Posted by
jinjo on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTABMAP-ROS-with-ORBSLAM3-tp10153.html
Hey, I have been trying to use RTABMAP_ROS with the ORBSLAM3 on a Pohang Canal dataset. I am working on Jetson Orin and build the libraries using docker. I will provide you with docker file, launch file and configuration files. Output shows Odom quality:0 and some transformations error. While I switch to Odom stratergy to 0. I can see RTABMAP viz working and some visualizations but nothing with ORBSLAM3. I am hoping to get some directions here to make it working.
Another thing how can I input camera1 to camera2 and imu to camera transformations. Usually ORBSLAM refers to config file where these extrinsics are given and I could find any parameter refering to that.
I am still very new to rtabmap. Here is the output I get.
root@jetson-orin:/rtabmap/catkin_ws# roslaunch rtabmap_demos pohang.launch
... logging to /root/.ros/log/04798952-1429-11ef-b19b-3c18a0d4bc69/roslaunch-jetson-orin-1074.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server
http://jetson-orin:37073/SUMMARY
========
PARAMETERS
* /rosdistro: noetic
* /rosversion: 1.16.0
* /rtabmap/rtabmap/Grid/DepthDecimation: 4
* /rtabmap/rtabmap/Grid/FlatObstacleDetected: true
* /rtabmap/rtabmap/Kp/DetectorStrategy: 2
* /rtabmap/rtabmap/Kp/MaxDepth: 0
* /rtabmap/rtabmap/Odom/Strategy: 5
* /rtabmap/rtabmap/OdomORBSLAM/ GyroWalk: 4e-06
* /rtabmap/rtabmap/OdomORBSLAM/AccNoise: 0.01
* /rtabmap/rtabmap/OdomORBSLAM/AccWalk: 0.0002
* /rtabmap/rtabmap/OdomORBSLAM/GyroNoise: 0.005
* /rtabmap/rtabmap/OdomORBSLAM/Inertial: True
* /rtabmap/rtabmap/OdomORBSLAM/MaxFeatures: 2000
* /rtabmap/rtabmap/OdomORBSLAM/SamplingRate: 100.0
* /rtabmap/rtabmap/OdomORBSLAM/ThDepth: 200.0
* /rtabmap/rtabmap/OdomORBSLAM/VocPath: /rtabmap/ORB_SLAM...
* /rtabmap/rtabmap/RGBD/CreateOccupancyGrid: false
* /rtabmap/rtabmap/Rtabmap/TimeThr: 700
* /rtabmap/rtabmap/Stereo/MaxDisparity: 5000
* /rtabmap/rtabmap/Vis/EstimationType: 1
* /rtabmap/rtabmap/Vis/FeatureType: 2
* /rtabmap/rtabmap/Vis/MaxDepth: 0
* /rtabmap/rtabmap/frame_id: stereo_left_link
* /rtabmap/rtabmap/map_negative_poses_ignored: True
* /rtabmap/rtabmap/queue_size: 30
* /rtabmap/rtabmap/subscribe_depth: False
* /rtabmap/rtabmap/subscribe_rgbd: False
* /rtabmap/rtabmap/subscribe_stereo: True
* /rtabmap/rtabmap_viz/frame_id: stereo_left_link
* /rtabmap/rtabmap_viz/queue_size: 10
* /rtabmap/rtabmap_viz/subscribe_odom_info: True
* /rtabmap/rtabmap_viz/subscribe_rgbd: False
* /rtabmap/rtabmap_viz/subscribe_stereo: True
* /rtabmap/stereo_odometry/GFTT/MinDistance: 10
* /rtabmap/stereo_odometry/GFTT/QualityLevel: 0.00001
* /rtabmap/stereo_odometry/Kp/DetectorStrategy: 2
* /rtabmap/stereo_odometry/Odom/GuessMotion: true
* /rtabmap/stereo_odometry/Odom/Strategy: 5
* /rtabmap/stereo_odometry/OdomF2M/MaxSize: 1000
* /rtabmap/stereo_odometry/OdomORBSLAM/ GyroWalk: 4e-06
* /rtabmap/stereo_odometry/OdomORBSLAM/AccNoise: 0.01
* /rtabmap/stereo_odometry/OdomORBSLAM/AccWalk: 0.0002
* /rtabmap/stereo_odometry/OdomORBSLAM/GyroNoise: 0.005
* /rtabmap/stereo_odometry/OdomORBSLAM/Inertial: True
* /rtabmap/stereo_odometry/OdomORBSLAM/MaxFeatures: 2000
* /rtabmap/stereo_odometry/OdomORBSLAM/SamplingRate: 100.0
* /rtabmap/stereo_odometry/OdomORBSLAM/ThDepth: 200.0
* /rtabmap/stereo_odometry/OdomORBSLAM/VocPath: /rtabmap/ORB_SLAM...
