Re: Demo RTAB-Map on Turtlebot
Posted by jerry-qin on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Demo-RTAB-Map-on-Turtlebot-tp439p1111.html
Hi,
Mr. Labbe
I am trying to complete the experiment on turtlebot1 as you described.But I encounter some problems
After I input $ roslaunch rtabmap_ros demo_turtlebot_mapping.launch args:="--delete_db_on_start"
There are several error information,Thanks For the Helps.
[ INFO] [1457354527.099352043]: Searching for device with index = 1
[ INFO] [1457354527.257953996]: Starting a 3s RGB and Depth stream flush.
[ INFO] [1457354527.258148084]: Opened 'Xbox NUI Camera' on bus 0:0 with serial number 'A00362W02857209A'
[ WARN] [1457354527.710689751]: Could not find any compatible depth output mode for 1. Falling back to default depth output mode 1.
[ INFO] [1457354527.729813419]: rgb_frame_id = 'camera_rgb_optical_frame'
[ INFO] [1457354527.729894057]: depth_frame_id = 'camera_depth_optical_frame'
[ WARN] [1457354527.769296156]: Camera calibration file /home/qincao/.ros/camera_info/rgb_A00362W02857209A.yaml not found.
[ WARN] [1457354527.769528144]: Using default parameters for RGB camera calibration.
[ WARN] [1457354527.769893064]: Camera calibration file /home/qincao/.ros/camera_info/depth_A00362W02857209A.yaml not found.
[ WARN] [1457354527.770756180]: Using default parameters for IR camera calibration.
[ INFO] [1457354530.259362744]: Stopping device RGB and Depth stream flush.
[ WARN] [1457354530.628989922]: rtabmap: Could not get transform from odom to base_footprint after 0.100000 second!
[ INFO] [1457354530.740167112]: rtabmap: Rate=1.00s, Limit=0.700s, RTAB-Map=0.0335s, Pub=0.0035s (local map=1, WM=1)
[ INFO] [1457354530.781340131]: Resizing costmap to 111 X 63 at 0.050000 m/pix
[ WARN] [1457354530.855138343]: rtabmap: Could not get transform from odom to base_footprint after 0.100000 second!
[ INFO] [1457354530.881298672]: Received a 111 X 63 map at 0.050000 m/pix
[ INFO] [1457354530.893831844]: Using plugin "obstacle_layer"
[ INFO] [1457354530.899008749]: Subscribed to Topics: scan bump
[ WARN] [1457354530.976200790]: rtabmap: Could not get transform from odom to base_footprint after 0.100000 second!
[ INFO] [1457354531.027887175]: Using plugin "inflation_layer"
[ WARN] [1457354531.089263309]: rtabmap: Could not get transform from odom to base_footprint after 0.100000 second!
[ WARN] [1457354531.208837783]: rtabmap: Could not get transform from odom to base_footprint after 0.100000 second!
[ INFO] [1457354531.302590065]: Using plugin "obstacle_layer"
[ WARN] [1457354531.394102613]: rtabmap: Could not get transform from odom to base_footprint after 0.100000 second!
[ INFO] [1457354531.399392442]: Subscribed to Topics: scan bump
[ INFO] [1457354531.512527517]: Using plugin "inflation_layer"
[ WARN] [1457354531.606016326]: rtabmap: Could not get transform from odom to base_footprint after 0.100000 second!
[ INFO] [1457354531.710656258]: Created local_planner dwa_local_planner/DWAPlannerROS
[ INFO] [1457354531.718793769]: Sim period is set to 0.20
[ WARN] [1457354531.804211380]: rtabmap: Could not get transform from odom to base_footprint after 0.100000 second!
[ INFO] [1457354531.950652693]: rtabmap: Rate=1.00s, Limit=0.700s, RTAB-Map=0.0424s, Pub=0.0044s (local map=1, WM=1)
[ WARN] [1457354532.079241954]: rtabmap: Could not get transform from odom to base_footprint after 0.100000 second!
[ WARN] [1457354532.195947361]: rtabmap: Could not get transform from odom to base_footprint after 0.100000 second!
[ INFO] [1457354532.299353584]: Recovery behavior will clear layer obstacles
[ INFO] [1457354532.401673873]: Recovery behavior will clear layer obstacles
[ WARN] [1457354532.407250566]: rtabmap: Could not get transform from odom to base_footprint after 0.100000 second!
[ INFO] [1457354532.493697918]: odom received!
[ WARN] [1457354532.612338474]: rtabmap: Could not get transform from odom to base_footprint after 0.100000 second!
