Re: RGBD Mapping issue

Posted by Dalalos on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RGBD-Mapping-issue-tp4073p4082.html

I think the clocks are synchronized, I used:
&sudo ntpdate -s time.nist.gov
in both computers.

This it the output of $rostopic hz "rostopic" for each topic[ INFO] [1514580405.484924168]: rtabmap 0.11.8 started...:

subscribed to [/camera/rgb/image_rect_color]
no new messages
average rate: 1.851
        min: 0.530s max: 0.551s std dev: 0.01054s window: 3
average rate: 1.827
        min: 0.530s max: 0.561s std dev: 0.01315s window: 4
average rate: 1.822
        min: 0.530s max: 0.562s std dev: 0.01265s window: 6
average rate: 1.819
        min: 0.530s max: 0.562s std dev: 0.01171s window: 8
average rate: 1.811
        min: 0.530s max: 0.562s std dev: 0.01132s window: 10
average rate: 1.817
        min: 0.530s max: 0.562s std dev: 0.01144s window: 12
average rate: 1.814
        min: 0.530s max: 0.562s std dev: 0.01126s window: 13
average rate: 1.809
        min: 0.530s max: 0.562s std dev: 0.01101s window: 15
average rate: 1.812
        min: 0.530s max: 0.562s std dev: 0.01104s window: 17
^Caverage rate: 1.812
        min: 0.530s max: 0.562s std dev: 0.01071s window: 18


subscribed to [/camera/depth_registered/sw_registered/image_rect_raw]
no new messages
average rate: 2.684
        min: 0.362s max: 0.380s std dev: 0.00799s window: 4
average rate: 2.699
        min: 0.362s max: 0.381s std dev: 0.00845s window: 7
average rate: 2.701
        min: 0.361s max: 0.381s std dev: 0.00833s window: 9
average rate: 2.714
        min: 0.360s max: 0.381s std dev: 0.00784s window: 12
average rate: 2.709
        min: 0.360s max: 0.381s std dev: 0.00808s window: 15
average rate: 2.706
        min: 0.360s max: 0.389s std dev: 0.00900s window: 18
average rate: 2.708
        min: 0.360s max: 0.389s std dev: 0.00862s window: 20
average rate: 2.706
        min: 0.360s max: 0.389s std dev: 0.00841s window: 23
^Caverage rate: 2.709
        min: 0.360s max: 0.389s std dev: 0.00845s window: 24


subscribed to [/camera/rgb/camera_info]
average rate: 64.113
        min: 0.000s max: 0.046s std dev: 0.01917s window: 47
average rate: 59.665
        min: 0.000s max: 0.047s std dev: 0.02025s window: 103
average rate: 59.088
        min: 0.000s max: 0.064s std dev: 0.02089s window: 161
average rate: 58.296
        min: 0.000s max: 0.091s std dev: 0.02160s window: 218
average rate: 57.538
        min: 0.000s max: 0.091s std dev: 0.02213s window: 273
average rate: 57.464
        min: 0.000s max: 0.093s std dev: 0.02223s window: 330
average rate: 57.139
        min: 0.000s max: 0.093s std dev: 0.02206s window: 385
^Caverage rate: 57.438
        min: 0.000s max: 0.093s std dev: 0.02197s window: 444

I do have a warning in the realsense cmd line after rtabmap.launch file has started but I don't think it's affect something:

[ WARN] [1514580683.544697686]: TF2 exception:
Lookup would require extrapolation into the future.  Requested time 1514580683.530019490 but the latest data is at time 1514580683.529112733, when looking up transform from frame [camera_depth_optical_frame] to frame [camera_rgb_optical_frame]