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rtabmap with odometry

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Behzad
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rtabmap with odometry

Behzad
Hi
I want to run Rtabmap with odometry from my lidar and lidar data. As you said in Ros I have  nav_mas/sensor and   /scan   topics  but when I want to run Rtabmap with the launch file that you said in ((http://wiki.ros.org/rtabmap_ros/Tutorials/SetupOnYourRobot)) part 2.1, I will see these warnings :

[ WARN] [1566201573.950171179]: /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):
   /base_controller/odom,
   /rtabmap/rgbd_image,
   /base_scan
 
and heren my topic that publishes :

/base_controller/odom
/base_scan
/camera/depth/camera_info
/camera/depth/image
/camera/depth/image/compressed
/camera/depth/image/compressed/parameter_descriptions
/camera/depth/image/compressed/parameter_updates
/camera/depth/image/compressedDepth
/camera/depth/image/compressedDepth/parameter_descriptions
/camera/depth/image/compressedDepth/parameter_updates
/camera/depth/image/theora
/camera/depth/image/theora/parameter_descriptions
/camera/depth/image/theora/parameter_updates
/camera/depth/image_raw
/camera/depth/image_raw/compressed
/camera/depth/image_raw/compressed/parameter_descriptions
/camera/depth/image_raw/compressed/parameter_updates
/camera/depth/image_raw/compressedDepth
/camera/depth/image_raw/compressedDepth/parameter_descriptions
/camera/depth/image_raw/compressedDepth/parameter_updates
/camera/depth/image_raw/theora
/camera/depth/image_raw/theora/parameter_descriptions
/camera/depth/image_raw/theora/parameter_updates
/camera/depth/image_rect
/camera/depth/image_rect/compressed
/camera/depth/image_rect/compressed/parameter_descriptions
/camera/depth/image_rect/compressed/parameter_updates
/camera/depth/image_rect/compressedDepth
/camera/depth/image_rect/compressedDepth/parameter_descriptions
/camera/depth/image_rect/compressedDepth/parameter_updates
/camera/depth/image_rect/theora
/camera/depth/image_rect/theora/parameter_descriptions
/camera/depth/image_rect/theora/parameter_updates
/camera/depth/image_rect_raw
/camera/depth/image_rect_raw/compressed
/camera/depth/image_rect_raw/compressed/parameter_descriptions
/camera/depth/image_rect_raw/compressed/parameter_updates
/camera/depth/image_rect_raw/compressedDepth
/camera/depth/image_rect_raw/compressedDepth/parameter_descriptions
/camera/depth/image_rect_raw/compressedDepth/parameter_updates
/camera/depth/image_rect_raw/theora
/camera/depth/image_rect_raw/theora/parameter_descriptions
/camera/depth/image_rect_raw/theora/parameter_updates
/camera/depth/points
/camera/depth_rectify_depth/parameter_descriptions
/camera/depth_rectify_depth/parameter_updates
/camera/depth_registered/camera_info
/camera/depth_registered/hw_registered/image_rect
/camera/depth_registered/hw_registered/image_rect/compressed
/camera/depth_registered/hw_registered/image_rect/compressed/parameter_descriptions
/camera/depth_registered/hw_registered/image_rect/compressed/parameter_updates
/camera/depth_registered/hw_registered/image_rect/compressedDepth
/camera/depth_registered/hw_registered/image_rect/compressedDepth/parameter_descriptions
/camera/depth_registered/hw_registered/image_rect/compressedDepth/parameter_updates
/camera/depth_registered/hw_registered/image_rect/theora
/camera/depth_registered/hw_registered/image_rect/theora/parameter_descriptions
/camera/depth_registered/hw_registered/image_rect/theora/parameter_updates
/camera/depth_registered/hw_registered/image_rect_raw
/camera/depth_registered/hw_registered/image_rect_raw/compressed
/camera/depth_registered/hw_registered/image_rect_raw/compressed/parameter_descriptions
/camera/depth_registered/hw_registered/image_rect_raw/compressed/parameter_updates
/camera/depth_registered/hw_registered/image_rect_raw/compressedDepth
/camera/depth_registered/hw_registered/image_rect_raw/compressedDepth/parameter_descriptions
/camera/depth_registered/hw_registered/image_rect_raw/compressedDepth/parameter_updates