* /rtabmap/stereo_odometry/Stereo/MaxDisparity: 5000
* /rtabmap/stereo_odometry/Vis/EstimationType: 1
* /rtabmap/stereo_odometry/Vis/FeatureType: 2
* /rtabmap/stereo_odometry/Vis/MaxDepth: 0
* /rtabmap/stereo_odometry/Vis/MinInliers: 10
* /rtabmap/stereo_odometry/frame_id: stereo_left_link
* /rtabmap/stereo_odometry/odom_frame_id: odom
* /rtabmap/stereo_odometry/subscribe_rgbd: False
* /use_sim_time: True
* /yaml_to_camera_info_left/frame_id: stereo_left_link
* /yaml_to_camera_info_left/yaml_path: /rtabmap/catkin_w...
* /yaml_to_camera_info_right/frame_id: stereo_right_link
* /yaml_to_camera_info_right/yaml_path: /rtabmap/catkin_w...
NODES
/
republish_left (image_transport/republish)
republish_right (image_transport/republish)
yaml_to_camera_info_left (rtabmap_util/yaml_to_camera_info.py)
yaml_to_camera_info_right (rtabmap_util/yaml_to_camera_info.py)
/rtabmap/
rtabmap (rtabmap_slam/rtabmap)
rtabmap_viz (rtabmap_viz/rtabmap_viz)
stereo_odometry (rtabmap_odom/stereo_odometry)
auto-starting new master
process[master]: started with pid [1082]
ROS_MASTER_URI=
http://localhost:11311setting /run_id to 04798952-1429-11ef-b19b-3c18a0d4bc69
process[rosout-1]: started with pid [1092]
started core service [/rosout]
process[republish_left-2]: started with pid [1099]
process[republish_right-3]: started with pid [1100]
process[yaml_to_camera_info_left-4]: started with pid [1101]
process[yaml_to_camera_info_right-5]: started with pid [1106]
process[rtabmap/stereo_odometry-6]: started with pid [1112]
process[rtabmap/rtabmap-7]: started with pid [1114]
process[rtabmap/rtabmap_viz-8]: started with pid [1115]
[ INFO] [1715935188.641366841]: Starting node...
/rtabmap/catkin_ws/src/rtabmap_ros/rtabmap_util/scripts/yaml_to_camera_info.py:10: YAMLLoadWarning: calling yaml.load() without Loader=... is deprecated, as the default Loader is unsafe. Please read
https://msg.pyyaml.org/load for full details.
calib_data = yaml.load(file_handle)
/rtabmap/catkin_ws/src/rtabmap_ros/rtabmap_util/scripts/yaml_to_camera_info.py:10: YAMLLoadWarning: calling yaml.load() without Loader=... is deprecated, as the default Loader is unsafe. Please read
https://msg.pyyaml.org/load for full details.
calib_data = yaml.load(file_handle)
[ INFO] [1715935188.693703111]: Initializing nodelet with 12 worker threads.
[ INFO] [1715935188.703229159]: Initializing nodelet with 12 worker threads.
