Re: RTAB-map only for mapping

Posted by Shirantha on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-map-only-for-mapping-tp1896p2848.html

Hi Sir,

when I tried to map a rosbag file using rtabmap, I keep getting below warnings.

[ WARN] [1490330880.278342196]: TF_OLD_DATA ignoring data from the past for frame odom at time 1.48809e+09 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
[ WARN] [1490330880.278409006]: TF_OLD_DATA ignoring data from the past for frame odom at time 1.48809e+09 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
[ WARN] [1490330880.432851349]: TF_OLD_DATA ignoring data from the past for frame odom at time 1.48809e+09 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
[ WARN] [1490330880.432961642]: TF_OLD_DATA ignoring data from the past for frame odom at time 1.48809e+09 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
[ WARN] [1490330880.434543461]: TF_OLD_DATA ignoring data from the past for frame odom at time 1.48809e+09 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
[ WARN] [1490330880.434715378]: TF_OLD_DATA ignoring data from the past for frame odom at time 1.48809e+09 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
[ WARN] [1490330880.581951988]: TF_OLD_DATA ignoring data from the past for frame odom at time 1.48809e+09 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
[ WARN] [1490330880.582229125]: TF_OLD_DATA ignoring data from the past for frame odom at time 1.48809e+09 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
[ WARN] [1490330880.582857548]: TF_OLD_DATA ignoring data from the past for frame odom at time 1.48809e+09 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
[ WARN] [1490330880.583036318]: TF_OLD_DATA ignoring data from the past for frame odom at time 1.48809e+09 according to authority unknown_publisher


what could be the possible reason for this. i read about this error on ros wiki but I still don't get what it could be. this is the launch file I used.


<launch>
       
  <arg name="rviz" default="false" />
  <arg name="rtabmapviz" default="true" /> 
  <group ns="rtabmap">
    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
         
         

         
         

          <remap from="odom" to="/odom"/>
          <remap from="scan" to="/scan"/>

          <remap from="rgb/image"       to="/camera/rgb/image_rect_color"/>
   <remap from="depth/image"     to="/camera/depth_registered/image_raw"/>
   <remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>

         

         
         
         
         
         
         
         
           
         
         
         
         
         
    </node>
       
       
      <node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d  $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
     
     
     
     
     
   
      <remap from="rgb/image"       to="/camera/rgb/image_rect_color"/>
      <remap from="depth/image"     to="/camera/depth_registered/image_raw"/>
      <remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
      <remap from="odom" to="/odom"/>
      <remap from="scan" to="/scan"/>
     
     
     
    </node>
  </group>
</launch>


and this is the bag file I used


path:        2017-02-26-13-12-03.bag
version:     2.0
duration:    10:46s (646s)
start:       Feb 26 2017 13:12:03.96 (1488094923.96)
end:         Feb 26 2017 13:22:50.63 (1488095570.63)
size:        70.7 GB
messages:    84703
compression: none [14351/14351 chunks]
types:       nav_msgs/Odometry       [cd5e73d190d741a2f92e81eda573aca7]
             sensor_msgs/CameraInfo  [c9a58c1b0b154e0e6da7578cb991d214]
             sensor_msgs/Image       [060021388200f6f0f447d0fcd9c64743]
             sensor_msgs/LaserScan   [90c7ef2dc6895d81024acba2ac42f369]
             sensor_msgs/PointCloud2 [1158d486dd51d683ce2f1be655c3c181]
             tf2_msgs/TFMessage      [94810edda583a504dfda3829e70d7eec]
topics:      /camera/depth_registered/camera_info    7477 msgs    : sensor_msgs/CameraInfo
             /camera/depth_registered/image_raw      7495 msgs    : sensor_msgs/Image      
             /camera/depth_registered/points         6536 msgs    : sensor_msgs/PointCloud2
             /camera/rgb/camera_info                 7559 msgs    : sensor_msgs/CameraInfo
             /camera/rgb/image_rect_color            7563 msgs    : sensor_msgs/Image      
             /odom                                  12706 msgs    : nav_msgs/Odometry      
             /scan                                   2508 msgs    : sensor_msgs/LaserScan  
             /tf                                    32859 msgs    : tf2_msgs/TFMessage


Shirantha