/camera/depth_registered/hw_registered/image_rect_raw/theora
/camera/depth_registered/hw_registered/image_rect_raw/theora/parameter_descriptions
/camera/depth_registered/hw_registered/image_rect_raw/theora/parameter_updates
/camera/depth_registered/image
/camera/depth_registered/image/compressed
/camera/depth_registered/image/compressed/parameter_descriptions
/camera/depth_registered/image/compressed/parameter_updates
/camera/depth_registered/image/compressedDepth
/camera/depth_registered/image/compressedDepth/parameter_descriptions
/camera/depth_registered/image/compressedDepth/parameter_updates
/camera/depth_registered/image/theora
/camera/depth_registered/image/theora/parameter_descriptions
/camera/depth_registered/image/theora/parameter_updates
/camera/depth_registered/image_raw
/camera/depth_registered/image_raw/compressed
/camera/depth_registered/image_raw/compressed/parameter_descriptions
/camera/depth_registered/image_raw/compressed/parameter_updates
/camera/depth_registered/image_raw/compressedDepth
/camera/depth_registered/image_raw/compressedDepth/parameter_descriptions
/camera/depth_registered/image_raw/compressedDepth/parameter_updates
/camera/depth_registered/image_raw/theora
/camera/depth_registered/image_raw/theora/parameter_descriptions
/camera/depth_registered/image_raw/theora/parameter_updates
/camera/depth_registered/points
/camera/depth_registered_rectify_depth/parameter_descriptions
/camera/depth_registered_rectify_depth/parameter_updates
/camera/driver/parameter_descriptions
/camera/driver/parameter_updates
/camera/ir/camera_info
/camera/ir/image
/camera/ir/image/compressed
/camera/ir/image/compressed/parameter_descriptions
/camera/ir/image/compressed/parameter_updates
/camera/ir/image/compressedDepth
/camera/ir/image/compressedDepth/parameter_descriptions
/camera/ir/image/compressedDepth/parameter_updates
/camera/ir/image/theora
/camera/ir/image/theora/parameter_descriptions
/camera/ir/image/theora/parameter_updates
/camera/projector/camera_info
/camera/rgb/camera_info
/camera/rgb/image_raw
/camera/rgb/image_raw/compressed
/camera/rgb/image_raw/compressed/parameter_descriptions
/camera/rgb/image_raw/compressed/parameter_updates
/camera/rgb/image_raw/compressedDepth
/camera/rgb/image_raw/compressedDepth/parameter_descriptions
/camera/rgb/image_raw/compressedDepth/parameter_updates
/camera/rgb/image_raw/theora
/camera/rgb/image_raw/theora/parameter_descriptions
/camera/rgb/image_raw/theora/parameter_updates
/camera/rgb/image_rect_color
/camera/rgb/image_rect_color/compressed
/camera/rgb/image_rect_color/compressed/parameter_descriptions
/camera/rgb/image_rect_color/compressed/parameter_updates
/camera/rgb/image_rect_color/compressedDepth
/camera/rgb/image_rect_color/compressedDepth/parameter_descriptions
/camera/rgb/image_rect_color/compressedDepth/parameter_updates
/camera/rgb/image_rect_color/theora
/camera/rgb/image_rect_color/theora/parameter_descriptions
/camera/rgb/image_rect_color/theora/parameter_updates
/camera/rgb_rectify_color/parameter_descriptions
/camera/rgb_rectify_color/parameter_updates
/diagnostics
/laser_status
/odom
/rosout
/rosout_agg
/rtabmap/cloud_ground
/rtabmap/cloud_map
/rtabmap/cloud_obstacles
/rtabmap/global_path
/rtabmap/global_path_nodes
/rtabmap/global_pose
/rtabmap/goal
/rtabmap/goal_node
/rtabmap/goal_out
/rtabmap/goal_reached
/rtabmap/gps/fix
/rtabmap/grid_map
/rtabmap/grid_prob_map
/rtabmap/imu
/rtabmap/info
/rtabmap/initialpose
/rtabmap/labels
/rtabmap/landmarks
/rtabmap/local_grid_empty
/rtabmap/local_grid_ground
/rtabmap/local_grid_obstacle
/rtabmap/local_path
/rtabmap/local_path_nodes
/rtabmap/localization_pose
/rtabmap/mapData
/rtabmap/mapGraph
/rtabmap/mapPath
/rtabmap/octomap_binary
/rtabmap/octomap_empty_space
/rtabmap/octomap_full
/rtabmap/octomap_grid
/rtabmap/octomap_ground
/rtabmap/octomap_obstacles
/rtabmap/octomap_occupied_space
/rtabmap/proj_map
/rtabmap/rgbd_image
/rtabmap/rgbd_image/compressed
/rtabmap/scan_map
/rtabmap/user_data_async
/scan
/tf
/tf_static
/urg_node/parameter_descriptions
/urg_node/parameter_updates

