Official RTAB-Map Forum - Running rtabmap without visual display

Running rtabmap without visual display - error

Posted by jacksonkr on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Running-rtabmap-without-visual-display-error-tp1540.html

I'm attempting to run rtabmap via ssh where the target computer has rgbd+gpu but does not have a display attached. I merely want to listen to the rostopics from the machine. I've encountered the following error:

$ roslaunch rtabmap_ros swatbot.launch &
[3] 14937
ubuntu@tegra-ubuntu:~/catkin_ws$ ... logging to /home/ubuntu/.ros/log/a9311982-4787-11e6-a22c-7cdd90a6a500/roslaunch-tegra-ubuntu-14937.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.1.201:40387/

SUMMARY
========

PARAMETERS
 * /rosdistro: indigo
 * /rosversion: 1.11.16
 * /rtabmap/rtabmap/Mem/IncrementalMemory: true
 * /rtabmap/rtabmap/Mem/InitWMWithAllNodes: false
 * /rtabmap/rtabmap/config_path: 
 * /rtabmap/rtabmap/database_path: ~/.ros/rtabmap.db
 * /rtabmap/rtabmap/frame_id: camera_link
 * /rtabmap/rtabmap/queue_size: 10
 * /rtabmap/rtabmap/stereo_approx_sync: False
 * /rtabmap/rtabmap/subscribe_depth: False
 * /rtabmap/rtabmap/subscribe_scan: False
 * /rtabmap/rtabmap/subscribe_scan_cloud: False
 * /rtabmap/rtabmap/subscribe_stereo: False
 * /rtabmap/rtabmap/wait_for_transform_duration: 0.2

NODES
  /rtabmap/
    rtabmap (rtabmap_ros/rtabmap)

ROS_MASTER_URI=http://192.168.1.201:11311

core service [/rosout] found
process[rtabmap/rtabmap-1]: started with pid [14955]
[ INFO] [1468257107.474703839]: Starting node...
[ INFO] [1468257107.594575276]: rtabmap: frame_id = camera_link
[ INFO] [1468257107.594667026]: rtabmap: map_frame_id = map
[ INFO] [1468257107.594709192]: rtabmap: queue_size = 10
[ INFO] [1468257107.594762441]: rtabmap: tf_delay = 0.050000
[ INFO] [1468257107.594803608]: rtabmap: depth_cameras = 1
[ INFO] [1468257107.873803135]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1468257107.875638619]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[ INFO] [1468257109.741751248]: RTAB-Map detection rate = 1.000000 Hz
[ WARN] [1468257109.741953829]: ROS param subscribe_depth and subscribe_stereo are false, but RTAB-Map parameter "RGBD/Enabled" is true! Please set subscribe_depth or subscribe_stereo to true to use rtabmap node for RGB-D SLAM, or set "RGBD/Enabled" to false for loop closure detection on images-only.
[ INFO] [1468257109.742038745]: rtabmap: Using database from "/home/ubuntu/.ros/rtabmap.db".
[ INFO] [1468257110.031701345]: rtabmap: Database version = "0.11.7".
[ INFO] [1468257110.230263919]: 
/rtabmap/rtabmap subscribed to:
   /camera/rgb/image_rect_color
[ INFO] [1468257110.230546000]: rtabmap 0.11.7 started...
[ERROR] (2016-07-11 17:11:50.716) Rtabmap.cpp:880::process() RGB-D SLAM mode is enabled and no odometry is provided. Image 16981 is ignored!
[ WARN] [1468257110.717457935]: RTAB-Map could not process the data received! (ROS id = 16981)
[ INFO] [1468257110.719070837]: rtabmap: Update rate=1.000000s, Limit=0.000000s, Processing time = 0.006810s (14 local nodes)

Note: I was originally using a custom launch which had both rtabmaprviz and rviz disabled. I thought that may have been the issue but when trying with rtabmap.launch I'm receiving the same issue.