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aviadoz

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Hello,

I am trying to subscribe to an odom topic instead a tf so I didn't set nothing in "odom_fram_id"
and "odom_topic = odom". I noticed that rtabmap is subscribe to "rtabmap/odom" and I tried to remap it to "odometry/filtered" which "robot_localization" publish but I can't do it from a reason that I don't know.
So, I remap the output topic from robot_localization to "rtabmap/odom".
In both case I got the same warning:

[ WARN] [1561015902.652173946]: /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"). Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
/rtabmap/rtabmap subscribed to (exact sync):
   /rtabmap/odometry/filtered,
   /camera/color/image_raw,
   /camera/aligned_depth_to_color/image_raw,
   /camera/color/camera_info,
   /scan

*All the above topics were published of course.

Here my main launch file:

<launch>



<arg name="move_base"         default="true" />
<arg name="vo"              default="false" />
<arg name="visitors"         default="false" />
<arg name="mapping"         default="false" />
<arg name="urdf"         default="true" />

<!--load platform 3d model-->
<include if="$(arg urdf)" file="$(find arl_description)/launch/newurdf.launch" />


<!-- bringup realsense camera -->
<include file="$(find realsense2_camera)/launch/rs_camera.launch">
        <arg name="align_depth" value="true"/>

</include>

<!--creating IMU topic
<node pkg="imu_filter_madgwick" type="imu_filter_node" name="ImuFilter">
        <param name="use_ma" type="bool" value="false" />
        <param name="publish_tf" type="bool" value="true" />
        <param name="world_frame" type="string" value="enu" />
	<param name="publish_debug_topics" type="bool" value="true" />
        <remap from="/imu/data_raw" to="/camera/accel/sample"/>
</node>-->

<!--camera tf-->
<node pkg="tf" type="static_transform_publisher" name="camera_link_tf" args="0.15 0 0.4 0 0.05 0 base_link camera_link 30" />
<node if="$(arg urdf)" pkg="tf" type="static_transform_publisher" name="base_footprint_tf" args="0 0 0.1 0 0 0 base_footprint base_link 30" />

<!-- Laser topic -->
<node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan">
	<remap from="image"       to="/camera/depth/image_rect_raw"/>
	<remap from="camera_info" to="/camera/depth/camera_info"/>
 	<param name="range_min"   value="0.1"/>
	<param name="range_max"   value="3"/>
	<param name="frame_id"    value="camera_link" />
	<param name="scan_height" value="1" />
</node>

<!-- Arduino connection -->
<node pkg="rosserial_python" type="serial_node.py" name="serial_node">
    <param name="port" value="/dev/ttyACM0"/>
    <param name="baud" value="57600"/>
</node>

<!-- encoders odometry -->
<node unless="$(arg vo)" pkg="arl_description" type="physical_odometry" name="physical_odometry" />

<!--load rtabmap mapping-->
<include  file="$(find arl_description)/launch/rtabmap_nav.launch"  > 

	<arg name="mapping"                 value="$(arg mapping)" />
	<arg if="$(arg mapping)"            name="localization" value="false" />
	<arg unless="$(arg mapping)"        name="localization" value="true" />
	<arg unless="$(arg visitors)"       name="rviz_cfg" value="$(find arl_description)/launch/realsenseARL.rviz" />
	<arg if="$(arg visitors)"           name="rviz_cfg" value="$(find arl_description)/launch/visitorsRviz.rviz" />
	<arg name="rtabmapviz"              default="false" /> 
	<arg name="rviz"                    default="false" />
	<arg name="frame_id"                value="base_footprint" />
	<arg name="rgb_topic"               default="/camera/color/image_raw" />
	<arg name="depth_topic" 	    default="/camera/aligned_depth_to_color/image_raw" /><!--was aligned-->
	<arg name="camera_info_topic"       default="/camera/color/camera_info" />
	<arg name="depth_camera_info_topic" value="/camera/depth/camera_info"/>