and here is my rqt_graph :





matlabbe
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Re: rtabmap with odometry

matlabbe
Administrator
Hi,

You may have to change those remaps to your actual topics used: 
<remap from="odom" to="/base_controller/odom"/>
<remap from="scan" to="/base_scan"/>
Behzad
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Re: rtabmap with odometry

Behzad
Hi again,thanks for your help , I didn't get you, my topic from my laser scanner is" /scan" and odometry message from rf2o is "/odom" is there any problem now?
as I said before all of my topics is here :
rostopic list
/base_controller/odom
/base_scan
/camera/depth/camera_info
/camera/depth/image
/camera/depth/image/compressed
/camera/depth/image/compressed/parameter_descriptions
/camera/depth/image/compressed/parameter_updates
/camera/depth/image/compressedDepth
/camera/depth/image/compressedDepth/parameter_descriptions
/camera/depth/image/compressedDepth/parameter_updates
/camera/depth/image/theora
/camera/depth/image/theora/parameter_descriptions
/camera/depth/image/theora/parameter_updates
/camera/depth/image_raw
/camera/depth/image_raw/compressed
/camera/depth/image_raw/compressed/parameter_descriptions
/camera/depth/image_raw/compressed/parameter_updates
/camera/depth/image_raw/compressedDepth
/camera/depth/image_raw/compressedDepth/parameter_descriptions
/camera/depth/image_raw/compressedDepth/parameter_updates
/camera/depth/image_raw/theora
/camera/depth/image_raw/theora/parameter_descriptions
/camera/depth/image_raw/theora/parameter_updates
/camera/depth/image_rect
/camera/depth/image_rect/compressed
/camera/depth/image_rect/compressed/parameter_descriptions
/camera/depth/image_rect/compressed/parameter_updates
/camera/depth/image_rect/compressedDepth
/camera/depth/image_rect/compressedDepth/parameter_descriptions
/camera/depth/image_rect/compressedDepth/parameter_updates
/camera/depth/image_rect/theora
/camera/depth/image_rect/theora/parameter_descriptions
/camera/depth/image_rect/theora/parameter_updates
/camera/depth/image_rect_raw
/camera/depth/image_rect_raw/compressed
/camera/depth/image_rect_raw/compressed/parameter_descriptions
/camera/depth/image_rect_raw/compressed/parameter_updates
/camera/depth/image_rect_raw/compressedDepth
/camera/depth/image_rect_raw/compressedDepth/parameter_descriptions
/camera/depth/image_rect_raw/compressedDepth/parameter_updates
/camera/depth/image_rect_raw/theora
/camera/depth/image_rect_raw/theora/parameter_descriptions
/camera/depth/image_rect_raw/theora/parameter_updates
/camera/depth/points
/camera/depth_rectify_depth/parameter_descriptions
/camera/depth_rectify_depth/parameter_updates
/camera/depth_registered/camera_info
/camera/depth_registered/hw_registered/image_rect
/camera/depth_registered/hw_registered/image_rect/compressed
/camera/depth_registered/hw_registered/image_rect/compressed/parameter_descriptions
/camera/depth_registered/hw_registered/image_rect/compressed/parameter_updates
/camera/depth_registered/hw_registered/image_rect/compressedDepth
/camera/depth_registered/hw_registered/image_rect/compressedDepth/parameter_descriptions
/camera/depth_registered/hw_registered/image_rect/compressedDepth/parameter_updates
/camera/depth_registered/hw_registered/image_rect/theora
/camera/depth_registered/hw_registered/image_rect/theora/parameter_descriptions
/camera/depth_registered/hw_registered/image_rect/theora/parameter_updates
/camera/depth_registered/hw_registered/image_rect_raw
/camera/depth_registered/hw_registered/image_rect_raw/compressed
/camera/depth_registered/hw_registered/image_rect_raw/compressed/parameter_descriptions
/camera/depth_registered/hw_registered/image_rect_raw/compressed/parameter_updates
/camera/depth_registered/hw_registered/image_rect_raw/compressedDepth
/camera/depth_registered/hw_registered/image_rect_raw/compressedDepth/parameter_descriptions
/camera/depth_registered/hw_registered/image_rect_raw/compressedDepth/parameter_updates
/camera/depth_registered/hw_registered/image_rect_raw/theora
