Re: RTAB-Map not working with subscribe_scan

Posted by b.emery94 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-Map-not-working-with-subscribe-scan-tp1844p1869.html

Hi Mathieu,

Thanks again for your help! I managed to solve the problem, so I'll go through what I did for future users that may have the same issue.

I wasn't seeing the rtabmap logging information. So as per your suggestion, I had a look to see if there was a message synchronization problem. The camera/laser scan topics all had the correct headers and timestamps and the odometry/base frames were all set correctly. However, I noticed that the depth image was only being published at ~5Hz. As it turns out, I was having issues with OpenCl and so the kinect drivers were running the depth processing with the cpu rather than OpenCl. After fixing my OpenCl installation and reinstalling libfreenect2 and iai_kinect2 (kinect drivers), OpenCl was working correctly and the depth image was being published at ~30Hz. After that, Rtab-Map began to work as expected when setting /subsribe_scans to true.

I'm not 100% sure if fixing OpenCl fixed the issue or there was something else that was fixed by the reinstallation, but it's working now. Thanks Mathieu!