	
</include>


<!-- ROS navigation stack move_base -->
<node if="$(arg move_base)" pkg="move_base" type="move_base" respawn="true" name="move_base" output="screen" >
    <param name="base_local_planner"   value="base_local_planner/TrajectoryPlannerROS" />
    <rosparam file="$(find arl_description)/launch/nav_data/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find arl_description)/launch/nav_data/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find arl_description)/launch/nav_data/local_costmap_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find arl_description)/launch/nav_data/global_costmap_params.yaml" command="load" ns="global_costmap"/>
    <rosparam file="$(find arl_description)/launch/nav_data/base_local_planner_params.yaml" command="load" />
    <remap from="cmd_vel" to="cmd_vel"/>
    <remap from="odom"    to="odom"/>
    <remap from="scan"    to="scan"/>
    <remap from="map"     to="/rtabmap/grid_map"/>
</node>


</launch>

Here my rtabmap launch file:

<launch>
  <!-- Convenience launch file to launch odometry, rtabmap and rtabmapviz nodes at once -->

  <!-- For stereo:=false
        Your RGB-D sensor should be already started with "depth_registration:=true".
        Examples:
           $ roslaunch freenect_launch freenect.launch depth_registration:=true 
           $ roslaunch openni2_launch openni2.launch depth_registration:=true -->
           
  <!-- For stereo:=true
        Your camera should be calibrated and publishing rectified left and right 
        images + corresponding camera_info msgs. You can use stereo_image_proc for image rectification.
        Example:
           $ roslaunch rtabmap_ros bumblebee.launch -->
		
  <arg name="visitors" default="false" />
  <arg name="mapping" default="true" />
  <arg if="$(arg mapping)" name="delete_db" value="--delete_db_on_start" />
  <arg unless="$(arg mapping)" name="delete_db" value="" />
     
     
  <!-- Choose between RGB-D and stereo -->      
  <arg name="stereo"          default="false"/>
 
  <!-- Choose visualization -->
  <arg name="rtabmapviz"              default="false" /> 
  <arg name="rviz"                    default="true" />
  
  <!-- Localization-only mode -->
  <arg name="localization"            default="false"/>
  
  <!-- sim time for convenience, if playing a rosbag -->
  <arg name="use_sim_time"            default="false"/>
  <param if="$(arg use_sim_time)" name="use_sim_time" value="true"/>
  
  <!-- Corresponding config files -->
  <arg name="cfg"                     default="" /> <!-- To change RTAB-Map's parameters, set the path of config file (*.ini) generated by the standalone app -->
  <arg name="gui_cfg"                 default="~/.ros/rtabmap_gui.ini" />
  <arg name="rviz_cfg"                default="$(find rtabmap_ros)/launch/config/rgbd.rviz" />
  <arg name="rviz_visitors_cfg"       default="$(find arl_description)/launch/visitorsRviz.rviz" />
  <arg name="frame_id"                default="base_link"/>     <!-- Fixed frame id, you may set "base_link" or "base_footprint" if they are published -->
  <arg name="odom_frame_id"           default=""/>                <!-- If set, TF is used to get odometry instead of the topic -->
  <arg name="map_frame_id"            default="map"/>
  <arg name="ground_truth_frame_id"   default=""/>     <!-- e.g., "world" -->
  <arg name="ground_truth_base_frame_id" default=""/>  <!-- e.g., "tracker", a fake frame matching the frame "frame_id" (but on different TF tree) -->
  <arg name="namespace"               default="rtabmap"/>
  <arg name="database_path"           default="~/.ros/rtabmap.db"/>
  <arg name="queue_size"              default="10"/>
  <arg name="wait_for_transform"      default="0.2"/>
  <arg name="args"                    default=""/>              <!-- delete_db_on_start, udebug -->
  <arg name="rtabmap_args"            default="$(arg args)"/>   <!-- deprecated, use "args" argument -->
  <arg name="launch_prefix"           default=""/>              <!-- for debugging purpose, it fills launch-prefix tag of the nodes -->
  <arg name="output"                  default="screen"/>        <!-- Control node output (screen or log) -->

