Cant get map to display using Orbbec Astra Pro

Posted by bxtcoop on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Cant-get-map-to-display-using-Orbbec-Astra-Pro-tp4984.html

Setup
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Ubuntu 16.04
ROS Kinetic
Orbbec Astra Pro

I have been trying for a while now to get my Astra Pro to show a map in Rtab. I've tried both installing the compiled binary and building RTAb from source with no luck. I can view an RGB-D image in RVIZ by combining the Astra Pro launch file and the usb_cam launch file (have to use this because the Astra Pro uses uvc camera which openni2 apparently doesnt support) and selecting the camera/depth/image_raw and usb_cam/image_raw topics.

To launch RTab, I start roscore, use astra_launch astrapro.launch, usb_cam usb_cam-test.launch, and roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" rviz:=true rtabmapviz:=false.

When RViz comes up, it has /camera/rgb/image_rect_color slected for the image topic which I change to usb_cam/image_raw. The PointCloud2 topic is set to voxel cloud and if I change it to camera/depth_registered/image_raw I get an error in the astra pro launch terminal saying there is an MD5 mismatch between what was expected and what was received. There is a /camera/depth_registered/points in that drop down, but it also does nothing. RViz also has an error in the Global Status which says "Fixed Frame [map] does not exist."

The terminal I launched rviz from has several warnings as well. They are:
1 - "odometry: Could not get transform from camera_link to usb_cam"   and
2 -   "/rtabmap/rtabmap: Did not receive data since 5 seconds! Make sure the input topics are published and the timestamps in their header are set"

Finally, when I run just regular rtab command from terminal, I get the GUI, but I cant see any image from the camera. When I try to connect to the camera, the openni2 driver is greyed out and not selectable. The only driver option I have is Freenect. My overall goal is just to display the basic map using the Astra Pro so if anyone has any ideas how I can do that I would appreciate it.

Things I've tried - I already did the camera calibration (depth and RGB) and added those files to the camera info directory (that part seems to be fine) and I changed the frame_id in the usb_cam package before I built it as per this link: https://answers.ros.org/question/253893/astra-pro-with-ros-rtabmap/