Posted by
esutton on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-Map-with-only-scan-and-IMU-odometry-tp6592.html
I'm attempting to implement RTAB-Map on my RC car, and I could really use some help. It has a lidar and IMU, no camera. I attempted to use the launch file in this answer:
https://answers.ros.org/question/321879/is-it-possible-to-use-rtabmap_ros-with-only-scan-data/, but it looks like it's not reading the scan data from my bag file. I've tried two checks:
1) rostopic echo /tf_static returns the transforms for /base_link to /base_imu_link, /base_link to /laser, and base_link to /base_footprint.
2) rostopic echo /scan shows the scan data as expected.
I built rtabmap from source with libpointmatcher. Is there something obvious that I'm doing wrong? Thanks for your help.
SUMMARY
========
PARAMETERS
* /rosdistro: melodic
* /rosversion: 1.14.5
* /rtabmap/rtabmap/RGBD/NeighborLinkRefining: True
* /rtabmap/rtabmap/Reg/Force3DoF: True
* /rtabmap/rtabmap/Reg/Strategy: 1
* /rtabmap/rtabmap/frame_id: base_link
* /rtabmap/rtabmap/odom_frame_id: odom
* /rtabmap/rtabmap/odom_tf_angular_variance: 0.05
* /rtabmap/rtabmap/odom_tf_linear_variance: 0.01
* /rtabmap/rtabmap/subscribe_depth: False
* /rtabmap/rtabmap/subscribe_rgb: False
* /rtabmap/rtabmap/subscribe_scan: True
* /rtabmap/rtabmap/wait_for_transform_duration: 1
* /use_sim_time: True
NODES
/rtabmap/
rtabmap (rtabmap_ros/rtabmap)
rtabmapviz (rtabmap_ros/rtabmapviz)
auto-starting new master
process[master]: started with pid [6448]
ROS_MASTER_URI=
http://localhost:11311setting /run_id to 25cee56c-7aa3-11ea-8ff7-dcf505efc641
process[rosout-1]: started with pid [6459]
started core service [/rosout]
process[rtabmap/rtabmap-2]: started with pid [6466]
process[rtabmap/rtabmapviz-3]: started with pid [6467]
[ INFO] [1586465172.975675497]: Starting node...
[ INFO] [1586465172.997145357]: Initializing nodelet with 8 worker threads.
[ INFO] [1586465173.076381581]: Starting node...
[ INFO] [1586465173.124373462]: /rtabmap/rtabmap(maps): map_filter_radius = 0.000000
[ INFO] [1586465173.124411713]: /rtabmap/rtabmap(maps): map_filter_angle = 30.000000
[ INFO] [1586465173.124427903]: /rtabmap/rtabmap(maps): map_cleanup = true
[ INFO] [1586465173.124443051]: /rtabmap/rtabmap(maps): map_always_update = false
[ INFO] [1586465173.124457198]: /rtabmap/rtabmap(maps): map_empty_ray_tracing = true
[ INFO] [1586465173.124468438]: /rtabmap/rtabmap(maps): cloud_output_voxelized = true
[ INFO] [1586465173.124480701]: /rtabmap/rtabmap(maps): cloud_subtract_filtering = false
[ INFO] [1586465173.124494717]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1586465173.127673093]: /rtabmap/rtabmap(maps): octomap_tree_depth = 16
[ INFO] [1586465173.143784067]: rtabmap: frame_id = base_link
[ INFO] [1586465173.143825154]: rtabmap: odom_frame_id = odom
[ INFO] [1586465173.143838278]: rtabmap: map_frame_id = map
[ INFO] [1586465173.143850351]: rtabmap: use_action_for_goal = false
[ INFO] [1586465173.143868775]: rtabmap: tf_delay = 0.050000
[ INFO] [1586465173.143879485]: rtabmap: tf_tolerance = 0.100000
[ INFO] [1586465173.143889303]: rtabmap: odom_sensor_sync = false
[ INFO] [1586465173.206838485]: rtabmapviz: Using configuration from "/home/offset/.ros/rtabmapGUI.ini"
[ INFO] [1586465173.324961001]: Setting RTAB-Map parameter "RGBD/NeighborLinkRefining"="true"
[ INFO] [1586465173.336221884]: Setting RTAB-Map parameter "Reg/Force3DoF"="true"
[ INFO] [1586465173.337755974]: Setting RTAB-Map parameter "Reg/Strategy"="1"
[ WARN] [1586465173.506830430]: 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] [1586465173.507042695]: Setting "Grid/RangeMax" parameter to 0 (default 5.000000) as "subscribe_scan" or "subscribe_scan_cloud" is true.