  <!-- if timestamps of the input topics are synchronized using approximate or exact time policy-->
  <arg     if="$(arg stereo)" name="approx_sync"  default="false"/>
  <arg unless="$(arg stereo)" name="approx_sync"  default="false"/>         
   
  <!-- RGB-D related topics -->
  <arg name="rgb_topic"               default="/camera/rgb/image_rect_color" />
  <arg name="depth_topic"             default="/camera/depth_registered/image_raw" />
  <arg name="camera_info_topic"       default="/camera/rgb/camera_info" />
  <arg name="depth_camera_info_topic" default="$(arg camera_info_topic)" />
  
  <!-- stereo related topics -->
  <arg name="stereo_namespace"        default="/stereo_camera"/>
  <arg name="left_image_topic"        default="$(arg stereo_namespace)/left/image_rect_color" />
  <arg name="right_image_topic"       default="$(arg stereo_namespace)/right/image_rect" />      <!-- using grayscale image for efficiency -->
  <arg name="left_camera_info_topic"  default="$(arg stereo_namespace)/left/camera_info" />
  <arg name="right_camera_info_topic" default="$(arg stereo_namespace)/right/camera_info" />
  
  <!-- Already synchronized RGB-D related topic, with rtabmap_ros/rgbd_sync nodelet -->
  <arg name="rgbd_sync"               default="false"/>         <!-- pre-sync rgb_topic, depth_topic, camera_info_topic -->
  <arg name="approx_rgbd_sync"        default="true"/>          <!-- false=exact synchronization -->
  <arg name="subscribe_rgbd"          default="$(arg rgbd_sync)"/>
  <arg name="rgbd_topic"              default="rgbd_image" />
  <arg name="depth_scale"             default="1.0" />
  
  <arg name="compressed"              default="false"/>         <!-- If you want to subscribe to compressed image topics -->
  <arg name="rgb_image_transport"     default="compressed"/>    <!-- Common types: compressed, theora (see "rosrun image_transport list_transports") -->
  <arg name="depth_image_transport"   default="compressedDepth"/>  <!-- Depth compatible types: compressedDepth (see "rosrun image_transport list_transports") -->
   
  <arg name="subscribe_scan"          default="true"/>
  <arg name="scan_topic"              default="/scan"/>
  <arg name="subscribe_scan_cloud"    default="false"/>
  <arg name="scan_cloud_topic"        default="/scan_cloud"/>
  <arg name="scan_normal_k"           default="0"/>
   
  <arg name="visual_odometry"          default="false"/>          <!-- Launch rtabmap visual odometry node -->
  <arg name="icp_odometry"             default="false"/>         <!-- Launch rtabmap icp odometry node -->
  <arg name="odom_topic"               default="odom"/>          <!-- Odometry topic name -->
  <arg name="vo_frame_id"              default="$(arg odom_topic)"/> <!-- Visual/Icp odometry frame ID for TF -->
  <arg name="odom_tf_angular_variance" default="1"/>             <!-- If TF is used to get odometry, this is the default angular variance -->
  <arg name="odom_tf_linear_variance"  default="1"/>             <!-- If TF is used to get odometry, this is the default linear variance -->
  <arg name="odom_args"                default=""/>              <!-- More arguments for odometry (overwrite same parameters in rtabmap_args) -->
  <arg name="odom_sensor_sync"         default="false"/>
  <arg name="odom_guess_frame_id"        default=""/>
  <arg name="odom_guess_min_translation" default="0"/>
  <arg name="odom_guess_min_rotation"    default="0"/> 
  <arg name="imu_topic"                default="/imu"/>          <!-- only used with VIO approaches -->
  
