Re: Error when run rtabmap

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Error-when-run-rtabmap-tp2951p2958.html

Hi,

When running the robot mapping demo, I also have the warning and error at the start of the bag, but they disappear when rtabmap starts processing frames:

[ INFO] [1491935040.186700765]: rtabmap 0.12.5 started...
[ WARN] [1491935043.220436162, 1368730003.796247578]: Could not get transform from base_footprint to /openni_rgb_optical_frame after 0.200000 seconds (for stamp=1368730003.413204)! Error="Lookup would require extrapolation into the past.  Requested time 1368730003.413204402 but the earliest data is at time 1368730003.865693820, when looking up transform from frame [openni_rgb_optical_frame] to frame [base_footprint]. canTransform returned after 0.201606 timeout was 0.2.".
[ WARN] [1491935043.220495036, 1368730003.796247578]: Could not get transform from base_footprint to /openni_rgb_optical_frame after 0.200000 seconds (for stamp=1368730003.413204)! Error="Lookup would require extrapolation into the past.  Requested time 1368730003.413204402 but the earliest data is at time 1368730003.419949004, when looking up transform from frame [openni_rgb_optical_frame] to frame [base_footprint]. canTransform returned after 0.201606 timeout was 0.2.".
[ERROR] [1491935043.220585120, 1368730003.796247578]: TF of received depth image 0 at time 1368730003.413204s is not set!
[ERROR] [1491935043.220654077, 1368730003.796247578]: TF of received depth image 0 at time 1368730003.413204s is not set!
[ERROR] [1491935043.220693602, 1368730003.796247578]: Could not convert rgb/depth msgs! Aborting rtabmapviz update...
[ERROR] [1491935043.220772784, 1368730003.796247578]: Could not convert rgb/depth msgs! Aborting rtabmap update...
[ WARN] [1491935043.425465475, 1368730003.997874537]: Could not get transform from base_footprint to /openni_rgb_optical_frame after 0.200000 seconds (for stamp=1368730003.513340)! Error="Lookup would require extrapolation into the past.  Requested time 1368730003.513339798 but the earliest data is at time 1368730003.865693820, when looking up transform from frame [openni_rgb_optical_frame] to frame [base_footprint]. canTransform returned after 0.201627 timeout was 0.2.".
[ERROR] [1491935043.425537552, 1368730003.997874537]: TF of received depth image 0 at time 1368730003.513340s is not set!
[ERROR] [1491935043.425577035, 1368730003.997874537]: Could not convert rgb/depth msgs! Aborting rtabmapviz update...
[ INFO] [1491935044.340319242, 1368730004.905285968]: rtabmap (1): Rate=1.00s, Limit=0.000s, RTAB-Map=0.2090s, Maps update=0.0205s pub=0.0006s (local map=1, WM=1)
[ INFO] [1491935045.403394844, 1368730005.979162280]: rtabmap (2): Rate=1.00s, Limit=0.000s, RTAB-Map=0.1832s, Maps update=0.0056s pub=0.0000s (local map=1, WM=1)
[ INFO] [1491935046.480206598, 1368730007.052732142]: rtabmap (3): Rate=1.00s, Limit=0.000s, RTAB-Map=0.2262s, Maps update=0.0065s pub=0.0000s (local map=2, WM=2)
...

rtabmapviz process has died  error is not normal. What is your ros distro/rtabmap version?

You can try the RVIZ version of the mapping demo to see if it works.

cheers,
Mathieu