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

Posted by matlabbe 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-tp5521p5544.html

Hi,

In the rtabmap warnings, odometry is lost:
[ INFO] [1551067349.303470016]: Odom: quality=0

Be aware that when you launch RVIZ or rtabmap on remote computer, the raw image topics are subscribed by default, which uses a lot of bandwidth (and may cause a lot of lag on the remote computer). Is rtabmap running on PC on turtlebot?

I would also suggest to use odometry from turtlebot instead of visual odometry, to avoid odometry lost. Example launching rtabmap on the robot:

roslaunch rtabmap_ros rtabmap.launch \
   rtabmap_args:="--delete_db_on_start --Reg/Force3DoF true --Reg/Strategy 1" \
   frame_id:=base_footprint \
   rgbd_sync:=true \
   approx_rgbd_sync:=false \
   subscribe_rgbd:=true \
   subscribe_scan:=true \
   scan_topic:=/scan \
   odom_frame_id:=odom \
   odom_tf_linear_variance:=0.001 \
   odom_tf_angular_variance:=0.001 \
   visual_odometry:=false \
   rtabmapviz:=false \
   depth_topic:=/camera/depth_registered/sw_registered/image_rect

On tutrtlebot3, there is a lidar publishing at lower rate than images, so we have to pre-sync the image topics before rtabmap node (rgbd_sync:=true). Because of the lidar, I added those extra parameters: "--Reg/Force3DoF true --Reg/Strategy 1". We have to set fixed odometry variance as the turtlebot seems to publish empty ones.

On remote, computer, don't subscribe directly to image topics, or at least in rviz set compressed/theora encoding.

cheers,
Mathieu