Posted by
sDeboffle on
URL: http://official-rtab-map-forum.206.s1.nabble.com/misalignment-from-tango-multi-session-tp5046p5742.html
Hi.
I tried to modify the launch file of velodyne exemple but have a lot of errors.don't understand why... please HELP!!!
I'm able to get a sensor_msgs/Imu from my mpu6050 with this : roslauch mpu6050_serial_to_imu demo.launch
data look ok in Rviz.
I launch my lidar: roslaunch quanergy_client_ros client2.launch
static transform between imu and Lidar device: rosrun tf static_transform_publisher 0 0 0 0 0 0 imu_link Lidar 100
then : roslaunch rtabmap_ros rtabmap_LidarImu.launch
rtabmap_LidarImu.launchhave got this msg:
roslaunch rtabmap_ros rtabmap_LidarImu.launch
... logging to /home/sdeboffle/.ros/log/fdfbd2bc-6120-11e9-95cf-9829a6388ce0/roslaunch-sdeboffle-Predator-G3-572-30044.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server
http://sdeboffle-Predator-G3-572:43625/SUMMARY
========
PARAMETERS
* /rosdistro: kinetic
* /rosversion: 1.12.14
* /rtabmap/icp_odometry/Icp/CorrespondenceRatio: 0.01
* /rtabmap/icp_odometry/Icp/DownsamplingStep: 1
* /rtabmap/icp_odometry/Icp/Epsilon: 0.001
* /rtabmap/icp_odometry/Icp/Iterations: 10
* /rtabmap/icp_odometry/Icp/MaxCorrespondenceDistance: 1
* /rtabmap/icp_odometry/Icp/MaxTranslation: 2
* /rtabmap/icp_odometry/Icp/PM: true
* /rtabmap/icp_odometry/Icp/PMOutlierRatio: 0.7
* /rtabmap/icp_odometry/Icp/PointToPlane: true
* /rtabmap/icp_odometry/Icp/PointToPlaneK: 20
* /rtabmap/icp_odometry/Icp/PointToPlaneRadius: 0
* /rtabmap/icp_odometry/Icp/VoxelSize: 0.2
* /rtabmap/icp_odometry/Odom/ScanKeyFrameThr: 0.9
* /rtabmap/icp_odometry/Odom/Strategy: 0
* /rtabmap/icp_odometry/OdomF2M/ScanMaxSize: 15000
* /rtabmap/icp_odometry/OdomF2M/ScanSubtractRadius: 0.2
* /rtabmap/icp_odometry/expected_update_rate: 15.0
* /rtabmap/icp_odometry/frame_id: imu_base
* /rtabmap/icp_odometry/odom_frame_id: odom
* /rtabmap/point_cloud_assembler/fixed_frame_id:
* /rtabmap/point_cloud_assembler/max_clouds: 10
* /rtabmap/rtabmap/Grid/CellSize: 0.1
* /rtabmap/rtabmap/Grid/ClusterRadius: 1
* /rtabmap/rtabmap/Grid/GroundIsObstacle: true
* /rtabmap/rtabmap/Grid/RangeMax: 20
* /rtabmap/rtabmap/Icp/CorrespondenceRatio: 0.4
* /rtabmap/rtabmap/Icp/Epsilon: 0.001
* /rtabmap/rtabmap/Icp/Iterations: 10
* /rtabmap/rtabmap/Icp/MaxCorrespondenceDistance: 1
* /rtabmap/rtabmap/Icp/MaxTranslation: 3
* /rtabmap/rtabmap/Icp/PM: true
* /rtabmap/rtabmap/Icp/PMOutlierRatio: 0.7
* /rtabmap/rtabmap/Icp/PointToPlane: true
* /rtabmap/rtabmap/Icp/PointToPlaneK: 20
* /rtabmap/rtabmap/Icp/PointToPlaneRadius: 0
* /rtabmap/rtabmap/Icp/VoxelSize: 0.2
* /rtabmap/rtabmap/Mem/NotLinkedNodesKept: false
* /rtabmap/rtabmap/Mem/STMSize: 30
* /rtabmap/rtabmap/RGBD/AngularUpdate: 0.05
* /rtabmap/rtabmap/RGBD/LinearUpdate: 0.05
* /rtabmap/rtabmap/RGBD/NeighborLinkRefining: false
* /rtabmap/rtabmap/RGBD/ProximityBySpace: true
* /rtabmap/rtabmap/RGBD/ProximityMaxGraphDepth: 0
* /rtabmap/rtabmap/RGBD/ProximityPathMaxNeighbors: 1
* /rtabmap/rtabmap/Reg/Strategy: 1
* /rtabmap/rtabmap/Rtabmap/DetectionRate: 1
* /rtabmap/rtabmap/approx_sync: False
* /rtabmap/rtabmap/frame_id: imu_base
* /rtabmap/rtabmap/subscribe_depth: False
* /rtabmap/rtabmap/subscribe_rgb: False