  <arg name="subscribe_user_data"      default="false"/>             <!-- user data synchronized subscription -->
  <arg name="user_data_topic"          default="/user_data"/>
  <arg name="user_data_async_topic"    default="/user_data_async" /> <!-- user data async subscription (rate should be lower than map update rate) -->
  
  <!-- These arguments should not be modified directly, see referred topics without "_relay" suffix above -->
  <arg if="$(arg compressed)"     name="rgb_topic_relay"           default="$(arg rgb_topic)_relay"/>
  <arg unless="$(arg compressed)" name="rgb_topic_relay"           default="$(arg rgb_topic)"/>
  <arg if="$(arg compressed)"     name="depth_topic_relay"         default="$(arg depth_topic)_relay"/>
  <arg unless="$(arg compressed)" name="depth_topic_relay"         default="$(arg depth_topic)"/>
  <arg if="$(arg compressed)"     name="left_image_topic_relay"    default="$(arg left_image_topic)_relay"/>
  <arg unless="$(arg compressed)" name="left_image_topic_relay"    default="$(arg left_image_topic)"/>
  <arg if="$(arg compressed)"     name="right_image_topic_relay"   default="$(arg right_image_topic)_relay"/>
  <arg unless="$(arg compressed)" name="right_image_topic_relay"   default="$(arg right_image_topic)"/>

  <!-- Nodes -->
  <group ns="$(arg namespace)">
     
    <!-- relays -->
    <group unless="$(arg stereo)">
      <group unless="$(arg subscribe_rgbd)">
        <node if="$(arg compressed)" name="republish_rgb" type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg rgb_topic) raw out:=$(arg rgb_topic_relay)" />
        <node if="$(arg compressed)" name="republish_depth" type="republish" pkg="image_transport" args="$(arg depth_image_transport) in:=$(arg depth_topic) raw out:=$(arg depth_topic_relay)" />
      </group>
      <group if="$(arg rgbd_sync)">
        <node if="$(arg compressed)" name="republish_rgb" type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg rgb_topic) raw out:=$(arg rgb_topic_relay)" />
        <node if="$(arg compressed)" name="republish_depth" type="republish" pkg="image_transport" args="$(arg depth_image_transport) in:=$(arg depth_topic) raw out:=$(arg depth_topic_relay)" />
        <node pkg="nodelet" type="nodelet" name="rgbd_sync" args="standalone rtabmap_ros/rgbd_sync" output="$(arg output)">
          <remap from="rgb/image"       to="$(arg rgb_topic_relay)"/>
          <remap from="depth/image"     to="$(arg depth_topic_relay)"/>
          <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
          <remap from="rgbd_image"      to="$(arg rgbd_topic)"/>
          <param name="approx_sync"     type="bool"   value="$(arg approx_rgbd_sync)"/>
          <param name="queue_size"      type="int"    value="$(arg queue_size)"/>
          <param name="depth_scale"     type="double" value="$(arg depth_scale)"/>
        </node>
      </group>
    </group>
    <group if="$(arg stereo)">
      <group unless="$(arg subscribe_rgbd)">
        <node if="$(arg compressed)" name="republish_left"  type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg left_image_topic) raw out:=$(arg left_image_topic_relay)" />
        <node if="$(arg compressed)" name="republish_right" type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg right_image_topic) raw out:=$(arg right_image_topic_relay)" />
      </group>
      <group if="$(arg rgbd_sync)">
        <node if="$(arg compressed)" name="republish_left"  type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg left_image_topic) raw out:=$(arg left_image_topic_relay)" />
        <node if="$(arg compressed)" name="republish_right" type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg right_image_topic) raw out:=$(arg right_image_topic_relay)" />
        <node pkg="nodelet" type="nodelet" name="rgbd_sync" args="standalone rtabmap_ros/stereo_sync" output="$(arg output)">
          <remap from="left/image_rect"   to="$(arg left_image_topic_relay)"/>
          <remap from="right/image_rect"  to="$(arg right_image_topic_relay)"/>
          <remap from="left/camera_info"  to="$(arg left_camera_info_topic)"/>
          <remap from="right/camera_info" to="$(arg right_camera_info_topic)"/>
          <remap from="rgbd_image"      to="$(arg rgbd_topic)"/>
          <param name="approx_sync"     type="bool"   value="$(arg approx_rgbd_sync)"/>
          <param name="queue_size"      type="int"    value="$(arg queue_size)"/>
        </node>
      </group>
    </group>
    
