Posted by
tonike24 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-Error-tp4596.html
Hi!
My hardware is:
Turtlebot 3 burguer (with LIDAR).
Camera Orbecc Astra.
I'm trying to use the compressed topics because with normal topics I don't have enough bandwidth for my Astra camera and LIDAR working both at the same time. So this is the changes I did in my launch:
<arg name="rgb_topic" default="/camera/rgb/image_rect_color/" />
<arg name="depth_topic" default=<b>"/camera/depth/image_raw/" />
Not sure If I have to use camera/depth_registered/image_raw because when I use it, my camera/depth_registered/image_raw/_relay dont publish any menssage. Instead with /camera/depth/image_raw my relay publish normally. <arg name="camera_info_topic" default="/camera/rgb/camera_info" />
<arg name="depth_camera_info_topic" default="$(arg camera_info_topic)" />
<arg name="compressed" default="<b>true"/>
<arg name="rgb_image_transport" default="compressed"/>
<arg name="depth_image_transport" default="<b>compressed"/> One question here, is what is the difference between compressed and compresseDepth, beucase when I use compressedDepth i have the next problem:
javier@javier-GP62MVR-6RF:~$ rosnode info /rtabmap/republish_depth
--------------------------------------------------------------------------------
Node [/rtabmap/republish_depth]
Publications:
* /camera/depth_registered/image_raw/_relay [sensor_msgs/Image]
* /rosout [rosgraph_msgs/Log]
Subscriptions:
*
/camera/depth_registered/image_raw/compressedDepth [unknown type]So I change it for compress then republish_depth can recognize what kind of type message is.
After that I excute Rtabmap.launch with image_raw topic, but it dont works.
javier@javier-GP62MVR-6RF:~$ rostopic hz /camera/depth/image_raw/_relay
subscribed to [/camera/depth/image_raw/_relay]
average rate: 25.706
min: 0.033s max: 0.053s std dev: 0.00500s window: 23
javier@javier-GP62MVR-6RF:~$ rosnode info /rtabmap/republish_depth
--------------------------------------------------------------------------------
Node [/rtabmap/republish_depth]
Publications:
* /camera/depth_registered/image_raw/_relay [sensor_msgs/Image]
* /rosout [rosgraph_msgs/Log]
* /rtabmap/republish_depth/compressed/parameter_descriptions [dynamic_reconfigure/ConfigDescription]
* /rtabmap/republish_depth/compressed/parameter_updates [dynamic_reconfigure/Config]
Subscriptions:
* /camera/depth_registered/image_raw/compressed [sensor_msgs/CompressedImage]
So, when I use image_raw the node rtabmap.launch crash instantly with this ERROR:/rtabmap/rtabmap subscribed to (approx sync):
/rtabmap/odom,
/camera/rgb/image_rect_color/_relay,
/camera/depth/image_raw/_relay,
/camera/rgb/camera_info,
/scan
[ INFO] [1527076711.935895670]: rtabmap 0.16.3 started...
[ INFO] [1527076712.060599226]: Odom: ratio=0.725000, std dev=0.003350m|0.003350rad, update time=0.008793s
[ INFO] [1527076712.265009350]: Odom: ratio=0.725000, std dev=0.002894m|0.002894rad, update time=0.011834s
terminate called after throwing an instance of 'cv_bridge::Exception'
what(): Image is wrongly formed: step < width * byte_depth * num_channels or 640 != 640 * 2 * 1
[ INFO] [1527076712.458091214]: Odom: ratio=0.727778, std dev=0.002724m|0.002724rad, update time=0.005320s
[ INFO] [1527076712.481740432]: /rtabmap/rtabmapviz: queue_size = 15
[ INFO] [1527076712.481775263]: /rtabmap/rtabmapviz: rgbd_cameras = 1
[ INFO] [1527076712.481792466]: /rtabmap/rtabmapviz: approx_sync = true
[ INFO] [1527076712.481839429]: Setup depth callback
[ INFO] [1527076712.565229428]:
/rtabmap/rtabmapviz subscribed to (approx sync):
/rtabmap/odom,
/camera/rgb/image_rect_color/_relay,
/camera/depth/image_raw/_relay,
/camera/rgb/camera_info,
/scan
[ INFO] [1527076712.565313444]: rtabmapviz started.
[rtabmap/rtabmap-4] process has died [pid 26845, exit code -6, cmd /home/javier/catkin_ws/devel/lib/rtabmap_ros/rtabmap rgb/image:=/camera/rgb/image_rect_color/_relay depth/image:=/camera/depth/image_raw/_relay rgb/camera_info:=/camera/rgb/camera_info rgbd_image:=rgbd_image left/image_rect:=/stereo_camera/left/image_rect_color_relay right/image_rect:=/stereo_camera/right/image_rect_relay left/camera_info:=/stereo_camera/left/camera_info right/camera_info:=/stereo_camera/right/camera_info scan:=/scan scan_cloud:=/scan_cloud user_data:=/user_data user_data_async:=/user_data_async odom:=odom __name:=rtabmap __log:=/home/javier/.ros/log/a2af4b1a-5e6e-11e8-9b05-4ccc6a827051/rtabmap-rtabmap-4.log].
log file: /home/javier/.ros/log/a2af4b1a-5e6e-11e8-9b05-4ccc6a827051/rtabmap-rtabmap-4*.log
[ INFO] [1527076712.658184339]: Odom: ratio=0.722222, std dev=0.002794m|0.002794rad, update time=0.004310s
[ INFO] [1527076712.910954583]: Odom: ratio=0.722222, std dev=0.002452m|0.002452rad, update time=0.056268s
terminate called after throwing an instance of 'cv_bridge::Exception'
what(): Image is wrongly formed: step < width * byte_depth * num_channels or 640 != 640 * 2 * 1
[ INFO] [1527076713.060416581]: Odom: ratio=0.719444, std dev=0.002319m|0.002319rad, update time=0.005567s
[rtabmap/rtabmapviz-5] process has died [pid 26846, exit code -6, cmd /home/javier/catkin_ws/devel/lib/rtabmap_ros/rtabmapviz -d ~/.ros/rtabmap_gui.ini rgb/image:=/camera/rgb/image_rect_color/_relay depth/image:=/camera/depth/image_raw/_relay rgb/camera_info:=/camera/rgb/camera_info rgbd_image:=rgbd_image left/image_rect:=/stereo_camera/left/image_rect_color_relay right/image_rect:=/stereo_camera/right/image_rect_relay left/camera_info:=/stereo_camera/left/camera_info right/camera_info:=/stereo_camera/right/camera_info scan:=/scan scan_cloud:=/scan_cloud odom:=odom __name:=rtabmapviz __log:=/home/javier/.ros/log/a2af4b1a-5e6e-11e8-9b05-4ccc6a827051/rtabmap-rtabmapviz-5.log].
log file: /home/javier/.ros/log/a2af4b1a-5e6e-11e8-9b05-4ccc6a827051/rtabmap-rtabmapviz-5*.log
If I use as topic for my depth /camera/depth_registered/image_raw I have the next problem:javier@javier-GP62MVR-6RF:~$ rostopic hz /camera/depth_registered/image_raw/_relay
subscribed to [/camera/depth_registered/image_raw/_relay]
no message
Hope you can help me and give me some answers about what can I do to solve this problem.
Cheers, Javier.