* /rtabmap/rtabmap/subscribe_scan_cloud: True
* /rtabmap/rtabmapviz/approx_sync: False
* /rtabmap/rtabmapviz/frame_id: imu_base
* /rtabmap/rtabmapviz/odom_frame_id: odom
* /rtabmap/rtabmapviz/subscribe_odom_info: True
* /rtabmap/rtabmapviz/subscribe_scan_cloud: True
NODES
/rtabmap/
icp_odometry (rtabmap_ros/icp_odometry)
point_cloud_assembler (nodelet/nodelet)
rtabmap (rtabmap_ros/rtabmap)
rtabmapviz (rtabmap_ros/rtabmapviz)
ROS_MASTER_URI=
http://localhost:11311process[rtabmap/icp_odometry-1]: started with pid [30061]
process[rtabmap/rtabmap-2]: started with pid [30062]
process[rtabmap/rtabmapviz-3]: started with pid [30063]
process[rtabmap/point_cloud_assembler-4]: started with pid [30064]
type is rtabmap_ros/point_cloud_assembler
[ERROR] [1555514311.817525901]: Failed to load nodelet [/rtabmap/point_cloud_assembler] of type [rtabmap_ros/point_cloud_assembler] even after refreshing the cache: According to the loaded plugin descriptions the class rtabmap_ros/point_cloud_assembler with base class type nodelet::Nodelet does not exist. Declared types are depth_image_proc/convert_metric depth_image_proc/crop_foremost depth_image_proc/disparity depth_image_proc/point_cloud_xyz depth_image_proc/point_cloud_xyz_radial depth_image_proc/point_cloud_xyzi depth_image_proc/point_cloud_xyzi_radial depth_image_proc/point_cloud_xyzrgb depth_image_proc/register freenect_camera/driver image_proc/crop_decimate image_proc/crop_nonZero image_proc/crop_non_zero image_proc/debayer image_proc/rectify image_proc/resize image_publisher/image_publisher image_rotate/image_rotate image_view/disparity image_view/image laser_ortho_projector/LaserOrthoProjectorNodelet laser_scan_matcher/LaserScanMatcherNodelet laser_scan_sparsifier/LaserScanSparsifierNodelet laser_scan_splitter/LaserScanSplitterNodelet nodelet_tutorial_math/Plus openni_camera/driver pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid rtabmap_ros/data_odom_sync rtabmap_ros/data_throttle rtabmap_ros/disparity_to_depth rtabmap_ros/icp_odometry rtabmap_ros/obstacles_detection rtabmap_ros/obstacles_detection_old rtabmap_ros/point_cloud_aggregator rtabmap_ros/point_cloud_xyz rtabmap_ros/point_cloud_xyzrgb rtabmap_ros/pointcloud_to_depthimage rtabmap_ros/rgbd_odometry rtabmap_ros/rgbd_sync rtabmap_ros/rgbdicp_odometry rtabmap_ros/rtabmap rtabmap_ros/stereo_odometry rtabmap_ros/stereo_sync rtabmap_ros/stereo_throttle rtabmap_ros/undistort_depth stereo_image_proc/disparity stereo_image_proc/point_cloud2
[ERROR] [1555514311.817609380]: The error before refreshing the cache was: According to the loaded plugin descriptions the class rtabmap_ros/point_cloud_assembler with base class type nodelet::Nodelet does not exist. Declared types are depth_image_proc/convert_metric depth_image_proc/crop_foremost depth_image_proc/disparity depth_image_proc/point_cloud_xyz depth_image_proc/point_cloud_xyz_radial depth_image_proc/point_cloud_xyzi depth_image_proc/point_cloud_xyzi_radial depth_image_proc/point_cloud_xyzrgb depth_image_proc/register freenect_camera/driver image_proc/crop_decimate image_proc/crop_nonZero image_proc/crop_non_zero image_proc/debayer image_proc/rectify image_proc/resize image_publisher/image_publisher image_rotate/image_rotate