[ WARN] [1457354532.721641554]: rtabmap: Could not get transform from odom to base_footprint after 0.100000 second!
[ WARN] [1457354532.839957196]: rtabmap: Could not get transform from odom to base_footprint after 0.100000 second!
[ WARN] [1457354533.011284721]: rtabmap: Could not get transform from odom to base_footprint after 0.100000 second!
[ INFO] [1457354533.140537106]: rtabmap: Rate=1.00s, Limit=0.700s, RTAB-Map=0.0396s, Pub=0.0020s (local map=1, WM=1)
[ INFO] [1457354533.140801602]: Resizing costmap to 111 X 64 at 0.050000 m/pix
[ WARN] [1457354533.254014666]: rtabmap: Could not get transform from odom to base_footprint after 0.100000 second!
[ WARN] [1457354533.412591899]: rtabmap: Could not get transform from odom to base_footprint after 0.100000 second!
[ WARN] [1457354533.598665778]: rtabmap: Could not get transform from odom to base_footprint after 0.100000 second!
[ WARN] [1457354533.806687257]: rtabmap: Could not get transform from odom to base_footprint after 0.100000 second!
[ WARN] [1457354534.015087576]: rtabmap: Could not get transform from odom to base_footprint after 0.100000 second!
[ WARN] [1457354534.213462003]: rtabmap: Could not get transform from odom to base_footprint after 0.100000 second!
[ INFO] [1457354534.330087331]: rtabmap: Rate=1.00s, Limit=0.700s, RTAB-Map=0.0327s, Pub=0.0009s (local map=1, WM=1)
[ INFO] [1457354534.330457563]: Resizing costmap to 111 X 63 at 0.050000 m/pix
[ WARN] [1457354534.440889732]: rtabmap: Could not get transform from odom to base_footprint after 0.100000 second!
[ WARN] [1457354534.561975300]: rtabmap: Could not get transform from odom to base_footprint after 0.100000 second!
[ WARN] [1457354534.680180245]: rtabmap: Could not get transform from odom to base_footprint after 0.100000 second!
[ WARN] [1457354534.784149180]: rtabmap: Could not get transform from odom to base_footprint after 0.100000 second!
[ WARN] [1457354535.010801848]: rtabmap: Could not get transform from odom to base_footprint after 0.100000 second!
[ WARN] [1457354535.119959361]: rtabmap: Could not get transform from odom to base_footprint after 0.100000 second!
[ WARN] [1457354535.250476165]: rtabmap: Could not get transform from odom to base_footprint after 0.100000 second!
[ WARN] [1457354535.379179706]: rtabmap: Could not get transform from odom to base_footprint after 0.100000 second!
[ INFO] [1457354535.526272270]: rtabmap: Rate=1.00s, Limit=0.700s, RTAB-Map=0.0284s, Pub=0.0008s (local map=1, WM=1)
[ WARN] [1457354535.630045257]: rtabmap: Could not get transform from odom to base_footprint after 0.100000 second!
[ WARN] [1457354535.816018588]: rtabmap: Could not get transform from odom to base_footprint after 0.100000 second!
[ WARN] [1457354536.015575005]: rtabmap: Could not get transform from odom to base_footprint after 0.100000 second!
[ WARN] [1457354536.214151867]: rtabmap: Could not get transform from odom to base_footprint after 0.100000 second!
[ WARN] [1457354536.413773559]: rtabmap: Could not get transform from odom to base_footprint after 0.100000 second!
[ WARN] [1457354536.597317526]: rtabmap: Could not get transform from odom to base_footprint after 0.100000 second!
[ INFO] [1457354536.728203541]: rtabmap: Rate=1.00s, Limit=0.700s, RTAB-Map=0.0288s, Pub=0.0008s (local map=1, WM=1)
[ INFO] [1457354536.728337555]: Resizing costmap to 112 X 64 at 0.050000 m/pix
[ WARN] [1457354536.848518078]: rtabmap: Could not get transform from odom to base_footprint after 0.100000 second!
[ WARN] [1457354536.981829983]: rtabmap: Could not get transform from odom to base_footprint after 0.100000 second!
[ WARN] [1457354537.086579918]: rtabmap: Could not get transform from odom to base_footprint after 0.100000 second!
[ WARN] [1457354537.195191801]: rtabmap: Could not get transform from odom to base_footprint after 0.100000 second!
[ WARN] [1457354537.412242950]: rtabmap: Could not get transform from odom to base_footprint after 0.100000 second!