Posted by
Dong Jin Yook on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Rtabmap-cpp-warning-has-been-encourted-while-executing-the-gazebo-tp2339.html
Hi,
This warning has been encountered while executing the gazebo. It frequently occurs
Have you any idea of what am I doing wrong?
Thanks in advance!
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[pcl::IterativeClosestPoint::computeTransformation] Not enough correspondences found. Relax your threshold parameters.
[ WARN] (2016-11-15 22:48:39.868) Rtabmap.cpp:2006::process() Local scan matching rejected: Cannot compute transform (converged=false var=1.000000)
[ INFO] [1479217719.893882823, 245.169000000]: rtabmap (155): Rate=1.00s, Limit=0.700s, RTAB-Map=0.1006s, Maps update=0.0037s pub=0.0085s (local map=138, WM=138)
[ INFO] [1479217722.177303515, 246.241000000]: rtabmap (156): Rate=1.00s, Limit=0.700s, RTAB-Map=0.2064s, Maps update=0.0038s pub=0.0102s (local map=139, WM=139)
[pcl::IterativeClosestPoint::computeTransformation] Not enough correspondences found. Relax your threshold parameters.
[ INFO] [1479217724.720255827, 247.480000000]: rtabmap (157): Rate=1.00s, Limit=0.700s, RTAB-Map=0.1399s, Maps update=0.0037s pub=0.0107s (local map=140, WM=140)
[pcl::IterativeClosestPoint::computeTransformation] Not enough correspondences found. Relax your threshold parameters.
[pcl::IterativeClosestPoint::computeTransformation] Not enough correspondences found. Relax your threshold parameters.
[pcl::IterativeClosestPoint::computeTransformation] Not enough correspondences found. Relax your threshold parameters.
[ WARN] (2016-11-15 22:48:47.026) Rtabmap.cpp:2006::process() Local scan matching rejected: Cannot compute transform (converged=false var=1.000000)
[pcl::IterativeClosestPoint::computeTransformation] Not enough correspondences found. Relax your threshold parameters.
[ WARN] (2016-11-15 22:48:47.029) Rtabmap.cpp:2006::process() Local scan matching rejected: Cannot compute transform (converged=false var=1.000000)
[ INFO] [1479217727.058582424, 248.666000000]: rtabmap (158): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0862s, Maps update=0.0036s pub=0.0117s (local map=141, WM=141)
[pcl::IterativeClosestPoint::computeTransformation] Not enough correspondences found. Relax your threshold parameters.
[ WARN] (2016-11-15 22:48:48.931) Rtabmap.cpp:2006::process() Local scan matching rejected: Cannot compute transform (converged=false var=1.000000)
[ INFO] [1479217729.007049282, 249.694000000]: rtabmap (159): Rate=1.00s, Limit=0.700s, RTAB-Map=0.1392s, Maps update=0.0244s pub=0.0130s (local map=142, WM=142)
[pcl::IterativeClosestPoint::computeTransformation] Not enough correspondences found. Relax your threshold parameters.
[pcl::IterativeClosestPoint::computeTransformation] Not enough correspondences found. Relax your threshold parameters.
[ WARN] (2016-11-15 22:48:50.827) Rtabmap.cpp:2006::process() Local scan matching rejected: Cannot compute transform (converged=false var=1.000000)
[ INFO] [1479217730.881531259, 250.784000000]: rtabmap (160): Rate=1.00s, Limit=0.700s, RTAB-Map=0.1460s, Maps update=0.0040s pub=0.0095s (local map=143, WM=143)
[pcl::IterativeClosestPoint::computeTransformation] Not enough correspondences found. Relax your threshold parameters.
[pcl::IterativeClosestPoint::computeTransformation] Not enough correspondences found. Relax your threshold parameters.
[pcl::IterativeClosestPoint::computeTransformation] Not enough correspondences found. Relax your threshold parameters.
[ WARN] (2016-11-15 22:48:52.565) Rtabmap.cpp:2006::process() Local scan matching rejected: Cannot compute transform (converged=false var=1.000000)
[ INFO] [1479217732.615963818, 251.892000000]: rtabmap (161): Rate=1.00s, Limit=0.700s, RTAB-Map=0.1104s, Maps update=0.0037s pub=0.0105s (local map=144, WM=144)
[pcl::IterativeClosestPoint::computeTransformation] Not enough correspondences found. Relax your threshold parameters.
[pcl::IterativeClosestPoint::computeTransformation] Not enough correspondences found. Relax your threshold parameters.
[pcl::IterativeClosestPoint::computeTransformation] Not enough correspondences found. Relax your threshold parameters.
