Re: rtabmap process error

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtabmap-process-error-tp1031p1044.html

Hi,

I've looked at your rosbag you sent me. Tip: Note that you can compress the rosbag for convenience before sharing it. Here is the rosbag info (the relevant info):

rosbag info input.bag 
path:        input.bag
version:     2.0
duration:    1:03s (63s)
...
topics:      /camera/depth/camera_info      330 msgs    : sensor_msgs/CameraInfo          
             /camera/rgb/camera_info        330 msgs    : sensor_msgs/CameraInfo          
             /depth/image_raw               330 msgs    : sensor_msgs/Image               
             /rgb/image_raw                 328 msgs    : sensor_msgs/Image                   
             /scan                          383 msgs    : sensor_msgs/LaserScan           
             /tf                           2542 msgs    : tf2_msgs/TFMessage

You ran rtabmap at the same time as taking the rosbag, I removed all /map and /odom tf from the bag before replaying it. I used the python script here for that.

I did a first test with the indigo binaries (0.10.10), and rtabmapviz is crashing but not rtabmap. So I unsintalled the binaries and installed rtabmap 0.10.12 (latest master) from source. rtabmapviz was not crashing anymore and the mapping went well, here is the final result:



The robot moved approximately 1 meter. The commands I used with the rosbag:

$ roscore
$ rosparam set use_sim_time true
$ roslaunch rtabmap_ros rtabmap.launch rgb_topic:=/rgb/image_raw depth_topic:=/depth/image_raw camera_info_topic:=/camera/rgb/camera_info subscribe_scan:=true frame_id:=/base_link rtabmap_args:="--delete_db_on_start" rtabmapviz:=false rviz:=true
$ rosbag play --clock output.bag

You may receive some warnings like that about tf (note that I've just updated the code with the latest warning):

[ WARN] [1454433611.618708826, 1454372119.478533730]: rtabmap: Could not get transform from odom to /base_link after 0.100000 second!
[ WARN] [1454433611.618766026, 1454372119.478533730]: Could not get odometry value for laser scan stamp 
(1454372118.275979s). Latest odometry stamp is 1454372118.213435s. The laser scan pose will not be
 synchronized with odometry.

Setting "wait_for_transform" higher or increasing /scan frame rate may help to better synchronize the messages.

cheers