image_view/disparity image_view/image laser_ortho_projector/LaserOrthoProjectorNodelet laser_scan_matcher/LaserScanMatcherNodelet laser_scan_sparsifier/LaserScanSparsifierNodelet laser_scan_splitter/LaserScanSplitterNodelet nodelet_tutorial_math/Plus openni_camera/driver pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid rtabmap_ros/data_odom_sync rtabmap_ros/data_throttle rtabmap_ros/disparity_to_depth rtabmap_ros/icp_odometry rtabmap_ros/obstacles_detection rtabmap_ros/obstacles_detection_old rtabmap_ros/point_cloud_aggregator rtabmap_ros/point_cloud_xyz rtabmap_ros/point_cloud_xyzrgb rtabmap_ros/pointcloud_to_depthimage rtabmap_ros/rgbd_odometry rtabmap_ros/rgbd_sync rtabmap_ros/rgbdicp_odometry rtabmap_ros/rtabmap rtabmap_ros/stereo_odometry rtabmap_ros/stereo_sync rtabmap_ros/stereo_throttle rtabmap_ros/undistort_depth stereo_image_proc/disparity stereo_image_proc/point_cloud2
[ INFO] [1555514311.893311900]: Initializing nodelet with 8 worker threads.
[ INFO] [1555514311.902677763]: Starting node...
[ INFO] [1555514311.942507180]: Initializing nodelet with 8 worker threads.
[rtabmap/point_cloud_assembler-4] process has died [pid 30064, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet standalone rtabmap_ros/point_cloud_assembler cloud:=/Lidar/points odom:=odom __name:=point_cloud_assembler __log:=/home/sdeboffle/.ros/log/fdfbd2bc-6120-11e9-95cf-9829a6388ce0/rtabmap-point_cloud_assembler-4.log].
log file: /home/sdeboffle/.ros/log/fdfbd2bc-6120-11e9-95cf-9829a6388ce0/rtabmap-point_cloud_assembler-4*.log
[ INFO] [1555514312.069009322]: Starting node...
[ INFO] [1555514312.172992836]: Odometry: frame_id = imu_base
[ INFO] [1555514312.173019787]: Odometry: odom_frame_id = odom
[ INFO] [1555514312.173033680]: Odometry: publish_tf = true
[ INFO] [1555514312.173047430]: Odometry: wait_for_transform = true
[ INFO] [1555514312.173067609]: Odometry: wait_for_transform_duration = 0.100000
[ INFO] [1555514312.173139877]: Odometry: initial_pose = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000
[ INFO] [1555514312.173153721]: Odometry: ground_truth_frame_id =
[ INFO] [1555514312.173164903]: Odometry: ground_truth_base_frame_id = imu_base
[ INFO] [1555514312.173178012]: Odometry: config_path =
[ INFO] [1555514312.173194892]: Odometry: publish_null_when_lost = true
[ INFO] [1555514312.173208083]: Odometry: guess_frame_id =
[ INFO] [1555514312.173220369]: Odometry: guess_min_translation = 0.000000
[ INFO] [1555514312.173233581]: Odometry: guess_min_rotation = 0.000000
[ INFO] [1555514312.174117772]: Setting odometry parameter "Icp/CorrespondenceRatio"="0.01"
[ INFO] [1555514312.174618341]: Setting odometry parameter "Icp/DownsamplingStep"="1"
[ INFO] [1555514312.175160865]: Setting odometry parameter "Icp/Epsilon"="0.001"
[ INFO] [1555514312.175613636]: Setting odometry parameter "Icp/Iterations"="10"
[ INFO] [1555514312.176102246]: Setting odometry parameter "Icp/MaxCorrespondenceDistance"="1"
[ INFO] [1555514312.178271780]: Setting odometry parameter "Icp/MaxTranslation"="2"
[ INFO] [1555514312.178677608]: Setting odometry parameter "Icp/PM"="true"
[ INFO] [1555514312.191706318]: Setting odometry parameter "Icp/PMOutlierRatio"="0.7"
