Posted by
uhroosh on
URL: http://official-rtab-map-forum.206.s1.nabble.com/L515-T265-RTABMAP-stops-updating-topics-after-some-seconds-tp10937.html
Hello,
I'm running ROS Noetic on a Raspberry Pi 4, mounted on a robot connected to a L515 and T265. I am running my roslaunch command in a separate terminal and then running a python script that subscribes to the topics published by RTABMAP for various processing. However, I noticed that after 30 or so RTABMAP updates (this can vary depending if the robot is moving around or not), RTABMAP stops updating/publishing to the T265 odometry topics and the L515 depth/color image topics. There is nothing printed in the terminal that indicates why this is happening, simply the update messages just stop occurring. Is there anything I can do to fix this problem? Here is my current launch file:
<launch>
<arg name="device_type_camera1" default="t265"/>
<arg name="device_type_camera2" default="l515"/>
<arg name="serial_no_camera1" default=""/>
<arg name="serial_no_camera2" default=""/>
<arg name="camera1" default="t265"/>
<arg name="camera2" default="l515"/>
<arg name="clip_distance" default="-2"/>
<arg name="use_rviz" default="false"/>
<arg name="use_rtabmapviz" default="false"/>
<include file="$(find realsense2_camera)/launch/rs_d400_and_t265.launch">
<arg name="device_type_camera1" value="$(arg device_type_camera1)"/>
<arg name="device_type_camera2" value="$(arg device_type_camera2)"/>
<arg name="serial_no_camera1" value="$(arg serial_no_camera1)"/>
<arg name="serial_no_camera2" value="$(arg serial_no_camera2)"/>
<arg name="camera1" value="$(arg camera1)"/>
<arg name="camera2" value="$(arg camera2)"/>
<arg name="clip_distance" value="$(arg clip_distance)"/>
</include>
<include file="$(find rtabmap_ros)/launch/rtabmap.launch">
<arg name="rtabmap_args" value="--delete_db_on_start
--Params:Grid/FromDepth=true
--Params:Grid/RayTracing=true
--Params:Grid/RangeMax=5.0" />
<arg name="depth_topic" value="/$(arg camera2)/aligned_depth_to_color/image_raw"/>
<arg name="frame_id" value="$(arg camera2)_link"/>
<arg name="visual_odometry" value="false"/>
<arg name="odom_topic" value="/$(arg camera1)/odom/sample"/>
<arg name="rgb_topic" value="/$(arg camera2)/color/image_raw"/>
<arg name="camera_info_topic" value="/$(arg camera2)/color/camera_info"/>
<arg name="queue_size" value="400"/>
<arg name="rviz" value="$(arg use_rviz)"/>
<arg name="rtabmapviz" value="$(arg use_rtabmapviz)"/>
</include>
</launch>