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-tp5198p5220.html

First at all, Mathieu, thx for your effort.

I hv tried your .launch and still not work in my setting. I am curious why I don't see any topic for compressed data in the graph? How can I make sure my setup support compressed data, e.g DS415 ??




Mathieu, how can you get rate 30?

$ rostopic hz /camera/color/camera_info /camera/color/image_raw /camera/aligned_depth_to_color/image_raw
                 topic                  rate    min_delta   max_delta   std_dev   window
=============================================================================================
/camera/color/camera_info                  27.45     9.06e-06    0.4837      0.03231   3912  
/camera/color/image_raw                    4.78      0.1612      0.5561      0.02674   3912  
/camera/aligned_depth_to_color/image_raw   0.02533   32.09       46.86       7.387     680   \

Actually, I always this warning on PC but I think they will disappear after the rqt_graph looks correct

[ WARN] [1542682836.496048833]: /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. Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
/rtabmap/rgbd_odometry subscribed to (exact sync):
   /camera/data_throttled_image_relay,
   /camera/data_throttled_image_depth_relay,
   /camera/data_throttled_camera_info
[ WARN] [1542682837.316805918]: /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"). Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
/rtabmap/rtabmap subscribed to (exact sync):
   /rtabmap/odom,
   /camera/data_throttled_image_relay,
   /camera/data_throttled_image_depth_relay,
   /camera/data_throttled_camera_info,
   /rtabmap/odom_info

This warning from rasp pi 3:
[ INFO] [1542680511.283879222]: Start updating dynamic parameters...
 20/11 10:21:51,400 WARNING [1995505824] (types.cpp:57) start_streaming(...) failed. UVC device is already streaming!
 20/11 10:21:51,402 WARNING [1995505824] (types.cpp:57) start_streaming(...) failed. UVC device is already streaming!
 20/11 10:21:51,403 WARNING [1995505824] (types.cpp:57) start_streaming(...) failed. UVC device is already streaming!
 20/11 10:21:51,403 WARNING [1995505824] (types.cpp:57) start_streaming(...) failed. UVC device is already streaming!
[ INFO] [1542680511.477625240]: Done updating dynamic parameters...