[ INFO] [1555514312.192568108]: Setting odometry parameter "Icp/PointToPlane"="true"
[ INFO] [1555514312.193380184]: Setting odometry parameter "Icp/PointToPlaneK"="20"
[ INFO] [1555514312.197816617]: Setting odometry parameter "Icp/PointToPlaneRadius"="0"
[ INFO] [1555514312.198780124]: Setting odometry parameter "Icp/VoxelSize"="0.2"
[ INFO] [1555514312.211238737]: rtabmapviz: Using configuration from "/home/sdeboffle/.ros/rtabmapGUI.ini"
[ INFO] [1555514312.259698629]: /rtabmap/rtabmap(maps): map_filter_radius = 0.000000
[ INFO] [1555514312.259727499]: /rtabmap/rtabmap(maps): map_filter_angle = 30.000000
[ INFO] [1555514312.259736922]: /rtabmap/rtabmap(maps): map_cleanup = true
[ INFO] [1555514312.259746514]: /rtabmap/rtabmap(maps): map_negative_poses_ignored = true
[ INFO] [1555514312.259753965]: /rtabmap/rtabmap(maps): map_negative_scan_ray_tracing = true
[ INFO] [1555514312.259762271]: /rtabmap/rtabmap(maps): cloud_output_voxelized = true
[ INFO] [1555514312.259772361]: /rtabmap/rtabmap(maps): cloud_subtract_filtering = false
[ INFO] [1555514312.259784613]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1555514312.293128468]: /rtabmap/rtabmap(maps): octomap_tree_depth = 16
[ INFO] [1555514312.297185510]: Setting odometry parameter "Odom/ScanKeyFrameThr"="0.9"
[ INFO] [1555514312.298022345]: Setting odometry parameter "Odom/Strategy"="0"
[ INFO] [1555514312.317890420]: Setting odometry parameter "OdomF2M/ScanMaxSize"="15000"
[ INFO] [1555514312.321341007]: Setting odometry parameter "OdomF2M/ScanSubtractRadius"="0.2"
[ INFO] [1555514312.335787264]: rtabmap: frame_id = imu_base
[ INFO] [1555514312.335829236]: rtabmap: map_frame_id = map
[ INFO] [1555514312.335859235]: rtabmap: tf_delay = 0.050000
[ INFO] [1555514312.335874422]: rtabmap: tf_tolerance = 0.100000
[ INFO] [1555514312.335891462]: rtabmap: odom_sensor_sync = false
[ INFO] [1555514312.476157012]: Setting RTAB-Map parameter "Grid/CellSize"="0.1"
[ INFO] [1555514312.477001271]: Setting RTAB-Map parameter "Grid/ClusterRadius"="1"
[ INFO] [1555514312.504080260]: Setting RTAB-Map parameter "Grid/GroundIsObstacle"="true"
[ INFO] [1555514312.545899122]: Setting RTAB-Map parameter "Grid/RangeMax"="20"
[ INFO] [1555514312.604495626]: Setting RTAB-Map parameter "Icp/CorrespondenceRatio"="0.4"
[ INFO] [1555514312.608435758]: Setting RTAB-Map parameter "Icp/Epsilon"="0.001"
[ INFO] [1555514312.609170494]: Setting RTAB-Map parameter "Icp/Iterations"="10"
[ INFO] [1555514312.609914643]: Setting RTAB-Map parameter "Icp/MaxCorrespondenceDistance"="1"
[ INFO] [1555514312.613432797]: Setting RTAB-Map parameter "Icp/MaxTranslation"="3"
[ INFO] [1555514312.614141620]: Setting RTAB-Map parameter "Icp/PM"="true"
[ INFO] [1555514312.633928455]: Setting RTAB-Map parameter "Icp/PMOutlierRatio"="0.7"
[ INFO] [1555514312.634965865]: Setting RTAB-Map parameter "Icp/PointToPlane"="true"
[ INFO] [1555514312.637341977]: Setting RTAB-Map parameter "Icp/PointToPlaneK"="20"
[ INFO] [1555514312.647675626]: Setting RTAB-Map parameter "Icp/PointToPlaneRadius"="0"
[ INFO] [1555514312.648352631]: Setting RTAB-Map parameter "Icp/VoxelSize"="0.2"
[ WARN] [1555514312.766584678]: ICP odometry works only with "Reg/Strategy"=1. Ignoring value 0.
