Re: RTAB-Map rgbd_launch error Map received with code error 1!

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-Map-rgbd-launch-error-Map-received-with-code-error-1-tp1379p1384.html

Hi,

Is RTAB-Map running on the same computer as the camera/robot? Normally, it should not take too long to open rtabmapviz, unless there is a lag when reading the rosparam server (which could happen on WIFI). If you are starting RTAB-Map on another computer than the camera (and a WIFI connection is between them), you cannot start rgbd_mapping.launch "as is" because it will subscribe to raw RGB/depth images (which require a lot of bandwidth!). For remote mapping, see this tutorial: http://wiki.ros.org/rtabmap_ros/Tutorials/RemoteMapping

The "[ERROR] Map received with code error 1!" can be caused by rtabmapviz not able to call /rtabmap/get_map service (because connection problem) or that rtabmap node is died. Look in the terminal where rtabmap is started for possible errors. When rtabmap is running, it should show a status message each second on the terminal.

Your TF error seems a problem of synchronization of TF between the computers (is the clock synchronized between the computers?).

cheers