Re: Troubleshooting mapping with kinect v2, rplidar and jetson tx2

Posted by Ross_L on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Troubleshooting-mapping-with-kinect-v2-rplidar-and-jetson-tx2-tp5517p5585.html

Hi

I am battling with a "Did not receive data since 5 seconds!" error that I cannot fix. I am usually quite good at correcting them but this one has me beaten! I am using the exact launch parameters you listed above, but keep getting:

[ WARN] [1551459623.575072506]: /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"). 
If topics are not published at the same rate, you could increase "queue_size" parameter (current=10).
/rtabmap/rtabmap subscribed to (approx sync):
   /rtabmap/rgbd_image/compressed,
   /scan

I am running a chrony server and clocks are reported by ntpdate -q as being 0.002 seconds apart.

When I rostopic echo rgbd_image/compressed, I occasionally note that all the header data is empty (Edit: no longer the case, echoing /rgbd_image/compressed/header shows time stamps are present). Is this something to do with the setup of rgbd_sync? rostopic hz reports messages received just fine:

ross@ROSUbuntu:~$ rostopic hz /rgbd_image/compressed 
subscribed to [/rgbd_image/compressed]
average rate: 2.515
	min: 0.398s max: 0.398s std dev: 0.00000s window: 2
average rate: 2.324
	min: 0.398s max: 0.463s std dev: 0.03272s window: 3
average rate: 2.037
	min: 0.398s max: 0.741s std dev: 0.12663s window: 6
average rate: 2.196
	min: 0.272s max: 0.741s std dev: 0.13094s window: 8
average rate: 2.081
	min: 0.272s max: 0.741s std dev: 0.13381s window: 10
average rate: 2.190
	min: 0.241s max: 0.741s std dev: 0.13313s window: 13
average rate: 2.259
	min: 0.241s max: 0.741s std dev: 0.13514s window: 15
average rate: 2.238
	min: 0.241s max: 0.741s std dev: 0.12689s window: 17
average rate: 2.249
	min: 0.241s max: 0.741s std dev: 0.11828s window: 20
average rate: 2.234
	min: 0.241s max: 0.741s std dev: 0.11310s window: 22
average rate: 2.235
	min: 0.241s max: 0.741s std dev: 0.10823s window: 24
average rate: 2.225
	min: 0.241s max: 0.741s std dev: 0.10406s window: 26
average rate: 2.229
	min: 0.241s max: 0.741s std dev: 0.10026s window: 28
^Caverage rate: 2.224
	min: 0.241s max: 0.741s std dev: 0.09699s window: 30

ross@ROSUbuntu:~$ rostopic hz /scan
subscribed to [/scan]
average rate: 7.085
	min: 0.135s max: 0.145s std dev: 0.00448s window: 7
average rate: 7.060
	min: 0.135s max: 0.146s std dev: 0.00397s window: 14
average rate: 7.041
	min: 0.135s max: 0.146s std dev: 0.00360s window: 21
average rate: 7.046
	min: 0.135s max: 0.146s std dev: 0.00365s window: 28
average rate: 7.061
	min: 0.132s max: 0.146s std dev: 0.00398s window: 35
average rate: 7.055
	min: 0.132s max: 0.146s std dev: 0.00385s window: 42
average rate: 7.057
	min: 0.132s max: 0.148s std dev: 0.00388s window: 49
average rate: 7.058
	min: 0.132s max: 0.148s std dev: 0.00393s window: 57
average rate: 7.057
	min: 0.132s max: 0.148s std dev: 0.00398s window: 64
average rate: 7.054
	min: 0.132s max: 0.148s std dev: 0.00397s window: 71
average rate: 7.056
	min: 0.132s max: 0.148s std dev: 0.00391s window: 78
^Caverage rate: 7.052
	min: 0.132s max: 0.148s std dev: 0.00386s window: 81

 
Here are my launch files again:
On the jetson:
ghettobot_bringup.launch

On the remote PC:
rtabmap.launch

Edit: NB I have played around with the topic names since posting the latter, at the moment I have

<remap from="rgbd_image" to="/rgbd_image/compressed"/>

 to prevent the prepending of /rtabmap to the topic name

All the data is being sent over a standard home wifi connection via the standard jetson tx2 wifi / antenna.