    <group unless="$(arg rgbd_sync)">
       <node if="$(arg subscribe_rgbd)" name="republish_rgbd_image"  type="relay" pkg="topic_tools" args="$(arg rgbd_topic) $(arg rgbd_topic)_relay" />
    </group>

    <!-- Visual odometry -->
    <group unless="$(arg icp_odometry)">
      <group if="$(arg visual_odometry)">
      
        <!-- RGB-D Odometry -->
        <node unless="$(arg stereo)" pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="$(arg output)" args="$(arg rtabmap_args) $(arg odom_args)" launch-prefix="$(arg launch_prefix)">
          <remap from="rgb/image"       to="$(arg rgb_topic_relay)"/>
          <remap from="depth/image"     to="$(arg depth_topic_relay)"/>
          <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
          <remap     if="$(arg rgbd_sync)" from="rgbd_image" to="$(arg rgbd_topic)"/>
          <remap unless="$(arg rgbd_sync)" from="rgbd_image" to="$(arg rgbd_topic)_relay"/>
          <remap from="odom"            to="$(arg odom_topic)"/>
      
          <param name="frame_id"                    type="string" value="$(arg frame_id)"/>
          <param name="odom_frame_id"               type="string" value="$(arg vo_frame_id)"/>
          <param name="ground_truth_frame_id"       type="string" value="$(arg ground_truth_frame_id)"/>
          <param name="ground_truth_base_frame_id"  type="string" value="$(arg ground_truth_base_frame_id)"/>
          <param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
          <param name="approx_sync"                 type="bool"   value="$(arg approx_sync)"/>
          <param name="config_path"                 type="string" value="$(arg cfg)"/>
          <param name="queue_size"                  type="int"    value="$(arg queue_size)"/>
          <param name="subscribe_rgbd"              type="bool"   value="$(arg subscribe_rgbd)"/>
          <param name="guess_frame_id"              type="string" value="$(arg odom_guess_frame_id)"/>
          <param name="guess_min_translation"       type="double" value="$(arg odom_guess_min_translation)"/>
          <param name="guess_min_rotation"          type="double" value="$(arg odom_guess_min_rotation)"/>
        </node>

        <!-- Stereo Odometry -->
        <node if="$(arg stereo)" pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="$(arg output)" args="$(arg rtabmap_args) $(arg odom_args)" launch-prefix="$(arg launch_prefix)">
          <remap from="left/image_rect"        to="$(arg left_image_topic_relay)"/>
          <remap from="right/image_rect"       to="$(arg right_image_topic_relay)"/>
          <remap from="left/camera_info"       to="$(arg left_camera_info_topic)"/>
          <remap from="right/camera_info"      to="$(arg right_camera_info_topic)"/>
          <remap     if="$(arg rgbd_sync)" from="rgbd_image" to="$(arg rgbd_topic)"/>
          <remap unless="$(arg rgbd_sync)" from="rgbd_image" to="$(arg rgbd_topic)_relay"/>
          <remap from="odom"                   to="$(arg odom_topic)"/>
          <remap from="imu"                    to="$(arg imu_topic)"/>
      