/camera/depth_registered/hw_registered/image_rect_raw/theora/parameter_descriptions
/camera/depth_registered/hw_registered/image_rect_raw/theora/parameter_updates
/camera/depth_registered/image
/camera/depth_registered/image/compressed
/camera/depth_registered/image/compressed/parameter_descriptions
/camera/depth_registered/image/compressed/parameter_updates
/camera/depth_registered/image/compressedDepth
/camera/depth_registered/image/compressedDepth/parameter_descriptions
/camera/depth_registered/image/compressedDepth/parameter_updates
/camera/depth_registered/image/theora
/camera/depth_registered/image/theora/parameter_descriptions
/camera/depth_registered/image/theora/parameter_updates
/camera/depth_registered/image_raw
/camera/depth_registered/image_raw/compressed
/camera/depth_registered/image_raw/compressed/parameter_descriptions
/camera/depth_registered/image_raw/compressed/parameter_updates
/camera/depth_registered/image_raw/compressedDepth
/camera/depth_registered/image_raw/compressedDepth/parameter_descriptions
/camera/depth_registered/image_raw/compressedDepth/parameter_updates
/camera/depth_registered/image_raw/theora
/camera/depth_registered/image_raw/theora/parameter_descriptions
/camera/depth_registered/image_raw/theora/parameter_updates
/camera/depth_registered/points
/camera/depth_registered_rectify_depth/parameter_descriptions
/camera/depth_registered_rectify_depth/parameter_updates
/camera/driver/parameter_descriptions
/camera/driver/parameter_updates
/camera/ir/camera_info
/camera/ir/image
/camera/ir/image/compressed
/camera/ir/image/compressed/parameter_descriptions
/camera/ir/image/compressed/parameter_updates
/camera/ir/image/compressedDepth
/camera/ir/image/compressedDepth/parameter_descriptions
/camera/ir/image/compressedDepth/parameter_updates
/camera/ir/image/theora
/camera/ir/image/theora/parameter_descriptions
/camera/ir/image/theora/parameter_updates
/camera/projector/camera_info
/camera/rgb/camera_info
/camera/rgb/image_raw
/camera/rgb/image_raw/compressed
/camera/rgb/image_raw/compressed/parameter_descriptions
/camera/rgb/image_raw/compressed/parameter_updates
/camera/rgb/image_raw/compressedDepth
/camera/rgb/image_raw/compressedDepth/parameter_descriptions
/camera/rgb/image_raw/compressedDepth/parameter_updates
/camera/rgb/image_raw/theora
/camera/rgb/image_raw/theora/parameter_descriptions
/camera/rgb/image_raw/theora/parameter_updates
/camera/rgb/image_rect_color
/camera/rgb/image_rect_color/compressed
/camera/rgb/image_rect_color/compressed/parameter_descriptions
/camera/rgb/image_rect_color/compressed/parameter_updates
/camera/rgb/image_rect_color/compressedDepth
/camera/rgb/image_rect_color/compressedDepth/parameter_descriptions
/camera/rgb/image_rect_color/compressedDepth/parameter_updates
/camera/rgb/image_rect_color/theora
/camera/rgb/image_rect_color/theora/parameter_descriptions
/camera/rgb/image_rect_color/theora/parameter_updates
/camera/rgb_rectify_color/parameter_descriptions
/camera/rgb_rectify_color/parameter_updates
/diagnostics
/laser_status
/odom
/rosout
/rosout_agg
/rtabmap/cloud_ground
/rtabmap/cloud_map
/rtabmap/cloud_obstacles
/rtabmap/global_path
/rtabmap/global_path_nodes
/rtabmap/global_pose
/rtabmap/goal
/rtabmap/goal_node
/rtabmap/goal_out
/rtabmap/goal_reached
/rtabmap/gps/fix
/rtabmap/grid_map
/rtabmap/grid_prob_map
/rtabmap/imu
/rtabmap/info
/rtabmap/initialpose
/rtabmap/labels
/rtabmap/landmarks
/rtabmap/local_grid_empty
/rtabmap/local_grid_ground
/rtabmap/local_grid_obstacle
/rtabmap/local_path
/rtabmap/local_path_nodes
/rtabmap/localization_pose
/rtabmap/mapData
/rtabmap/mapGraph
/rtabmap/mapPath
/rtabmap/octomap_binary
/rtabmap/octomap_empty_space
/rtabmap/octomap_full
/rtabmap/octomap_grid
/rtabmap/octomap_ground
/rtabmap/octomap_obstacles
/rtabmap/octomap_occupied_space
/rtabmap/proj_map
/rtabmap/rgbd_image
/rtabmap/rgbd_image/compressed
/rtabmap/scan_map
/rtabmap/user_data_async
/scan
/tf
/tf_static
/urg_node/parameter_descriptions
/urg_node/parameter_updates

