Official RTAB-Map Forum - Re: RTAB-Map using realsense R200, Did not receive data since 5 seconds! Make sure the input topics are published

Re: RTAB-Map using realsense R200, Did not receive data since 5 seconds! Make sure the input topics are published

Posted by mvinsens on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-Map-using-realsense-R200-Did-not-receive-data-since-5-seconds-Make-sure-the-input-topics-are-pud-tp5521p5536.html

Hi, Thank you for your reply.

The output for the rostopics are

subscribed to [/odom]
subscribed to [/camera/rgb/image_rect_color]
subscribed to [/camera/depth_registered/sw_registered/image_rect]
subscribed to [/camera/rgb/camera_info]
subscribed to [/scan]
topic rate min_delta max_delta std_dev window
======================================================================================================
/odom 29.62 0.02839 0.03768 0.00173 55
/camera/rgb/image_rect_color 30.01 0.02931 0.03576 0.001581 55
/camera/depth_registered/sw_registered/image_rect 30.33 0.03063 0.03853 0.001963 24
/camera/rgb/camera_info 30.01 0.03021 0.03756 0.001271 24
/scan 4.984 0.2004 0.2008 0.0001659 15

topic rate min_delta max_delta std_dev window
======================================================================================================
/odom 29.58 0.02839 0.03768 0.001636 84
/camera/rgb/image_rect_color 29.99 0.02931 0.03584 0.001348 84
/camera/depth_registered/sw_registered/image_rect 30.08 0.03063 0.03853 0.001631 54
/camera/rgb/camera_info 30.0 0.03021 0.03756 0.001219 54
/scan 4.983 0.2004 0.2009 0.0001531 45

topic rate min_delta max_delta std_dev window
======================================================================================================
/odom 29.56 0.02839 0.0383 0.001584 114
/camera/rgb/image_rect_color 30.01 0.02931 0.03797 0.001384 114
/camera/depth_registered/sw_registered/image_rect 30.06 0.03017 0.03853 0.001637 84
/camera/rgb/camera_info 29.99 0.029 0.03756 0.001286 84
/scan 4.984 0.2004 0.2009 0.0001477 75

topic rate min_delta max_delta std_dev window
======================================================================================================
/odom 29.6 0.02839 0.0383 0.001557 144
/camera/rgb/image_rect_color 30.01 0.02931 0.03797 0.001473 144
/camera/depth_registered/sw_registered/image_rect 30.03 0.03017 0.03853 0.001637 114
/camera/rgb/camera_info 30.0 0.0286 0.03893 0.001355 114
/scan 4.984 0.2003 0.201 0.0001664 105

topic rate min_delta max_delta std_dev window
======================================================================================================
/odom 29.61 0.02839 0.04026 0.001674 173
/camera/rgb/image_rect_color 30.01 0.02931 0.03797 0.001469 173
/camera/depth_registered/sw_registered/image_rect 30.02 0.03014 0.03853 0.001649 144
/camera/rgb/camera_info 29.97 0.02789 0.03925 0.001536 144
/scan 4.984 0.1999 0.2015 0.0002738 135

topic rate min_delta max_delta std_dev window
======================================================================================================
/odom 29.61 0.02839 0.04026 0.001626 203
/camera/rgb/image_rect_color 30.01 0.02931 0.03797 0.001433 203
/camera/depth_registered/sw_registered/image_rect 30.02 0.02927 0.03853 0.001702 174
/camera/rgb/camera_info 30.0 0.02789 0.03925 0.001575 174
/scan 4.983 0.1999 0.2015 0.0002635 165

this is the results after waiting for the realsense nodelet running few minutes before doing rostopic. when it just initialized it only show the rate of 0.0x rates for the image rect color and image rect (depth).

The computer that is used ( connected to camera ):
turtlebot3 waffle :
Intel Joule 570x

Master Computer for rviz:
MSI GL62M 7REX ( Intel core i7-7700HQ, GeForce Nvidia 1050Ti 4GB, RAM 16GB )

it seems the RTAB-Map is working but need some time to be launched after initializing realsense nodelet.
but the rate of data flow for the visualization in rviz is so slow.
and i get this error when doing rtabmap *note : i change the queue_size from 10 to 1000 while doing so still need a few second to minutes for the images to be viewed in rviz.

[ INFO] [1551067314.963492688]: rtabmap (3): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0001s, Maps update=0.0000s pub=0.0000s (local map=1, WM=1)
[ WARN] [1551067315.163193462]: Could not get transform from odom to camera_link after 0,200000 seconds (for stamp=1551067273,839544)! Error="Lookup would require extrapolation into the past. Requested time 1551067273.839544379 but the earliest data is at time 1551067305.225028585, when looking up transform from frame [camera_link] to frame [odom]. canTransform returned after 0.200384 timeout was 0.2.".
[ WARN] (2019-02-25 11:02:29.302) OdometryF2M.cpp:469::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=23) between -1 and 12"
[ INFO] [1551067349.303470016]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.077790s
[ERROR] (2019-02-25 11:02:29.305) Rtabmap.cpp:1003::process() RGB-D SLAM mode is enabled, memory is incremental but no odometry is provided. Image 70149 is ignored!
[ INFO] [1551067349.305078184]: rtabmap (3): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0000s, Maps update=0.0000s pub=0.0000s (local map=1, WM=1)
[ WARN] [1551067349.504399521]: Could not get transform from odom to camera_link after 0,200000 seconds (for stamp=1551067292,569211)! Error="Lookup would require extrapolation into the past. Requested time 1551067292.569210613 but the earliest data is at time 1551067339.575029953, when looking up transform from frame [camera_link] to frame [odom]. canTransform returned after 0.20039 timeout was 0.2.".
[ WARN] (2019-02-25 11:02:49.072) OdometryF2M.cpp:469::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=10) between -1 and 13"
[ INFO] [1551067369.073457447]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.030538s
[ERROR] (2019-02-25 11:02:49.074) Rtabmap.cpp:1003::process() RGB-D SLAM mode is enabled, memory is incremental but no odometry is provided. Image 70578 is ignored!
[ INFO] [1551067369.074989658]: rtabmap (3): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0000s, Maps update=0.0000s pub=0.0000s (local map=1, WM=1)
[ WARN] (2019-02-25 11:03:13.007) OdometryF2M.cpp:469::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=11) between -1 and 14"
[ INFO] [1551067393.008607516]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.058463s
[ WARN] [1551067393.210269574]: Could not get transform from odom to camera_link after 0,200000 seconds (for stamp=1551067305,500518)! Error="Lookup would require extrapolation into the past. Requested time 1551067305.500518245 but the earliest data is at time 1551067383.275089941, when looking up transform from frame [camera_link] to frame [odom]. canTransform returned after 0.201682 timeout was 0.2.".

** Updates : i tried to do the rtab map using LAN cable and it works better. Any suggestion so i can do the mapping without using cable for connection ?