Re: rtabmap ros2 zed2i

Posted by hoffer on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtabmap-ros2-zed2i-tp10335p10368.html

Thanks for that reply @matlabbe. I have been trying for the better part of 2 days to get a ZEDx camera working well together with RTABMap unsuccessfully. With the config you suggest above, I do indeed at least get a full map -> odom -> base, however, I can't get any visualizations to update in foxglove and my terminal is full of the following. Feels like something is missing. Any suggestions?

[rtabmap-10] [WARN] [1723775897.914904057] [rtabmap.rtabmap]: rtabmap: Did not receive data since 5 seconds! Make sure the input topics are published ("$ ros2 topic 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 "sync_queue_size" and/or "topic_queue_size" parameters (current=500 and 500 respectively).
[rtabmap-10] rtabmap subscribed to (approx sync):
[rtabmap-10]    /zed_node/odom \
[rtabmap-10]    /rtabmap/rgbd_image
[rgbd_sync-9] [WARN] [1723775897.941365131] [rtabmap.rgbd_sync]: The time difference between rgb and depth frames is high (diff=0.100121s, rgb=1723775897.591064s, depth=1723775897.490943s). You may want to set approx_sync_max_interval lower than 0.01s to reject spurious bad synchronizations or use approx_sync=false if streams have all the exact same timestamp.
[rgbd_sync-9] [WARN] [1723775898.008707069] [rtabmap.rgbd_sync]: The time difference between rgb and depth frames is high (diff=0.066786s, rgb=1723775897.690808s, depth=1723775897.757594s). You may want to set approx_sync_max_interval lower than 0.01s to reject spurious bad synchronizations or use approx_sync=false if streams have all the exact same timestamp.