playing .bag bag files in RTAB problem, rtabmap does not start with data_recorder.launch

Posted by Gabe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/playing-bag-bag-files-in-RTAB-problem-rtabmap-does-not-start-with-data-recorder-launch-tp1442.html

Hi, I've been trying to run a .bag file on RTABMAP using data_recorder.launch as explained here, but my RTABMAP never seems to get readings from my published topics. This is what the output is when I run

rosbag play mybag.bag

 and

roslaunch rtabmap_ros data_recorder.launch subscribe_depth:=true subscribe_odometry:=true subscribe_laserScan:=false frame_id:=base_link publish_tf:=true odom_frame_id:=odom odom_topic:=/odometry/filtered scan_topic:=/jn0/base_scan rgb_topic:=/camera/rgb/image_rect_color rgb_info_topic:=/camera/rgb/camera_info depth_topic:=/camera/depth_registered/image_raw

immediately after:

core service [/rosout] found
process[data_recorder-1]: started with pid [29954]
[ INFO] [1465813485.130044308]: Starting node...
[ INFO] [1465813485.173504380]: rtabmap: frame_id = base_link
[ INFO] [1465813485.173554287]: rtabmap: odom_frame_id = odom
[ INFO] [1465813485.173571747]: rtabmap: map_frame_id = map
[ INFO] [1465813485.173586960]: rtabmap: queue_size = 10
[ INFO] [1465813485.173608543]: rtabmap: tf_delay = 0.050000
[ INFO] [1465813485.173625124]: rtabmap: depth_cameras = 1
[ INFO] [1465813485.193831529]: Setting RTAB-Map parameter "DbSqlite3/InMemory"="true"
[ INFO] [1465813485.248918688]: Setting RTAB-Map parameter "Kp/MaxFeatures"="-1"
[ INFO] [1465813485.279150794]: Setting RTAB-Map parameter "Mem/MapLabelsAdded"="false"
[ INFO] [1465813485.286715385]: Setting RTAB-Map parameter "Mem/RehearsalSimilarity"="1.0"
[ INFO] [1465813485.289248005]: Setting RTAB-Map parameter "Mem/STMSize"="1"
[ INFO] [1465813485.353546570]: Setting RTAB-Map parameter "RGBD/AngularUpdate"="0"
[ INFO] [1465813485.358049263]: Setting RTAB-Map parameter "RGBD/LinearUpdate"="0"
[ INFO] [1465813485.362721179]: Setting RTAB-Map parameter "RGBD/MaxLocalRetrieved"="0"
[ INFO] [1465813485.375289667]: Setting RTAB-Map parameter "RGBD/ProximityBySpace"="false"
[ INFO] [1465813485.392957368]: Setting RTAB-Map parameter "Rtabmap/DetectionRate"="0"
[ INFO] [1465813485.398259343]: Setting RTAB-Map parameter "Rtabmap/MaxRetrieved"="0"
[ INFO] [1465813485.398730454]: Setting RTAB-Map parameter "Rtabmap/MemoryThr"="2"
[ INFO] [1465813485.653905195]: RTAB-Map detection rate = 0.000000 Hz
[ INFO] [1465813485.653948564]: rtabmap: Using database from "/home/cear/.ros/output.db".
[ INFO] [1465813485.660246044]: rtabmap: Database version = "0.11.5".
[ INFO] [1465813485.910973367]:
/data_recorder subscribed to:
   /camera/rgb/image_rect_color,
   /camera/depth_registered/image_raw,
   /camera/rgb/camera_info
[ INFO] [1465813485.911074065]: rtabmap 0.11.5 started...

And it stays like this forever. I run rqt to see if my topics are outputting anything, and I am able to see images, so my topics are outputting things. I just believe that RTABMAP isn't catching them. I have double checked that the topic names are correct, I used the rosbag record to record my

/camera/rgb/image_rect_color /camera/rgb/camera_info /camera/depth_registered/image_raw /tf /odometry/filtered

 topics.

Also, this is what I see when I type in rostopic list:

rostopic list
/camera/depth_registered/image_raw
/camera/rgb/camera_info
/camera/rgb/image_rect_color
/clock
/odometry/filtered
/rosout
/rosout_agg
/tf

And the only topic that does not output anything is the /clock topic, so would that maybe cause the problem?

EDIT: Just trued running rosbag play --clock mybag.bag and the data_recorder.launch still didn't work.


Please let me know if there is any solution to this problem. thanks :)

- Gabe