RTABMap Error .launch
Posted by tonike24 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTABMap-Error-launch-tp4501.html
Hi, I'm new using this kind of algorithms. I have ubuntu 16.04 and kinetic distro.
Hardware:
Turtlebot 3 burguer (with LIDAR)
Camera Orbecc Astra
This is my .launch: https://github.com/introlab/rtabmap_ros/blob/master/launch/rtabmap.launch. And when I execute it the next error appear:
[ INFO] [1524822448.943352787]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.040407s
[ WARN] (2018-04-27 11:47:29.901) OccupancyGrid.cpp:290::createLocalMap() Cannot create local map, scan is empty (node=1).
[ INFO] [1524822449.913269315]: rtabmap (1): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0443s, Maps update=0.0090s pub=0.0004s (local map=1, WM=1)
[ INFO] [1524822450.387585009]: Odom: quality=652, std dev=0.000715m|0.000032rad, update time=0.098880s
[ INFO] [1524822463.195535743]: Odom: quality=281, std dev=0.012054m|0.036807rad, update time=0.060545s
[ WARN] (2018-04-27 11:47:43.808) OccupancyGrid.cpp:290::createLocalMap() Cannot create local map, scan is empty (node=2).
So I think my topic /scan is not subcribed to RTABmap so I changed my .launch
<arg name="subscribe_scan" default="false"/> I set it as true.
<arg name="scan_topic" default="/scan"/>
javier@javier-GP62MVR-6RF:~$ rostopic info /scan
Type: sensor_msgs/LaserScan
Publishers:
* /turtlebot3_lds
Subscribers:
* /rviz_1524818142177047738
* /rviz_1524818668365923170
* /rtabmap/rtabmap
* /rtabmap/rtabmapviz
Already I have my topic /scan subscribed to RTABmap but now i have the next problem:
[ WARN] [1524822693.405425199]: /rtabmap/rgbd_odometry: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set.
/rtabmap/rgbd_odometry subscribed to (approx sync):
/camera/rgb/image_rect_color,
/camera/depth_registered/image_raw,
/camera/rgb/camera_info
[ WARN] [1524822694.250854372]: /rtabmap/rtabmap: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10).
/rtabmap/rtabmap subscribed to (approx sync):
/rtabmap/odom,
/camera/rgb/image_rect_color,
/camera/depth_registered/image_raw,
/camera/rgb/camera_info,
/scan,
/rtabmap/odom_info
I also tried to rostopic hz /my_topics and everyone is perfectly working.
I'm not sure if I have to change my framde_id to base_footprint instead of camera_link.
Hope you can help me. Thank you.
This is my tf tree graph, so I can see my camera is not connecte with the rest of the robot.
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTABMap-Error-launch-tp4501.html
Hi, I'm new using this kind of algorithms. I have ubuntu 16.04 and kinetic distro.
Hardware:
Turtlebot 3 burguer (with LIDAR)
Camera Orbecc Astra
This is my .launch: https://github.com/introlab/rtabmap_ros/blob/master/launch/rtabmap.launch. And when I execute it the next error appear:
[ INFO] [1524822448.943352787]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.040407s
[ WARN] (2018-04-27 11:47:29.901) OccupancyGrid.cpp:290::createLocalMap() Cannot create local map, scan is empty (node=1).
[ INFO] [1524822449.913269315]: rtabmap (1): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0443s, Maps update=0.0090s pub=0.0004s (local map=1, WM=1)
[ INFO] [1524822450.387585009]: Odom: quality=652, std dev=0.000715m|0.000032rad, update time=0.098880s
[ INFO] [1524822463.195535743]: Odom: quality=281, std dev=0.012054m|0.036807rad, update time=0.060545s
[ WARN] (2018-04-27 11:47:43.808) OccupancyGrid.cpp:290::createLocalMap() Cannot create local map, scan is empty (node=2).
So I think my topic /scan is not subcribed to RTABmap so I changed my .launch
<arg name="subscribe_scan" default="false"/> I set it as true.
<arg name="scan_topic" default="/scan"/>
javier@javier-GP62MVR-6RF:~$ rostopic info /scan
Type: sensor_msgs/LaserScan
Publishers:
* /turtlebot3_lds
Subscribers:
* /rviz_1524818142177047738
* /rviz_1524818668365923170
* /rtabmap/rtabmap
* /rtabmap/rtabmapviz
Already I have my topic /scan subscribed to RTABmap but now i have the next problem:
[ WARN] [1524822693.405425199]: /rtabmap/rgbd_odometry: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set.
/rtabmap/rgbd_odometry subscribed to (approx sync):
/camera/rgb/image_rect_color,
/camera/depth_registered/image_raw,
/camera/rgb/camera_info
[ WARN] [1524822694.250854372]: /rtabmap/rtabmap: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10).
/rtabmap/rtabmap subscribed to (approx sync):
/rtabmap/odom,
/camera/rgb/image_rect_color,
/camera/depth_registered/image_raw,
/camera/rgb/camera_info,
/scan,
/rtabmap/odom_info
I also tried to rostopic hz /my_topics and everyone is perfectly working.
I'm not sure if I have to change my framde_id to base_footprint instead of camera_link.
Hope you can help me. Thank you.
This is my tf tree graph, so I can see my camera is not connecte with the rest of the robot.
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