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 : |
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"/> |
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 |
Administrator
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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"/> |
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... |
Administrator
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Hi,
What is your tf tree? ($ rosrun tf view_frames) It seems your camera frames are not connected to your base frame (base_link) |
Hi again,
Here is my tf tree, how coulad I fix this distortion ?? |
Administrator
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You can use a static_transform_publisher to add the link between base_link and camera_link
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