Posted by
imran05 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Navigation-with-Rtabmap-and-Stereo-Camera-tp10644p10811.html
Yes, I a talking about the same example but in my case the i am not using the disparity2cloud from rtabmap util since my point clouds are generted from a depthai camera using
stereo_inertial_node.launch . So, for only the object detection node i am using the rtabmap_util/objection_detection notelet.
Moreover, I have a two separate workspace:
1) dai_ws: for the depthai camera in which i am running the stereo inertial node with depth aligned is false.
2) rtabmap_ws : for rtabmap slama dn here i am running only the
<node pkg="nodelet" type="nodelet" name="obstacles_detection" args="load rtabmap_util/obstacles_detection stereo_nodelet">
<remap from="cloud" to="/stereo_inertial_publisher/stereo/points"/>
<remap from="obstacles" to="/planner_cloud"/>
<param name="frame_id" type="string" value="base_footprint"/>
<param name="map_frame_id" type="string" value="map"/>
<param name="min_cluster_size" type="int" value="20"/>
<param name="max_obstacles_height" type="double" value="0.0"/>
</node>I properly source the both environment correctly even though the rtabmap slam node is working in the same environment both not the objection detction nodelet.
The error are like belows.
Before the objection detection the stereo inertial nodes works fine but after i run the objection dection i got this error
ERROR] [1735279172.722923331]: 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] [1735279172.723172848]: 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
and in objection detction node terminal i am getting error:
[FATAL] [1735279172.723533399]: Failed to load nodelet '/obstacles_detection` of type `rtabmap_util/obstacles_detection` to manager `nodelet_manager'
[obstacles_detection-1] process has died [pid 8112, 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/afdf4cfc-c417-11ef-915d-0da0808d7855/obstacles_detection-1.log].
log file: /home/darlab/.ros/log/afdf4cfc-c417-11ef-915d-0da0808d7855/obstacles_detection-1*.log