          <param name="frame_id"                    type="string" value="$(arg frame_id)"/>
          <param name="odom_frame_id"               type="string" value="$(arg vo_frame_id)"/>
          <param name="ground_truth_frame_id"       type="string" value="$(arg ground_truth_frame_id)"/>
          <param name="ground_truth_base_frame_id"  type="string" value="$(arg ground_truth_base_frame_id)"/>
          <param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
          <param name="approx_sync"                 type="bool"   value="$(arg approx_sync)"/>
          <param name="config_path"                 type="string" value="$(arg cfg)"/>
          <param name="queue_size"                  type="int"    value="$(arg queue_size)"/>
          <param name="subscribe_rgbd"              type="bool"   value="$(arg subscribe_rgbd)"/>
          <param name="guess_frame_id"              type="string" value="$(arg odom_guess_frame_id)"/>
          <param name="guess_min_translation"       type="double" value="$(arg odom_guess_min_translation)"/>
          <param name="guess_min_rotation"          type="double" value="$(arg odom_guess_min_rotation)"/>
        </node>
      </group>
    </group>
    
    <!-- ICP Odometry -->
    <node if="$(arg icp_odometry)" pkg="rtabmap_ros" type="icp_odometry" name="icp_odometry" output="$(arg output)" args="$(arg rtabmap_args) $(arg odom_args)" launch-prefix="$(arg launch_prefix)">
      <remap from="scan"                   to="$(arg scan_topic)"/>
      <remap from="scan_cloud"             to="$(arg scan_cloud_topic)"/>
      <remap from="odom"                   to="$(arg odom_topic)"/>
      
      <param name="frame_id"                    type="string" value="$(arg frame_id)"/>
      <param name="odom_frame_id"               type="string" value="$(arg vo_frame_id)"/>
      <param name="ground_truth_frame_id"       type="string" value="$(arg ground_truth_frame_id)"/>
      <param name="ground_truth_base_frame_id"  type="string" value="$(arg ground_truth_base_frame_id)"/>
      <param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
      <param name="config_path"                 type="string" value="$(arg cfg)"/>
      <param name="queue_size"                  type="int"    value="$(arg queue_size)"/>
      <param name="guess_frame_id"              type="string" value="$(arg odom_guess_frame_id)"/>
      <param name="guess_min_translation"       type="double" value="$(arg odom_guess_min_translation)"/>
      <param name="guess_min_rotation"          type="double" value="$(arg odom_guess_min_rotation)"/>
    </node>
  
    <!-- Visual SLAM (robot side) -->
    <!-- args: "delete_db_on_start" and "udebug" -->
    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="$(arg output)" args="$(arg delete_db)" launch-prefix="$(arg launch_prefix)">
      <param     if="$(arg stereo)" name="subscribe_depth"  type="bool" value="false"/>
      <param unless="$(arg stereo)" name="subscribe_depth"  type="bool" value="true"/>
      <param name="subscribe_rgbd"       type="bool"   value="$(arg subscribe_rgbd)"/>
      <param name="subscribe_stereo"     type="bool"   value="$(arg stereo)"/>
      <param name="subscribe_scan"       type="bool"   value="$(arg subscribe_scan)"/>
      <param name="subscribe_scan_cloud" type="bool"   value="$(arg subscribe_scan_cloud)"/>
      <param name="subscribe_user_data"  type="bool"   value="$(arg subscribe_user_data)"/>
      <param if="$(arg visual_odometry)" name="subscribe_odom_info" type="bool" value="true"/>
      <param if="$(arg icp_odometry)"    name="subscribe_odom_info" type="bool" value="true"/>
      <param name="frame_id"             type="string" value="$(arg frame_id)"/>
      <param name="map_frame_id"         type="string" value="$(arg map_frame_id)"/>
      <param name="odom_frame_id"        type="string" value="$(arg odom_frame_id)"/>
      <param name="ground_truth_frame_id"       type="string" value="$(arg ground_truth_frame_id)"/>
      <param name="ground_truth_base_frame_id"  type="string" value="$(arg ground_truth_base_frame_id)"/>
      <param name="odom_tf_angular_variance" type="double" value="$(arg odom_tf_angular_variance)"/>
      <param name="odom_tf_linear_variance"  type="double" value="$(arg odom_tf_linear_variance)"/>
      <param name="odom_sensor_sync"         type="bool"   value="$(arg odom_sensor_sync)"/>
      <param name="wait_for_transform_duration"  type="double"   value="$(arg wait_for_transform)"/>
      <param name="database_path"        type="string" value="$(arg database_path)"/>
      <param name="approx_sync"          type="bool"   value="$(arg approx_sync)"/>
      <param name="config_path"          type="string" value="$(arg cfg)"/>
      <param name="queue_size"           type="int" value="$(arg queue_size)"/>
      <param name="scan_normal_k"        type="int" value="$(arg scan_normal_k)"/>
      <param name="Rtabmap/DetectionRate" type="string" value="5"/>      
      <param name="Reg/Force3DoF" 			value="false"/>
      <param name="publish_tf" 			   	value="false"/>