matlabbe
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Re: rtabmap with odometry

matlabbe
Administrator
Yeah, but in your rostopic list, there are /base_controller/odom and /base_scan, where do they come from unless you didn't change the remap? To be more explicit, you have to change 
<remap from="odom" to="/base_controller/odom"/>
<remap from="scan" to="/base_scan"/>
to 
<remap from="odom" to="/odom"/>
<remap from="scan" to="/scan"/>
Behzad
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Re: rtabmap with odometry

Behzad
Hi after I correct what you said this error comes up :

[ WARN] [1566744598.148678736]: Could not get transform from base_link to camera_rgb_optical_frame after 0.200000 seconds (for stamp=1566744597.870345)! Error="Could not find a connection between 'base_link' and 'camera_rgb_optical_frame' because they are not part of the same tree.Tf has two or more unconnected trees.. canTransform returned after 0.201108 timeout was 0.2.".
[ERROR] [1566744598.148755707]: TF of received image 0 at time 1566744597.870345s is not set!
[ERROR] [1566744598.148816505]: Could not convert rgb/depth msgs! Aborting rtabmap update...

matlabbe
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Re: rtabmap with odometry

matlabbe
Administrator
Hi,

What is your tf tree? ($ rosrun tf view_frames)

It seems your camera frames are not connected to your base frame (base_link)
Behzad
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Re: rtabmap with odometry

Behzad
Hi again,

Here is my tf tree, how coulad I fix this distortion ??

matlabbe
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Re: rtabmap with odometry

matlabbe
Administrator
You can use a static_transform_publisher to add the link between base_link and camera_link
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