Official RTAB-Map Forum - Re: rtab map does not display anything

Re: rtab map does not display anything

Posted by mwolf on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtab-map-does-not-display-anything-tp3541p3549.html

Thank you both for the fast replies! Appreciate your help a lot!! :)

rtabmap subscribes now to the right topics:
/rtabmap/rtabmapviz subscribed to:
/camera/rgb/image_rect_color,
/camera/depth_registered/image_raw,
/camera/rgb/camera_info,
/odometry/filtered,
/scan

All these toppics are streaming data (and I can view these topics in rviz). But rtabmapviz does still not show anything...

Launch File:

<launch>

    <!-- Visualization mode -->
    <arg name="rviz" default="false" />
    <arg name="rtabmapviz" default="true" />

    <!-- RTAB-Map -->
    <group ns="rtabmap">

    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
          <param name="frame_id" type="string" value="base_link"/>

          <param name="subscribe_depth" type="bool" value="true"/>
          <param name="subscribe_scan" type="bool" value="true"/>

          <remap from="odom" to="/odometry/filtered"/>
          <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"/>

          <param name="queue_size" type="int" value="10"/>

          <!-- RTAB-Map's parameters -->
          <param name="RGBD/NeighborLinkRefining" type="string" value="true"/>
          <param name="RGBD/ProximityBySpace"     type="string" value="true"/>
          <param name="RGBD/AngularUpdate"        type="string" value="0.01"/>
          <param name="RGBD/LinearUpdate"         type="string" value="0.01"/>
          <param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/>
          <param name="Optimizer/Slam2D"          type="string" value="true"/>
          <param name="Reg/Strategy"              type="string" value="1"/> <!-- 1=ICP -->
          <param name="Reg/Force3DoF"             type="string" value="true"/>
          <param name="Vis/MinInliers"            type="string" value="5"/>
          <param name="Vis/InlierDistance"        type="string" value="0.1"/>
          <param name="Rtabmap/TimeThr"           type="string" value="700"/>
          <param name="Mem/RehearsalSimilarity"   type="string" value="0.45"/>
    </node>

        <!-- Visualisation RTAB-Map -->
        <node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
            <param name="subscribe_depth" type="bool" value="true"/>
            <param name="subscribe_scan" type="bool" value="true"/>

            <param name="frame_id" type="string" value="base_link"/>
            <param name="wait_for_transform" type="bool" value="true"/>

          <remap from="odom" to="/odometry/filtered"/>
          <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>

    </group>

</launch>

Console log:

mwolf wrote

mwolf@pc-18:/srv-0/mwolf/catkin_ws$ roslaunch mapping rtabmap_all.launch

started roslaunch server http://192.168.20.118:37721/

SUMMARY
========

PARAMETERS
* /rosdistro: indigo
* /rosversion: 1.11.21
* /rtabmap/rtabmap/Mem/RehearsalSimilarity: 0.45
* /rtabmap/rtabmap/Optimizer/Slam2D: true
* /rtabmap/rtabmap/RGBD/AngularUpdate: 0.01
* /rtabmap/rtabmap/RGBD/LinearUpdate: 0.01
* /rtabmap/rtabmap/RGBD/NeighborLinkRefining: true
* /rtabmap/rtabmap/RGBD/OptimizeFromGraphEnd: false
* /rtabmap/rtabmap/RGBD/ProximityBySpace: true
* /rtabmap/rtabmap/Reg/Force3DoF: true
* /rtabmap/rtabmap/Reg/Strategy: 1
* /rtabmap/rtabmap/Rtabmap/TimeThr: 700
* /rtabmap/rtabmap/Vis/InlierDistance: 0.1
* /rtabmap/rtabmap/Vis/MinInliers: 5
* /rtabmap/rtabmap/frame_id: base_link
* /rtabmap/rtabmap/queue_size: 10
* /rtabmap/rtabmap/subscribe_depth: True
* /rtabmap/rtabmap/subscribe_scan: True
* /rtabmap/rtabmapviz/frame_id: base_link
* /rtabmap/rtabmapviz/subscribe_depth: True
* /rtabmap/rtabmapviz/subscribe_scan: True
* /rtabmap/rtabmapviz/wait_for_transform: True