      <remap from="rgb/image"       to="$(arg rgb_topic_relay)"/>
      <remap from="depth/image"     to="$(arg depth_topic_relay)"/>
      <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
      
      <remap     if="$(arg rgbd_sync)" from="rgbd_image" to="$(arg rgbd_topic)"/>
      <remap unless="$(arg rgbd_sync)" from="rgbd_image" to="$(arg rgbd_topic)_relay"/>
	
      <remap from="left/image_rect"        to="$(arg left_image_topic_relay)"/>
      <remap from="right/image_rect"       to="$(arg right_image_topic_relay)"/>
      <remap from="left/camera_info"       to="$(arg left_camera_info_topic)"/>
      <remap from="right/camera_info"      to="$(arg right_camera_info_topic)"/>
      
      <remap from="scan"                   to="$(arg scan_topic)"/>
      <remap from="scan_cloud"             to="$(arg scan_cloud_topic)"/>
      <remap from="user_data"              to="$(arg user_data_topic)"/>
      <remap from="user_data_async"        to="$(arg user_data_async_topic)"/>
      <remap from="odom"                   to="$(arg odom_topic)"/>
      
      <!-- localization mode -->
	  <param     if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
	  <param unless="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="true"/>
	  <param name="Mem/InitWMWithAllNodes" type="string" value="$(arg localization)"/>
    </node>
  
    <!-- Visualisation RTAB-Map -->
    <node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(arg gui_cfg)" output="$(arg output)" launch-prefix="$(arg launch_prefix)">
      <param     if="$(arg stereo)" name="subscribe_depth"  type="bool" value="false"/>
      <param unless="$(arg stereo)" name="subscribe_depth"  type="bool" value="true"/>
      <param name="subscribe_rgbd"       type="bool"   value="$(arg subscribe_rgbd)"/>
      <param name="subscribe_stereo"     type="bool"   value="$(arg stereo)"/>
      <param name="subscribe_scan"       type="bool"   value="$(arg subscribe_scan)"/>
      <param name="subscribe_scan_cloud" type="bool"   value="$(arg subscribe_scan_cloud)"/>
      <param if="$(arg visual_odometry)" name="subscribe_odom_info" type="bool" value="true"/>
      <param if="$(arg icp_odometry)"    name="subscribe_odom_info" type="bool" value="true"/>
      <param name="frame_id"             type="string" value="$(arg frame_id)"/>
      <param name="odom_frame_id"        type="string" value="$(arg odom_frame_id)"/>
      <param name="wait_for_transform_duration" type="double"   value="$(arg wait_for_transform)"/>
      <param name="queue_size"           type="int"    value="$(arg queue_size)"/>
      <param name="approx_sync"          type="bool"   value="$(arg approx_sync)"/>
            
 	 
      <remap from="rgb/image"       to="$(arg rgb_topic_relay)"/>
      <remap from="depth/image"     to="$(arg depth_topic_relay)"/>
      <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
      