[ INFO] [1715935188.791147034]: Odometry: frame_id = stereo_left_link
[ INFO] [1715935188.791207867]: Odometry: odom_frame_id = odom
[ INFO] [1715935188.791228828]: Odometry: publish_tf = true
[ INFO] [1715935188.791245308]: Odometry: wait_for_transform = true
[ INFO] [1715935188.791267389]: Odometry: wait_for_transform_duration = 0.100000
[ INFO] [1715935188.791284381]: Odometry: log_to_rosout_level = 4
[ INFO] [1715935188.791340479]: Odometry: initial_pose = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000
[ INFO] [1715935188.791367135]: Odometry: ground_truth_frame_id =
[ INFO] [1715935188.791386560]: Odometry: ground_truth_base_frame_id = stereo_left_link
[ INFO] [1715935188.791404960]: Odometry: config_path =
[ INFO] [1715935188.791421120]: Odometry: publish_null_when_lost = true
[ INFO] [1715935188.791437217]: Odometry: publish_compressed_sensor_data = false
[ INFO] [1715935188.791451393]: Odometry: guess_frame_id =
[ INFO] [1715935188.791468002]: Odometry: guess_min_translation = 0.000000
[ INFO] [1715935188.791485378]: Odometry: guess_min_rotation = 0.000000
[ INFO] [1715935188.791499234]: Odometry: guess_min_time = 0.000000
[ INFO] [1715935188.791516163]: Odometry: expected_update_rate = 0.000000 Hz
[ INFO] [1715935188.791531395]: Odometry: max_update_rate = 0.000000 Hz
[ INFO] [1715935188.791548227]: Odometry: min_update_rate = 0.000000 Hz
[ INFO] [1715935188.791564132]: Odometry: wait_imu_to_init = false
[ INFO] [1715935188.791578660]: Odometry: sensor_data_compression_format = .jpg
[ INFO] [1715935188.791594052]: Odometry: sensor_data_parallel_compression = true
[ INFO] [1715935188.791632069]: Odometry: stereoParams_=1 visParams_=1 icpParams_=0
[ INFO] [1715935188.812200553]: Setting odometry parameter "GFTT/MinDistance"="10"
[ INFO] [1715935188.812538449]: Setting odometry parameter "GFTT/QualityLevel"="0.00001"
[ INFO] [1715935188.836637255]: Starting node...
[ INFO] [1715935188.838562901]: Setting odometry parameter "Odom/GuessMotion"="true"
[ INFO] [1715935188.852029329]: Setting odometry parameter "Odom/Strategy"="5"
[ INFO] [1715935188.856091953]: Setting odometry parameter "OdomF2M/MaxSize"="1000"
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[ INFO] [1715935188.887025608]: rtabmap_viz: Using configuration from "/rtabmap/catkin_ws/src/rtabmap_ros/rtabmap_demos/launch/config/rgbd_gui.ini"
[ INFO] [1715935188.930825550]: Setting odometry parameter "OdomORBSLAM/AccNoise"="0.01"
[ INFO] [1715935188.931647905]: Setting odometry parameter "OdomORBSLAM/AccWalk"="0.0002"
[ INFO] [1715935188.934347009]: Setting odometry parameter "OdomORBSLAM/GyroNoise"="0.005"
[ INFO] [1715935188.935842180]: Setting odometry parameter "OdomORBSLAM/Inertial"="true"
[ INFO] [1715935188.937571852]: Setting odometry parameter "OdomORBSLAM/MaxFeatures"="2000"
[ INFO] [1715935188.938364959]: Setting odometry parameter "OdomORBSLAM/SamplingRate"="100"
[ INFO] [1715935188.939158098]: Setting odometry parameter "OdomORBSLAM/ThDepth"="200"
[ INFO] [1715935188.939445112]: Setting odometry parameter "OdomORBSLAM/VocPath"="/rtabmap/ORB_SLAM3/Vocabulary/ORBvoc.txt"
[ WARN] [1715935189.027080804]: Parameter "map_negative_poses_ignored" has been removed. Use "map_always_update" instead.
