Re: Error when trying to run Rtabmap version ROS

Posted by sophye_turtllebot on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Error-when-trying-to-run-Rtabmap-version-ROS-tp179p356.html

hello
I'm working with turtlebot and kinect, ros , i want to run the rtabmap, but i had a problem
when running :
roslaunch openni_launch openni.launch depth_registration:=true
roslaunch rtabmap_ros rgbd_mapping.launch
i had a black image screens and nothing happens ,i had as information:

SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion
 * /rtabmap/map_assembler/occupancy_grid
 * /rtabmap/rtabmap/Kp/MaxDepth
 * /rtabmap/rtabmap/LccBow/InlierDistance
 * /rtabmap/rtabmap/LccBow/MinInliers
 * /rtabmap/rtabmap/LccIcp/Type
 * /rtabmap/rtabmap/LccIcp2/CorrespondenceRatio
 * /rtabmap/rtabmap/Mem/RehearsalSimilarity
 * /rtabmap/rtabmap/RGBD/AngularUpdate
 * /rtabmap/rtabmap/RGBD/LinearUpdate
 * /rtabmap/rtabmap/RGBD/OptimizeFromGraphEnd
 * /rtabmap/rtabmap/Rtabmap/TimeThr
 * /rtabmap/rtabmap/queue_size
 * /rtabmap/rtabmap/subscribe_depth
 * /rtabmap/rtabmap/subscribe_laserScan
 * /rtabmap/rtabmapviz/subscribe_depth
 * /rtabmap/rtabmapviz/subscribe_odom_info
 * /rtabmap/visual_odometry/Odom/FeatureType
 * /rtabmap/visual_odometry/Odom/FillInfoData
 * /rtabmap/visual_odometry/Odom/InlierDistance
 * /rtabmap/visual_odometry/Odom/MaxDepth
 * /rtabmap/visual_odometry/Odom/MinInliers
 * /rtabmap/visual_odometry/Odom/Strategy
 * /rtabmap/visual_odometry/OdomBow/LocalHistorySize
 * /rtabmap/visual_odometry/OdomBow/NNType

NODES
  /rtabmap/
    map_assembler (rtabmap_ros/map_assembler)
    rtabmap (rtabmap_ros/rtabmap)
    rtabmapviz (rtabmap_ros/rtabmapviz)
    visual_odometry (rtabmap_ros/rgbd_odometry)
  /
    base_to_camera_tf (tf/static_transform_publisher)

auto-starting new master
process[master]: started with pid [6425]
ROS_MASTER_URI=http://192.168.0.13:11311

setting /run_id to 0575e14a-ea51-11e4-b595-dc85de594080
process[rosout-1]: started with pid [6438]
started core service [/rosout]
process[base_to_camera_tf-2]: started with pid [6450]
process[rtabmap/visual_odometry-3]: started with pid [6461]
process[rtabmap/rtabmap-4]: started with pid [6462]
process[rtabmap/rtabmapviz-5]: started with pid [6463]
process[rtabmap/map_assembler-6]: started with pid [6464]
[ INFO] [1429859445.859011890]: Starting node...
[ INFO] [1429859445.950498358]: rtabmap: frame_id = base_link
[ INFO] [1429859445.950710898]: rtabmap: map_frame_id = map
[ INFO] [1429859445.950820503]: rtabmap: queue_size = 10
[ INFO] [1429859445.950924425]: rtabmap: tf_delay = 0.050000
[ INFO] [1429859446.168663474]: Setting odometry parameter "Odom/FeatureType"="6"
[ INFO] [1429859446.173728352]: Setting odometry parameter "Odom/FillInfoData"="true"
[ INFO] [1429859446.190645549]: Setting odometry parameter "Odom/InlierDistance"="0.02"
[ INFO] [1429859446.212187381]: Setting odometry parameter "Odom/MaxDepth"="4.0"
[ INFO] [1429859446.252875043]: Setting odometry parameter "Odom/MinInliers"="20"
[ INFO] [1429859446.356079221]: Setting odometry parameter "Odom/Strategy"="0"
[ INFO] [1429859446.358338902]: Setting odometry parameter "OdomBow/LocalHistorySize"="1000"
[ INFO] [1429859446.361362585]: Setting RTAB-Map parameter "Kp/MaxDepth"="4.0"
[ INFO] [1429859446.370965278]: Setting odometry parameter "OdomBow/NNType"="3"
[ INFO] [1429859446.477725923]: Setting RTAB-Map parameter "LccBow/InlierDistance"="0.02"
[ INFO] [1429859446.500329493]: Setting RTAB-Map parameter "LccBow/MinInliers"="10"
[ INFO] [1429859446.525279212]: Setting RTAB-Map parameter "LccIcp/Type"="2"
[ INFO] [1429859446.527611554]: Setting RTAB-Map parameter "LccIcp2/CorrespondenceRatio"="0.5"
[ INFO] [1429859446.854792281]: Setting RTAB-Map parameter "Mem/RehearsalSimilarity"="0.45"
[ INFO] [1429859447.028037578]: Starting node...
[ INFO] [1429859447.035649660]: Using OdometryBOW
[ INFO] [1429859447.181925569]: Setting RTAB-Map parameter "RGBD/AngularUpdate"="0.01"
[ INFO] [1429859447.208563223]: Setting RTAB-Map parameter "RGBD/LinearUpdate"="0.01"
[ INFO] [1429859447.273653670]: Setting RTAB-Map parameter "RGBD/OptimizeFromGraphEnd"="false"
[ INFO] [1429859447.375095622]: Setting RTAB-Map parameter "Rtabmap/TimeThr"="700"
[ INFO] [1429859447.641763817]: rtabmapviz: Using configuration from "/home/turtlebot/catkin_ws/src/rtabmap_ros/launch/config/rgbd_gui.ini"
[ INFO] [1429859447.838616731]: RTAB-Map rate detection = 1.000000 Hz
[ INFO] [1429859447.838782699]: rtabmap: Deleted database "/home/turtlebot/.ros/rtabmap.db" (--delete_db_on_start is set).
[ INFO] [1429859447.838834040]: rtabmap: Using database from "/home/turtlebot/.ros/rtabmap.db".
[ INFO] [1429859450.194992029]: Reading parameters from the ROS server...
[ INFO] [1429859450.427185769]: Parameters read = 170
[ INFO] [1429859450.427253472]: Parameters successfully read.
[ INFO] [1429859451.242307085]: Registering Depth callback + OdomInfo...
[ INFO] [1429859451.273783486]: rtabmapviz started.
[ INFO] [1429859451.861290622]: Registering Depth+LaserScan callback...
[ INFO] [1429859451.877171589]: rtabmap started...


please any help!
Thanks in advance