[ WARN] (2016-11-15 22:48:54.297) Rtabmap.cpp:2006::process() Local scan matching rejected: Cannot compute transform (converged=false var=1.000000)
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My launch file<launch>
<!-- Choose between RGB-D and stereo -->
<arg name="rgbd" default="true"/>
<arg name="stereo" default="false"/>
<!-- Choose visualization -->
<arg name="rtabmapviz" default="true" />
<arg name="rviz" default="false" />
<!-- Localization-only mode -->
<arg name="localization" default="false"/>
<!-- Corresponding config files -->
<arg name="cfg" default="" /> <!-- To change RTAB-Map's parameters, set the path of config file (*.ini) generated by the standalone app -->
<arg name="gui_cfg" default="~/.ros/rtabmap_gui.ini" />
<arg name="rviz_cfg" default="-d $(find rtabmap_ros)/launch/config/rgbd.rviz" />
<arg name="frame_id" default="base_link"/> <!-- Fixed frame id, you may set "base_link" or "base_footprint" if they are published -->
<arg name="namespace" default="rtabmap"/>
<arg name="database_path" default="~/.ros/rtabmap.db"/>
<arg name="queue_size" default="10"/>
<arg name="wait_for_transform" default="0.2"/>
<arg name="rtabmap_args" default="--delete_db_on_start"/> <!-- delete_db_on_start, udebug -->
<arg name="launch_prefix" default=""/> <!-- for debugging purpose, it fills launch-prefix tag of the nodes -->
<arg name="approx_sync" default="true"/> <!-- if timestamps of the stereo images are not synchronized -->
<arg name="rgb_topic" default="/my_p3dx/kinect/rgb/image_raw" />
<arg name="depth_topic" default="/my_p3dx/kinect/depth/image_raw" />
<arg name="camera_info_topic" default="/my_p3dx/kinect/rgb/camera_info" />
<arg name="subscribe_scan" default="true"/>
<arg name="scan_topic" default="/scan"/>
<arg name="odom_topic" default="/odom"/> <!-- Odometry topic used if visual_odometry is false -->
<arg name="odom_args" default="$(arg rtabmap_args)"/>
<node pkg="tf" type="static_transform_publisher" name="camera_base_link" args="0 0 0 0 0 0 /kinect_link /camera_depth_frame 30"/>
<node pkg="tf" type="static_transform_publisher" name="camera_base_link1" args="0 0 0 0 0 0 /kinect_link /camera_rgb_frame 30"/>
<node pkg="tf" type="static_transform_publisher" name="camera_base_link2" args="0 0 0 0 0 0 /camera_depth_frame /camera_depth_optical_frame 30"/>
<node pkg="tf" type="static_transform_publisher" name="camera_base_link3" args="0 0 0 0 0 0 /camera_rgb_frame /camera_rgb_optical_frame 30"/>
<node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan">
<remap from="image" to="/my_p3dx/kinect/depth/image_raw"/>
<remap from="camera_info" to="/my_p3dx/kinect/depth/camera_info"/>
</node>
<include file="$(find pioneer_nav)/Navigation/Common/simple_navigation_p3at.launch"/>
<!-- Nodes -->
<group ns="$(arg namespace)">
<!-- Visual SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)" launch-prefix="$(arg launch_prefix)">
<param name="subscribe_depth" type="bool" value="$(arg rgbd)"/>
<param name="subscribe_scan" type="bool" value="$(arg subscribe_scan)"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
<param name="database_path" type="string" value="$(arg database_path)"/>
<param name="config_path" type="string" value="$(arg cfg)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
<param name="grid_size" type="double" value="50"/>
<param name="map_filter_radius" type="double" value="0.2"/> <!-- Filter nodes before creating the maps. -->
<remap from="rgb/image" to="$(arg rgb_topic)"/>
<remap from="depth/image" to="$(arg depth_topic)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<remap from="scan" to="$(arg scan_topic)"/>
<remap from="odom" to="$(arg odom_topic)"/>
<!-- localization mode -->
<param if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
<param unless="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="true"/>
<param name="Mem/InitWMWithAllNodes" type="string" value="$(arg localization)"/>
<param name="Mem/SaveDepth16Format" type="bool" value="false"/>
<param name="RGBD/ProximityBySpace" type="string" value="true"/> <!-- Local loop closure detection (using estimated position) with locations in WM -->
<param name="RGBD/AngularUpdate" type="string" value="0.01"/> <!-- Update map only if the robot is moving -->
<param name="RGBD/LinearUpdate" type="string" value="0.01"/> <!-- Update map only if the robot is moving -->
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/> <!-- Set to false to generate map correction between /map and /odom -->
<param name="Optimizer/Slam2D" type="string" value="true"/>
<param name="Reg/Strategy" type="string" value="1"/> <!-- Loop closure transformation refining with ICP: 0=Visual, 1=ICP, 2=Visual+ICP -->
<param name="Reg/Force3DoF" type="string" value="true"/>
<param name="Vis/MinInliers" type="string" value="5"/> <!-- 3D visual words minimum inliers to accept loop closure -->
<param name="Vis/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance -->
<param name="Rtabmap/TimeThr" type="string" value="700"/>
<param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
<param name="Kp/MaxDepth" type="string" value="4.0"/>
<param name="Icp/CoprrespondenceRatio" type="string" value="0.3"/>
<param name="Grid/FromDepth" type="string" value="false"/>
</node>
<!-- Visualisation RTAB-Map -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(arg gui_cfg)" output="screen" launch-prefix="$(arg launch_prefix)">
<param name="subscribe_depth" type="bool" value="$(arg rgbd)"/>
<param name="subscribe_scan" type="bool" value="$(arg subscribe_scan)"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
<remap from="rgb/image" to="$(arg rgb_topic)"/>
<remap from="depth/image" to="$(arg depth_topic)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<remap from="scan" to="$(arg scan_topic)"/>
<remap from="odom" to="$(arg odom_topic)"/>
</node>
</group>
<!-- Visualization RVIZ -->
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="$(arg rviz_cfg)"/>
<node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb">
<remap from="rgb/image" to="$(arg rgb_topic)"/>
<remap from="depth/image" to="$(arg depth_topic)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<remap from="cloud" to="voxel_cloud" />
<param name="decimation" type="double" value="2"/>
<param name="voxel_size" type="double" value="0.02"/>
<param if="$(arg stereo)" name="approx_sync" type="bool" value="$(arg approx_sync)"/>
</node>
</launch>