      <remap     if="$(arg rgbd_sync)" from="rgbd_image" to="$(arg rgbd_topic)"/>
      <remap unless="$(arg rgbd_sync)" from="rgbd_image" to="$(arg rgbd_topic)_relay"/>
      
      <remap from="left/image_rect"        to="$(arg left_image_topic_relay)"/>
      <remap from="right/image_rect"       to="$(arg right_image_topic_relay)"/>
      <remap from="left/camera_info"       to="$(arg left_camera_info_topic)"/>
      <remap from="right/camera_info"      to="$(arg right_camera_info_topic)"/>
      
      <remap from="scan"                   to="$(arg scan_topic)"/>
      <remap from="scan_cloud"             to="$(arg scan_cloud_topic)"/>
      <remap from="odom"                   to="$(arg odom_topic)"/>
    </node>
  
  </group>

  <!-- Visualization RVIZ -->
  <node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(arg rviz_cfg)"/>
  <node unless="$(arg rviz)" pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb" output="$(arg output)">
    <remap if="$(arg stereo)" from="left/image"        to="$(arg left_image_topic_relay)"/>
    <remap if="$(arg stereo)" from="right/image"       to="$(arg right_image_topic_relay)"/>
    <remap if="$(arg stereo)" from="left/camera_info"  to="$(arg left_camera_info_topic)"/>
    <remap if="$(arg stereo)" from="right/camera_info" to="$(arg right_camera_info_topic)"/>
    <remap unless="$(arg subscribe_rgbd)" from="rgb/image"         to="$(arg rgb_topic_relay)"/>
    <remap unless="$(arg subscribe_rgbd)" from="depth/image"       to="$(arg depth_topic_relay)"/>
    <remap unless="$(arg subscribe_rgbd)" from="rgb/camera_info"   to="$(arg camera_info_topic)"/>
    <remap     if="$(arg rgbd_sync)" from="rgbd_image" to="$(arg rgbd_topic)"/>
    <remap unless="$(arg rgbd_sync)" from="rgbd_image" to="$(arg rgbd_topic)_relay"/>
    <remap from="cloud"             to="voxel_cloud" />

    <param name="decimation"  type="double" value="4"/>
    <param name="voxel_size"  type="double" value="0.0"/>
    <param name="approx_sync" type="bool"   value="$(arg approx_sync)"/>
  </node>

</launch>

What could be the reason for that issue?

Best Regards,
Aviad

matlabbe

Re: subscribe issue

Administrator

Hi,

When doing "odom_topic = odom", it will subscribe to "odom" in its own namespace (e..g, /rtabmap/odom). What you meant is maybe more "odom_topic = /odom" (note the slash for global namespace). For robot localization, it would be "odom_topic = /odometry/filtered".

About synchronization, I think everything you need to know is in that warning:

[ WARN] [1561015902.652173946]: /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"). Parameter "approx_sync" is false, which means that input topics should have all the exact
 timestamp for the callback to be called.

/rtabmap/rtabmap subscribed to (exact sync):
   /rtabmap/odometry/filtered,
   /camera/color/image_raw,
   /camera/aligned_depth_to_color/image_raw,
   /camera/color/camera_info,
   /scan

approx_sync parameter is false, which means that all topics above should have the exact timestamp so that the callback is called. I doubt that scan has the same stamp than the camera topics. You should set approx_sync to true. As you are subscribing to a scan topic, I strongly recommend to use rgbd_sync node to pre-sync image topics before feeding them to rtabmap node. See this setup (which looks similar to yours): http://wiki.ros.org/rtabmap_ros/Tutorials/SetupOnYourRobot#Kinect_.2B-_Odometry_.2B-_2D_laser
Beware that for realsense cameras, approx_sync for rgbd_sync node would be false as RGB and depth topics should have the same stamps.

Based on your rtabmap.launch file, set rgbd_sync=true, approx_rgbd_sync=false, approx_sync=true, this should setup rtabmap as in the config example above.

cheers,
Mathieu