[ WARN] [1586465173.507201540]: Setting "RGBD/ProximityPathMaxNeighbors" parameter to 10 (default 0) as "subscribe_scan" is true and "Reg/Strategy" uses ICP. Proximity detection by space will be also done by merging close scans. To disable, set "RGBD/ProximityPathMaxNeighbors" to 0. To suppress this warning, add
[ INFO] [1586465173.508605538]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1586465173.508919502]: rtabmap: Deleted database "/home/offset/.ros/rtabmap.db" (--delete_db_on_start or -d are set).
[ INFO] [1586465173.508994722]: rtabmap: Using database from "/home/offset/.ros/rtabmap.db" (0 MB).
[ INFO] [1586465173.572830260]: rtabmap: Database version = "0.19.6".
[ INFO] [1586465173.604950941]: /rtabmap/rtabmap: subscribe_depth = false
[ INFO] [1586465173.605018597]: /rtabmap/rtabmap: subscribe_rgb = false
[ INFO] [1586465173.605047441]: /rtabmap/rtabmap: subscribe_stereo = false
[ INFO] [1586465173.605088317]: /rtabmap/rtabmap: subscribe_rgbd = false (rgbd_cameras=1)
[ INFO] [1586465173.605122250]: /rtabmap/rtabmap: subscribe_odom_info = false
[ INFO] [1586465173.605155031]: /rtabmap/rtabmap: subscribe_user_data = false
[ INFO] [1586465173.605189615]: /rtabmap/rtabmap: subscribe_scan = true
[ INFO] [1586465173.605220001]: /rtabmap/rtabmap: subscribe_scan_cloud = false
[ INFO] [1586465173.605257641]: /rtabmap/rtabmap: queue_size = 10
[ INFO] [1586465173.605295241]: /rtabmap/rtabmap: approx_sync = false
[ INFO] [1586465173.605400807]: Setup scan callback
[ INFO] [1586465173.609202531]:
/rtabmap/rtabmap subscribed to:
/scan
[ WARN] [1586465173.609305222]: There is no image subscription, bag-of-words loop closure detection will be disabled...
[ WARN] [1586465173.609355776]: Setting Kp/MaxFeatures=-1 (bag-of-words disabled)
[ INFO] [1586465173.692464886]: rtabmap 0.19.6 started...
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
[ INFO] [1586465174.248309976]: Reading parameters from the ROS server...
[ INFO] [1586465174.480078831]: Parameters read = 318
[ INFO] [1586465174.480138872]: Parameters successfully read.
[ INFO] [1586465174.646604689]: /rtabmap/rtabmapviz: subscribe_depth = false
[ INFO] [1586465174.646635827]: /rtabmap/rtabmapviz: subscribe_rgb = false
[ INFO] [1586465174.646646266]: /rtabmap/rtabmapviz: subscribe_stereo = false
[ INFO] [1586465174.646655794]: /rtabmap/rtabmapviz: subscribe_rgbd = false (rgbd_cameras=1)
[ INFO] [1586465174.646665091]: /rtabmap/rtabmapviz: subscribe_odom_info = false
[ INFO] [1586465174.646675380]: /rtabmap/rtabmapviz: subscribe_user_data = false
[ INFO] [1586465174.646688024]: /rtabmap/rtabmapviz: subscribe_scan = false
[ INFO] [1586465174.646703112]: /rtabmap/rtabmapviz: subscribe_scan_cloud = false
[ INFO] [1586465174.646718420]: /rtabmap/rtabmapviz: queue_size = 10
[ INFO] [1586465174.646736293]: /rtabmap/rtabmapviz: approx_sync = true
[ INFO] [1586465174.646780375]: Setup scan callback
[ INFO] [1586465174.649749202]:
/rtabmap/rtabmapviz subscribed to:
/rtabmap/odom
[ INFO] [1586465174.649894542]: rtabmapviz started.
[ WARN] [1586465178.936559694, 1584814422.207412331]: Could not get transform from base_link to laser after 1.000000 seconds (for stamp=1584814421.254500)! Error="canTransform: source_frame laser does not exist.. canTransform returned after 1.006 timeout was 1.".
[ERROR] [1586465178.936667064, 1584814422.207412331]: Could not convert laser scan msg! Aborting rtabmap update...
[ WARN] [1586465179.942588634, 1584814423.213351253]: Could not get transform from base_link to laser after 1.000000 seconds (for stamp=1584814422.261556)! Error="canTransform: source_frame laser does not exist.. canTransform returned after 1.00594 timeout was 1.".