[ WARN] [1555514312.767251542]: IcpOdometry: Transferring value 0.2 of "Icp/VoxelSize" to ros parameter "scan_voxel_size" for convenience. "Icp/VoxelSize" is set to 0.
[ WARN] [1555514312.767951023]: IcpOdometry: Transferring value 20 of "Icp/PointToPlaneK" to ros parameter "scan_normal_k" for convenience.
[ WARN] (2019-04-17 17:18:32.768) RegistrationIcp.cpp:423::parseParameters() Parameter Icp/PM is set to true but RTAB-Map has not been built with libpointmatcher support. Setting to false.
[ WARN] (2019-04-17 17:18:32.768) OdometryF2M.cpp:133::OdometryF2M() OdomF2M/BundleAdjustment=1 cannot be used with registration not done only with images (Reg/Strategy=1), disabling bundle adjustment.
[ INFO] [1555514312.783384651]: IcpOdometry: scan_cloud_max_points = 0
[ INFO] [1555514312.783415488]: IcpOdometry: scan_downsampling_step = 1
[ INFO] [1555514312.783436160]: IcpOdometry: scan_voxel_size = 0.200000
[ INFO] [1555514312.783453463]: IcpOdometry: scan_normal_k = 20
[ INFO] [1555514312.783466239]: IcpOdometry: scan_normal_radius = 0.000000
[ INFO] [1555514312.812208080]: Setting RTAB-Map parameter "Mem/NotLinkedNodesKept"="false"
[ INFO] [1555514312.823307821]: Setting RTAB-Map parameter "Mem/STMSize"="30"
[ WARN] (2019-04-17 17:18:33.129) RegistrationIcp.cpp:1123::computeTransformationImpl() Maximum laser scans points not set for signature 2, correspondences ratio set relative instead of absolute! This message will only appear once.
[ INFO] [1555514313.185166798]: Setting RTAB-Map parameter "RGBD/AngularUpdate"="0.05"
[ INFO] [1555514313.201780538]: Setting RTAB-Map parameter "RGBD/LinearUpdate"="0.05"
[ INFO] [1555514313.233621032]: Setting RTAB-Map parameter "RGBD/NeighborLinkRefining"="false"
[ INFO] [1555514313.235758448]: Setting RTAB-Map parameter "RGBD/OptimizeFromGraphEnd"="false"
[ INFO] [1555514313.252823569]: Setting RTAB-Map parameter "RGBD/ProximityBySpace"="true"
[ INFO] [1555514313.255546562]: Setting RTAB-Map parameter "RGBD/ProximityMaxGraphDepth"="0"
[ INFO] [1555514313.261882255]: Setting RTAB-Map parameter "RGBD/ProximityPathMaxNeighbors"="1"
[ INFO] [1555514313.278521238]: Setting RTAB-Map parameter "Reg/Strategy"="1"
[ INFO] [1555514313.286187986]: Setting RTAB-Map parameter "Rtabmap/DetectionRate"="1"
[ INFO] [1555514313.341116128]: Reading parameters from the ROS server...
[ INFO] [1555514313.745444317]: Parameters read = 0
[ WARN] [1555514313.968530510]: Setting "Grid/FromDepth" parameter to false (default true) as "subscribe_scan" or "subscribe_scan_cloud" is true. The occupancy grid map will be constructed from laser scans. To get occupancy grid map from cloud projection, set "Grid/FromDepth" to true. To suppress this warning, add
[ INFO] [1555514314.244627339]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1555514314.244733685]: rtabmap: Deleted database "/home/sdeboffle/.ros/rtabmap.db" (--delete_db_on_start or -d are set).
[ INFO] [1555514314.244767448]: rtabmap: Using database from "/home/sdeboffle/.ros/rtabmap.db" (0 MB).
[ WARN] (2019-04-17 17:18:34.255) RegistrationIcp.cpp:423::parseParameters() Parameter Icp/PM is set to true but RTAB-Map has not been built with libpointmatcher support. Setting to false.
[ WARN] (2019-04-17 17:18:34.255) RegistrationIcp.cpp:423::parseParameters() Parameter Icp/PM is set to true but RTAB-Map has not been built with libpointmatcher support. Setting to false.