[ INFO] [1715935189.031255110]: /rtabmap/rtabmap(maps): map_filter_radius = 0.000000
[ INFO] [1715935189.031305864]: /rtabmap/rtabmap(maps): map_filter_angle = 30.000000
[ INFO] [1715935189.031324936]: /rtabmap/rtabmap(maps): map_cleanup = true
[ INFO] [1715935189.031347145]: /rtabmap/rtabmap(maps): map_always_update = false
[ INFO] [1715935189.031360937]: /rtabmap/rtabmap(maps): map_empty_ray_tracing = true
[ INFO] [1715935189.031372521]: /rtabmap/rtabmap(maps): cloud_output_voxelized = true
[ INFO] [1715935189.031384009]: /rtabmap/rtabmap(maps): cloud_subtract_filtering = false
[ INFO] [1715935189.031398826]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1715935189.032050617]: /rtabmap/rtabmap(maps): octomap_tree_depth = 16
[ INFO] [1715935189.063776290]: rtabmap: frame_id = stereo_left_link
[ INFO] [1715935189.063835492]: rtabmap: map_frame_id = map
[ INFO] [1715935189.063863524]: rtabmap: log_to_rosout_level = 4
[ INFO] [1715935189.063886053]: rtabmap: initial_pose =
[ INFO] [1715935189.063900869]: rtabmap: use_action_for_goal = false
[ INFO] [1715935189.063922982]: rtabmap: tf_delay = 0.050000
[ INFO] [1715935189.063936710]: rtabmap: tf_tolerance = 0.100000
[ INFO] [1715935189.063948550]: rtabmap: odom_sensor_sync = false
[ INFO] [1715935189.063962919]: rtabmap: pub_loc_pose_only_when_localizing = false
[ INFO] [1715935189.065027520]: rtabmap: stereo_to_depth = false
[ INFO] [1715935189.065069025]: rtabmap: gen_scan = false
[ INFO] [1715935189.065087457]: rtabmap: gen_depth = false
[ INFO] [1715935189.067213331]: Setting odometry parameter "Stereo/MaxDisparity"="5000"
[ INFO] [1715935189.100744615]: Setting odometry parameter "Vis/EstimationType"="1"
[ INFO] [1715935189.101230482]: Setting odometry parameter "Vis/FeatureType"="2"
[ INFO] [1715935189.109824412]: Setting odometry parameter "Vis/MaxDepth"="0"
[ INFO] [1715935189.115178426]: Setting odometry parameter "Vis/MinInliers"="10"
[ INFO] [1715935189.160312222]: Setting RTAB-Map parameter "Grid/DepthDecimation"="4"
[ INFO] [1715935189.162521714]: Setting RTAB-Map parameter "Grid/FlatObstacleDetected"="true"
[ INFO] [1715935189.299802570]: Setting RTAB-Map parameter "Kp/DetectorStrategy"="2"
[ INFO] [1715935189.311187701]: Setting RTAB-Map parameter "Kp/MaxDepth"="0"
[ INFO] [1715935189.378065464]: StereoOdometry: approx_sync = false
[ INFO] [1715935189.378116762]: StereoOdometry: queue_size = 5
[ INFO] [1715935189.378134394]: StereoOdometry: subscribe_rgbd = false
[ INFO] [1715935189.378157498]: StereoOdometry: keep_color = false
[ INFO] [1715935189.422376073]:
/rtabmap/stereo_odometry subscribed to (exact sync):
/stereo_cam/left_img \
/stereo_cam/right_img \
/left/camera_info \
/right/camera_info
[ INFO] [1715935189.427009238]: Setting RTAB-Map parameter "RGBD/CreateOccupancyGrid"="false"
[ INFO] [1715935189.486586797]: Setting RTAB-Map parameter "Rtabmap/TimeThr"="700"
[ INFO] [1715935189.502368384]: Setting RTAB-Map parameter "Stereo/MaxDisparity"="5000"
[ INFO] [1715935189.546316232]: Setting RTAB-Map parameter "Vis/EstimationType"="1"
[ INFO] [1715935189.546690097]: Setting RTAB-Map parameter "Vis/FeatureType"="2"
[ INFO] [1715935189.551557987]: Setting RTAB-Map parameter "Vis/MaxDepth"="0"
[ INFO] [1715935189.712101662]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1715935189.712911601]: rtabmap: Deleted database "/root/.ros/rtabmap.db" (--delete_db_on_start or -d are set).
[ INFO] [1715935189.712995891]: rtabmap: Using database from "/root/.ros/rtabmap.db" (0 MB).
[ INFO] [1715935189.756897146]: rtabmap: Database version = "0.21.5".
[ INFO] [1715935189.756999517]: rtabmap: SLAM mode (Mem/IncrementalMemory=true)
[ WARN] [1715935189.791128862]: rtabmap: Parameters subscribe_stereo and subscribe_rgb cannot be true at the same time. Parameter subscribe_rgb is set to false.
