Re: How to use rtabmap_ros/data_throttle for Realsense camera?

Posted by khlau on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-use-rtabmap-ros-data-throttle-for-Realsense-camera-tp5198p5206.html

using

 <node pkg="nodelet" type="nodelet" name="data_throttle" args="standalone rtabmap_ros/data_throttle " output="screen">

cause either the raspi reboot or hang ( rcu_preemp deteced stalls on CPU/Tasks)

so I am going to use mine .launch config. but using /camera/depth/image_rect_raw instead of  /camera/aligned_depth_to_color/image_raw since there is messages from /depth/image_rect_raw but not from aligned_depth_to_color/image_raw
I run this on rasp pi
$ roslaunch my_realsense2_camera_throttle.launch rate:=5  

I run this(from http://wiki.ros.org/rtabmap_ros/Tutorials/RemoteMapping) on my pc
$ roslaunch rtabmap_ros rtabmap.launch \
rgb_topic:=/camera/data_throttled_image \
depth_topic:=/camera/data_throttled_image_depth \
camera_info_topic:=/camera/data_throttled_camera_info \
compressed:=true \
rtabmap_args:="--delete_db_on_start" \
rviz:=true rtabmapviz:=false



and result this rqt_graph which is hard to see the overlap part but very clean to see there is  no connection between camear/color and camera/data_throttled


$ rosnode info data_throttle
--------------------------------------------------------------------------------
Node [/data_throttle]
Publications: None

Subscriptions: None

Services: None

cannot contact [/data_throttle]: unknown node


$ rostopic hz /camera/color/image_raw
subscribed to [/camera/color/image_raw]
average rate: 2.811
        min: 0.356s max: 0.356s std dev: 0.00000s window: 2
average rate: 2.640
        min: 0.356s max: 0.393s std dev: 0.01502s window: 5
average rate: 2.530
        min: 0.356s max: 0.432s std dev: 0.02640s window: 7
average rate: 2.527
        min: 0.356s max: 0.432s std dev: 0.02343s window: 9
average rate: 2.447
        min: 0.356s max: 0.453s std dev: 0.02969s window: 12
average rate: 2.384
        min: 0.356s max: 0.539s std dev: 0.04592s window: 13
average rate: 2.358
        min: 0.356s max: 0.539s std dev: 0.04670s window: 16

$ rostopic hz /camera/aligned_depth_to_color/image_raw
subscribed to [/camera/aligned_depth_to_color/image_raw]
no new messages
no new messages
no new messages
no new messages
no new messages

$ rostopic hz /camera/depth/image_rect_raw
subscribed to [/camera/depth/image_rect_raw]
no new messages
no new messages
no new messages
no new messages
no new messages
average rate: 0.405
        min: 2.468s max: 2.468s std dev: 0.00000s window: 2
no new messages
no new messages




$ rostopic hz /camera/color/camera_info
subscribed to [/camera/color/camera_info]
average rate: 29.768
        min: 0.025s max: 0.039s std dev: 0.00335s window: 24
average rate: 29.772
        min: 0.003s max: 0.176s std dev: 0.02086s window: 58
average rate: 29.777
        min: 0.003s max: 0.176s std dev: 0.01748s window: 88
average rate: 29.744
        min: 0.000s max: 0.182s std dev: 0.02134s window: 118
average rate: 29.771
        min: 0.000s max: 0.182s std dev: 0.01925s window: 147


$ rostopic hz /data_throttled_image_relay
subscribed to [/data_throttled_image_relay]
no new messages
no new messages
no new messages
no new messages

$ rostopic hz /depth_registered/image_raw_relay
subscribed to [/depth_registered/image_raw_relay]
no new messages
no new messages


$ rostopic hz /data_throttled_camera_info
subscribed to [/data_throttled_camera_info]
no new messages
no new messages
no new messages

My Question:
1. I have the word 'relay','republish', 'data_throttled', 'compress' and 'image_transport' in my mind after google a lot but I don't understand how should they work together in this case? Can you briefly explain here?

2. Anyone know how "args="load rtabmap_ros/data_throttle camera_nodelet_manager"" in this .launch( from http://wiki.ros.org/rtabmap_ros/Tutorials/SetupOnYourRobot )???

<!-- Throttling messages -->
  <group ns="camera">
    <node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
      <param name="rate" type="double" value="5.0"/>

      <remap from="rgb/image_in"       to="rgb/image_rect_color"/>
      <remap from="depth/image_in"     to="depth_registered/image_raw"/>
      <remap from="rgb/camera_info_in" to="rgb/camera_info"/>

      <remap from="rgb/image_out"       to="data_throttled_image"/>
      <remap from="depth/image_out"     to="data_throttled_image_depth"/>
      <remap from="rgb/camera_info_out" to="data_throttled_camera_info"/>
    </node>
  </group>

I tried to find camera_nodelet_manager but I can't.

thx for your time!!!!