[ WARN] (2019-04-17 17:18:34.255) RegistrationIcp.cpp:423::parseParameters() Parameter Icp/PM is set to true but RTAB-Map has not been built with libpointmatcher support. Setting to false.
[ WARN] (2019-04-17 17:18:34.256) RegistrationIcp.cpp:423::parseParameters() Parameter Icp/PM is set to true but RTAB-Map has not been built with libpointmatcher support. Setting to false.
[ WARN] (2019-04-17 17:18:34.273) RegistrationIcp.cpp:423::parseParameters() Parameter Icp/PM is set to true but RTAB-Map has not been built with libpointmatcher support. Setting to false.
[ WARN] (2019-04-17 17:18:34.273) RegistrationIcp.cpp:423::parseParameters() Parameter Icp/PM is set to true but RTAB-Map has not been built with libpointmatcher support. Setting to false.
[ WARN] [1555514315.402069821]: When subscribing to laser scan, you should subscribe to depth, stereo or rgbd too. Subscribing to depth by default...
[ INFO] [1555514315.405255166]: /rtabmap/rtabmapviz: queue_size = 10
[ INFO] [1555514315.405277173]: /rtabmap/rtabmapviz: rgbd_cameras = 1
[ INFO] [1555514315.405289081]: /rtabmap/rtabmapviz: approx_sync = false
[ INFO] [1555514315.405328531]: Setup depth callback
[ INFO] [1555514315.468613875]:
/rtabmap/rtabmapviz subscribed to (exact sync):
/rtabmap/rgb/image,
/rtabmap/depth/image,
/rtabmap/rgb/camera_info,
/Lidar/points,
/rtabmap/odom_info
[ INFO] [1555514315.468690466]: rtabmapviz started.
[ WARN] (2019-04-17 17:18:36.996) RegistrationIcp.cpp:423::parseParameters() Parameter Icp/PM is set to true but RTAB-Map has not been built with libpointmatcher support. Setting to false.
[ WARN] (2019-04-17 17:18:36.996) RegistrationIcp.cpp:423::parseParameters() Parameter Icp/PM is set to true but RTAB-Map has not been built with libpointmatcher support. Setting to false.
[ INFO] [1555514316.997212927]: rtabmap: Database version = "0.17.6".
[ INFO] [1555514317.061885206]: /rtabmap/rtabmap: queue_size = 10
[ INFO] [1555514317.061938733]: /rtabmap/rtabmap: rgbd_cameras = 1
[ INFO] [1555514317.061967233]: /rtabmap/rtabmap: approx_sync = false
[ INFO] [1555514317.062069354]: Setup rgbd callback
[ INFO] [1555514317.079972646]:
/rtabmap/rtabmap subscribed to (exact sync):
/rtabmap/odom,
/rtabmap/rgbd_image,
/rtabmap/assembled_cloud
[ INFO] [1555514317.091830951]: rtabmap 0.17.6 started...
[ WARN] [1555514320.468843538]: /rtabmap/rtabmapviz: 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/rtabmapviz subscribed to (exact sync):
/rtabmap/rgb/image,
/rtabmap/depth/image,
/rtabmap/rgb/camera_info,
/Lidar/points,
/rtabmap/odom_info
[ WARN] [1555514322.080151674]: /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,
/rtabmap/rgbd_image,
/rtabmap/assembled_cloud
[ WARN] [1555514325.469064554]: /rtabmap/rtabmapviz: 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/rtabmapviz subscribed to (exact sync):
/rtabmap/rgb/image,
/rtabmap/depth/image,
/rtabmap/rgb/camera_info,
/Lidar/points,
/rtabmap/odom_info
^C[rtabmap/rtabmapviz-3] killing on exit
[ INFO] [1555514325.949639405]: rtabmapviz: ctrl-c catched! Exiting Qt app...
[rtabmap/rtabmap-2] killing on exit
[rtabmap/icp_odometry-1] killing on exit
rtabmap: Saving database/long-term memory... (located at /home/sdeboffle/.ros/rtabmap.db)
rtabmap: Saving database/long-term memory...done! (located at /home/sdeboffle/.ros/rtabmap.db, 0 MB)
shutting down processing monitor...
... shutting down processing monitor complete
done
is my rtab-map installation is corrut?
thanks