[ INFO] [1715935189.793221264]: /rtabmap/rtabmap: subscribe_depth = false
[ INFO] [1715935189.793266737]: /rtabmap/rtabmap: subscribe_rgb = false
[ INFO] [1715935189.793298961]: /rtabmap/rtabmap: subscribe_stereo = true
[ INFO] [1715935189.793321362]: /rtabmap/rtabmap: subscribe_rgbd = false (rgbd_cameras=1)
[ INFO] [1715935189.793348467]: /rtabmap/rtabmap: subscribe_sensor_data = false
[ INFO] [1715935189.793378579]: /rtabmap/rtabmap: subscribe_odom_info = false
[ INFO] [1715935189.793397428]: /rtabmap/rtabmap: subscribe_user_data = false
[ INFO] [1715935189.793422132]: /rtabmap/rtabmap: subscribe_scan = false
[ INFO] [1715935189.793446101]: /rtabmap/rtabmap: subscribe_scan_cloud = false
[ INFO] [1715935189.793459925]: /rtabmap/rtabmap: subscribe_scan_descriptor = false
[ INFO] [1715935189.793473270]: /rtabmap/rtabmap: queue_size = 30
[ INFO] [1715935189.793498966]: /rtabmap/rtabmap: approx_sync = false
[ INFO] [1715935189.793606265]: Setup stereo callback
[ INFO] [1715935189.837027637]:
/rtabmap/rtabmap subscribed to (exact sync):
/stereo_odometry \
/stereo_cam/left_img \
/stereo_cam/right_img \
/left/camera_info \
/right/camera_info
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
[ INFO] [1715935189.991865993]: rtabmap 0.21.5 started...
[ INFO] [1715935190.052336213]: rtabmap_viz: Reading parameters from the ROS server...
[ INFO] [1715935190.290711119]: rtabmap_viz: Parameters read = 373
[ INFO] [1715935190.290767728]: rtabmap_viz: Parameters successfully read.
[ INFO] [1715935190.505883432]: /rtabmap/rtabmap_viz: subscribe_depth = false
[ INFO] [1715935190.505947177]: /rtabmap/rtabmap_viz: subscribe_rgb = false
[ INFO] [1715935190.505970378]: /rtabmap/rtabmap_viz: subscribe_stereo = true
[ INFO] [1715935190.505988042]: /rtabmap/rtabmap_viz: subscribe_rgbd = false (rgbd_cameras=1)
[ INFO] [1715935190.506006635]: /rtabmap/rtabmap_viz: subscribe_sensor_data = false
[ INFO] [1715935190.506023627]: /rtabmap/rtabmap_viz: subscribe_odom_info = true
[ INFO] [1715935190.506040748]: /rtabmap/rtabmap_viz: subscribe_user_data = false
[ INFO] [1715935190.506055020]: /rtabmap/rtabmap_viz: subscribe_scan = false
[ INFO] [1715935190.506066956]: /rtabmap/rtabmap_viz: subscribe_scan_cloud = false
[ INFO] [1715935190.506081645]: /rtabmap/rtabmap_viz: subscribe_scan_descriptor = false
[ INFO] [1715935190.506098093]: /rtabmap/rtabmap_viz: queue_size = 10
[ INFO] [1715935190.506115181]: /rtabmap/rtabmap_viz: approx_sync = false
[ INFO] [1715935190.506176559]: Setup stereo callback
[ INFO] [1715935190.588684703]:
/rtabmap/rtabmap_viz subscribed to (exact sync):
/stereo_odometry \
/stereo_cam/left_img \
/stereo_cam/right_img \
/left/camera_info \
/right/camera_info \
/rtabmap/odom_info
[ INFO] [1715935190.591896778]: rtabmap_viz started.
[ WARN] [1715935194.889594641, 1710429083.060029280]: /rtabmap/stereo_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. Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
/rtabmap/stereo_odometry subscribed to (exact sync):
/stereo_cam/left_img \
/stereo_cam/right_img \
/left/camera_info \
/right/camera_info
[ WARN] [1715935194.889646163, 1710429083.060029280]: /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):
/stereo_odometry \
/stereo_cam/left_img \
/stereo_cam/right_img \
/left/camera_info \
/right/camera_info
[ WARN] [1715935194.889735989, 1710429083.060029280]: /rtabmap/rtabmap_viz: 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_viz subscribed to (exact sync):
/stereo_odometry \
/stereo_cam/left_img \
/stereo_cam/right_img \
/left/camera_info \
/right/camera_info \
/rtabmap/odom_info
[ INFO] [1715935195.140080559, 1710429083.205022107]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.006351s
[ERROR] (2024-05-17 08:39:55.149) Rtabmap.cpp:1371::process() RGB-D SLAM mode is enabled, memory is incremental but no odometry is provided. Image 1 is ignored!