NODES
/rtabmap/
rtabmap (rtabmap_ros/rtabmap)
rtabmapviz (rtabmap_ros/rtabmapviz)

ROS_MASTER_URI=http://192.168.21.80:11311

core service [/rosout] found
process[rtabmap/rtabmap-1]: started with pid [15960]
process[rtabmap/rtabmapviz-2]: started with pid [15961]
[ INFO] [1501580892.089160885]: Starting node...
[ INFO] [1501580892.115852146]: Starting node...
[ INFO] [1501580892.298737782]: rtabmapviz: Using configuration from "/opt/ros/indigo/share/rtabmap_ros/launch/config/rgbd_gui.ini"
[ INFO] [1501580892.918960313]: rtabmap: frame_id = base_link
[ INFO] [1501580892.919006766]: rtabmap: map_frame_id = map
[ INFO] [1501580892.919018382]: rtabmap: queue_size = 10
[ INFO] [1501580892.919038687]: rtabmap: tf_delay = 0.050000
[ INFO] [1501580892.919049002]: rtabmap: tf_tolerance = 0.100000
[ INFO] [1501580892.919070450]: rtabmap: depth_cameras = 1
[ INFO] [1501580892.919081296]: rtabmap: approx_sync = true
[ INFO] [1501580892.976319529]: Reading parameters from the ROS server...
[ INFO] [1501580894.651693215]: Parameters read = 0 // Is this of any importance?
[ INFO] [1501580895.178325705]: Setting RTAB-Map parameter "Mem/RehearsalSimilarity"="0.45"
[ INFO] [1501580895.209685668]:
/rtabmap/rtabmapviz subscribed to:
/camera/rgb/image_rect_color,
/camera/depth_registered/image_raw,
/camera/rgb/camera_info,
/odometry/filtered,
/scan
[ INFO] [1501580895.623861327]: rtabmapviz started.
[ INFO] [1501580907.319022296]: Setting RTAB-Map parameter "Optimizer/Slam2D"="true"
[ INFO] [1501580908.102128423]: Setting RTAB-Map parameter "RGBD/AngularUpdate"="0.01"
[ INFO] [1501580909.212834165]: Setting RTAB-Map parameter "RGBD/LinearUpdate"="0.01"
[ INFO] [1501580910.598180860]: Setting RTAB-Map parameter "RGBD/NeighborLinkRefining"="true"
[ INFO] [1501580911.997244397]: Setting RTAB-Map parameter "RGBD/OptimizeFromGraphEnd"="false"
[ INFO] [1501580913.627946337]: Setting RTAB-Map parameter "RGBD/ProximityBySpace"="true"
[ INFO] [1501580916.606823486]: Setting RTAB-Map parameter "Reg/Force3DoF"="true"
[ INFO] [1501580916.662689663]: Setting RTAB-Map parameter "Reg/Strategy"="1"
[ INFO] [1501580923.690022815]: Setting RTAB-Map parameter "Rtabmap/TimeThr"="700"
[ INFO] [1501580943.273966618]: Setting RTAB-Map parameter "Vis/InlierDistance"="0.1"
[ INFO] [1501580944.890753441]: Setting RTAB-Map parameter "Vis/MinInliers"="5"
[ INFO] [1501580985.696758987]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1501580985.697346538]: rtabmap: Deleted database "/home/mwolf/.ros/rtabmap.db" (--delete_db_on_start is set).
[ INFO] [1501580985.697385030]: rtabmap: Using database from "/home/mwolf/.ros/rtabmap.db".
[ INFO] [1501580987.578054476]: rtabmap: Database version = "0.11.8".
[ INFO] [1501580993.210972263]:
/rtabmap/rtabmap subscribed to:
/camera/rgb/image_rect_color,
/camera/depth_registered/image_raw,
/camera/rgb/camera_info,
/odometry/filtered,
/scan
[ INFO] [1501580993.211390873]: rtabmap 0.11.8 started...
[ INFO] [1501581405.732106378]: rtabmap: Getting map (global=true optimized=true graphOnly=false)...

Thank you!