033]: /rtabmap/rtabmap(maps): octomap_occupancy_thr      = 0.500000
[ INFO] [1478275480.872086690]: rtabmap: frame_id      = camera_link
[ INFO] [1478275480.872119279]: rtabmap: map_frame_id  = map
[ INFO] [1478275480.872142527]: rtabmap: tf_delay      = 0.050000
[ INFO] [1478275480.872155684]: rtabmap: tf_tolerance  = 0.100000
[ INFO] [1478275480.872165785]: rtabmap: odom_sensor_sync   = false
[ INFO] [1478275481.167459261]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1478275481.168244724]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[ INFO] [1478275481.317903965]: 
/rtabmap/rgbd_odometry subscribed to (approx sync):
   /camera/rgb/image_rect_color,
   /camera/depth_registered/image_raw,
   /camera/rgb/camera_info
[ INFO] [1478275481.597207470]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1478275481.597353622]: rtabmap: Deleted database "/home/jackson/.ros/rtabmap.db" (--delete_db_on_start is set).
[ INFO] [1478275481.597389970]: rtabmap: Using database from "/home/jackson/.ros/rtabmap.db".
[ INFO] [1478275482.122367390]: rtabmap: Database version = "0.11.11".
[ INFO] [1478275482.146343008]: /rtabmap/rtabmap: queue_size    = 10
[ INFO] [1478275482.146378123]: /rtabmap/rtabmap: rgbd_cameras = 1
[ INFO] [1478275482.146392518]: /rtabmap/rtabmap: approx_sync   = true
[ INFO] [1478275482.146446567]: Setup depth callback
[ INFO] [1478275482.206654414]: 
/rtabmap/rtabmap subscribed to (approx sync):
   /rtabmap/odom,
   /camera/rgb/image_rect_color,
   /camera/depth_registered/image_raw,
   /camera/rgb/camera_info
[ INFO] [1478275482.206776207]: rtabmap 0.11.11 started...
[ WARN] [1478275486.318166045]: /rtabmap/rgbd_odometry: 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. 
/rtabmap/rgbd_odometry subscribed to (approx sync):
   /camera/rgb/image_rect_color,
   /camera/depth_registered/image_raw,
   /camera/rgb/camera_info
[ WARN] [1478275487.206837073]: /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"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10).
/rtabmap/rtabmap subscribed to (approx sync):
   /rtabmap/odom,
   /camera/rgb/image_rect_color,
   /camera/depth_registered/image_raw,
   /camera/rgb/camera_info
[ WARN] [1478275491.318317230]: /rtabmap/rgbd_odometry: 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. 
/rtabmap/rgbd_odometry subscribed to (approx sync):
   /camera/rgb/image_rect_color,
   /camera/depth_registered/image_raw,
   /camera/rgb/camera_info
[ WARN] [1478275492.206989907]: /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"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10).
/rtabmap/rtabmap subscribed to (approx sync):
   /rtabmap/odom,
   /camera/rgb/image_rect_color,
   /camera/depth_registered/image_raw,
   /camera/rgb/camera_info
[ WARN] [1478275496.318503198]: /rtabmap/rgbd_odometry: 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. 
/rtabmap/rgbd_odometry subscribed to (approx sync):
   /camera/rgb/image_rect_color,
   /camera/depth_registered/image_raw,
   /camera/rgb/camera_info
[ WARN] [1478275497.207206601]: /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"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10).
/rtabmap/rtabmap subscribed to (approx sync):
   /rtabmap/odom,
   /camera/rgb/image_rect_color,
   /camera/depth_registered/image_raw,
   /camera/rgb/camera_info
[ WARN] [1478275501.318633442]: /rtabmap/rgbd_odometry: 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. 
/rtabmap/rgbd_odometry subscribed to (approx sync):
   /camera/rgb/image_rect_color,
   /camera/depth_registered/image_raw,
   /camera/rgb/camera_info
[ WARN] [1478275502.207436015]: /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"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10).
/rtabmap/rtabmap subscribed to (approx sync):
   /rtabmap/odom,
   /camera/rgb/image_rect_color,
   /camera/depth_registered/image_raw,
   /camera/rgb/camera_info
[ WARN] [1478275506.318773856]: /rtabmap/rgbd_odometry: 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. 
/rtabmap/rgbd_odometry subscribed to (approx sync):
   /camera/rgb/image_rect_color,
   /camera/depth_registered/image_raw,
   /camera/rgb/camera_info
[ WARN] [1478275507.207652680]: /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"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10).
/rtabmap/rtabmap subscribed to (approx sync):
   /rtabmap/odom,
   /camera/rgb/image_rect_color,
   /camera/depth_registered/image_raw,
   /camera/rgb/camera_info
[ WARN] [1478275511.318967450]: /rtabmap/rgbd_odometry: 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. 
/rtabmap/rgbd_odometry subscribed to (approx sync):
   /camera/rgb/image_rect_color,
   /camera/depth_registered/image_raw,
   /camera/rgb/camera_info
[ WARN] [1478275512.207845842]: /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"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10).
/rtabmap/rtabmap subscribed to (approx sync):
   /rtabmap/odom,
   /camera/rgb/image_rect_color,
   /camera/depth_registered/image_raw,
   /camera/rgb/camera_info
[ WARN] [1478275516.319128249]: /rtabmap/rgbd_odometry: 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. 
/rtabmap/rgbd_odometry subscribed to (approx sync):
   /camera/rgb/image_rect_color,
   /camera/depth_registered/image_raw,
   /camera/rgb/camera_info
[ WARN] [1478275517.208081606]: /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"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10).
/rtabmap/rtabmap subscribed to (approx sync):
   /rtabmap/odom,
   /camera/rgb/image_rect_color,
   /camera/depth_registered/image_raw,
   /camera/rgb/camera_info

jacksonkr

Re: rtabmap 0.11.8 not working with rviz

Apparently I'm still new enough to ROS that I didn't see this simple mistake. It's strictly that the camera topics weren't being mapped to rviz correctly.

Note, I ran into this issue following a handheld mapping guide from ros.org

I needed to merge arguments from the r200 command with the rviz only command. Result:

$ roslaunch rtabmap_ros rgbd_mapping.launch rtabmap_args:="--delete_db_on_start" depth_registered_topic:=/camera/depth_registered/sw_registered/image_rect_raw rviz:=true rtabmapviz:=false