[ INFO] [1715935195.149494731, 1710429083.215084518]: rtabmap (0): Rate=1.00s, Limit=0.700s, Conversion=0.0076s, RTAB-Map=0.0002s, Maps update=0.0000s pub=0.0000s (local map=0, WM=0)
[ INFO] [1715935195.225863299, 1710429083.289979452]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.000296s
[ INFO] [1715935195.315991836, 1710429083.381214671]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.000295s
[ WARN] [1715935195.339825257, 1710429083.411343503]: Could not get transform from odom to stereo_left_link after 0.200000 seconds (for stamp=1625124349.269271)! Error="canTransform: target_frame odom does not exist. canTransform: source_frame stereo_left_link does not exist.. canTransform returned after 0.206321 timeout was 0.2.".
[ INFO] [1715935195.488523834, 1710429083.554398428]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.000286s
[ INFO] [1715935195.539687686, 1710429083.604686963]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.000285s
[ WARN] [1715935195.543372956, 1710429083.614743134]: Could not get transform from odom to stereo_left_link after 0.200000 seconds (for stamp=1625124349.369365)! Error="canTransform: target_frame odom does not exist. canTransform: source_frame stereo_left_link does not exist.. canTransform returned after 0.2034 timeout was 0.2.".
[ INFO] [1715935195.617771557, 1710429083.685143594]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.000283s
[ INFO] [1715935195.719132645, 1710429083.785722168]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.000291s
[ WARN] [1715935195.744254416, 1710429083.815890585]: Could not get transform from odom to stereo_left_link after 0.200000 seconds (for stamp=1625124349.469290)! Error="canTransform: target_frame odom does not exist. canTransform: source_frame stereo_left_link does not exist.. canTransform returned after 0.201147 timeout was 0.2.".
[ INFO] [1715935195.819284457, 1710429083.883300927]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.000263s
[ INFO] [1715935195.915476496, 1710429083.983895821]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.000283s
[ WARN] [1715935195.952543313, 1710429084.024084920]: Could not get transform from odom to stereo_left_link after 0.200000 seconds (for stamp=1625124349.569340)! Error="canTransform: target_frame odom does not exist. canTransform: source_frame stereo_left_link does not exist.. canTransform returned after 0.208194 timeout was 0.2.".
[ INFO] [1715935196.019522094, 1710429084.084492859]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.000294s
[ INFO] [1715935196.119272550, 1710429084.185247978]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.000280s
[ERROR] (2024-05-17 08:39:56.123) Rtabmap.cpp:1371::process() RGB-D SLAM mode is enabled, memory is incremental but no odometry is provided. Image 11 is ignored!
[ INFO] [1715935196.123348485, 1710429084.185247978]: rtabmap (0): Rate=1.00s, Limit=0.700s, Conversion=0.0036s, RTAB-Map=0.0001s, Maps update=0.0000s pub=0.0000s (local map=0, WM=0)
[ WARN] [1715935196.153922478, 1710429084.225483413]: Could not get transform from odom to stereo_left_link after 0.200000 seconds (for stamp=1625124349.669364)! Error="canTransform: target_frame odom does not exist. canTransform: source_frame stereo_left_link does not exist.. canTransform returned after 0.201398 timeout was 0.2.".
[ INFO] [1715935196.217516666, 1710429084.285835670]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.000312s
[ INFO] [1715935196.316048182, 1710429084.387222708]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.000283s
[ WARN] [1715935196.355788917, 1710429084.427450079]: Could not get transform from odom to stereo_left_link after 0.200000 seconds (for stamp=1625124349.769297)! Error="canTransform: target_frame odom does not exist. canTransform: source_frame stereo_left_link does not exist.. canTransform returned after 0.201967 timeout was 0.2.".