Re: Navigation with Rtabmap and Stereo Camera

Posted by imran05 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Navigation-with-Rtabmap-and-Stereo-Camera-tp10644p10804.html

Hello,

Sorry for the delayed response. I am currently following your suggestion to detect ground and obstacles on 3D terrain. For this, I am utilizing the rtabmap_util/obstacles_detection nodelet.

However, I am working with a DepthAI camera and using the stereo_inertial_publisher from this link. Unfortunately, I encountered the following error when trying to run the nodelet.

 INFO] [1735196693.334009482]: Initializing nodelet with 8 worker threads.
[ INFO] [1735196693.341195588]: waitForService: Service [/nodelet_manager/load_nodelet] is now available.
 nnPath ,, /home/darlab/dai_ws/src/depthai-ros/depthai_examples/resources/yolov4_tiny_coco_416x416_openvino_2021.4_6shave_bgr.blob
1280 720 32764 1750354912
[ERROR] [1735196693.498634459]: Failed to load nodelet [/obstacles_detection] of type [rtabmap_util/obstacles_detection] even after refreshing the cache: According to the loaded plugin descriptions the class rtabmap_util/obstacles_detection with base class type nodelet::Nodelet does not exist. Declared types are  RobotLocalization/EkfNodelet RobotLocalization/NavSatTransformNodelet RobotLocalization/UkfNodelet SlamGMappingNodelet apriltag_ros/ContinuousDetector depth_image_proc/convert_metric depth_image_proc/crop_foremost depth_image_proc/disparity depth_image_proc/point_cloud_xyz depth_image_proc/point_cloud_xyz_radial depth_image_proc/point_cloud_xyzi depth_image_proc/point_cloud_xyzi_radial depth_image_proc/point_cloud_xyzrgb depth_image_proc/point_cloud_xyzrgb_radial depth_image_proc/register depthai_examples/StereoNodelet depthai_filters/Detection2DOverlay depthai_filters/FeatureTrackerOverlay depthai_filters/Features3D depthai_filters/SegmentationOverlay depthai_filters/SpatialBB depthai_filters/WLSFilter depthai_ros_driver/Camera image_proc/crop_decimate image_proc/crop_nonZero image_proc/crop_non_zero image_proc/debayer image_proc/rectify image_proc/resize image_publisher/image_publisher image_rotate/image_rotate image_view/disparity image_view/image imu_complementary_filter/ComplementaryFilterNodelet imu_filter_madgwick/ImuFilterNodelet laser_filters/scan_to_cloud_filter_chain laser_filters/scan_to_scan_filter_chain nodelet_tutorial_math/Plus pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid phidgets_analog_inputs/PhidgetsAnalogInputsNodelet phidgets_digital_inputs/PhidgetsDigitalInputsNodelet phidgets_digital_outputs/PhidgetsDigitalOutputsNodelet realsense2_camera/RealSenseNodeFactory stereo_image_proc/disparity stereo_image_proc/point_cloud2 velodyne_driver/DriverNodelet velodyne_laserscan/LaserScanNodelet velodyne_pointcloud/RingColorsNodelet velodyne_pointcloud/TransformNodelet
[ERROR] [1735196693.498746568]: The error before refreshing the cache was: According to the loaded plugin descriptions the class rtabmap_util/obstacles_detection with base class type nodelet::Nodelet does not exist. Declared types are  RobotLocalization/EkfNodelet RobotLocalization/NavSatTransformNodelet RobotLocalization/UkfNodelet SlamGMappingNodelet apriltag_ros/ContinuousDetector depth_image_proc/convert_metric depth_image_proc/crop_foremost depth_image_proc/disparity depth_image_proc/point_cloud_xyz depth_image_proc/point_cloud_xyz_radial depth_image_proc/point_cloud_xyzi depth_image_proc/point_cloud_xyzi_radial depth_image_proc/point_cloud_xyzrgb depth_image_proc/point_cloud_xyzrgb_radial depth_image_proc/register depthai_examples/StereoNodelet depthai_filters/Detection2DOverlay depthai_filters/FeatureTrackerOverlay depthai_filters/Features3D depthai_filters/SegmentationOverlay depthai_filters/SpatialBB depthai_filters/WLSFilter depthai_ros_driver/Camera image_proc/crop_decimate image_proc/crop_nonZero image_proc/crop_non_zero image_proc/debayer image_proc/rectify image_proc/resize image_publisher/image_publisher image_rotate/image_rotate image_view/disparity image_view/image imu_complementary_filter/ComplementaryFilterNodelet imu_filter_madgwick/ImuFilterNodelet laser_filters/scan_to_cloud_filter_chain laser_filters/scan_to_scan_filter_chain nodelet_tutorial_math/Plus pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid phidgets_analog_inputs/PhidgetsAnalogInputsNodelet phidgets_digital_inputs/PhidgetsDigitalInputsNodelet phidgets_digital_outputs/PhidgetsDigitalOutputsNodelet realsense2_camera/RealSenseNodeFactory stereo_image_proc/disparity stereo_image_proc/point_cloud2 velodyne_driver/DriverNodelet velodyne_laserscan/LaserScanNodelet velodyne_pointcloud/RingColorsNodelet velodyne_pointcloud/TransformNodelet
[FATAL] [1735196693.499059228]: Failed to load nodelet '/obstacles_detection` of type `rtabmap_util/obstacles_detection` to manager `nodelet_manager'
[ WARN] [1735196693.551590281]: Joint state with name: "ffl_wheel_joint" was received but not found in URDF
[obstacles_detection-5] process has died [pid 122654, exit code 255, cmd /opt/ros/noetic/lib/nodelet/nodelet load rtabmap_util/obstacles_detection nodelet_manager cloud:=/stereo_inertial_publisher/stereo/points obstacles:=/obstacles_cloud ground:=/ground_cloud __name:=obstacles_detection __log:=/home/darlab/.ros/log/de12d66e-c356-11ef-9ab5-cdbbfe9492ca/obstacles_detection-5.log].
log file: /home/darlab/.ros/log/de12d66e-c356-11ef-9ab5-cdbbfe9492ca/obstacles_detection-5*.log

Could you please guide me on how to correctly run this nodelet? Alternatively, is it possible to run the obstacles_detection functionality without relying on a nodelet?

Thank you for your help!