Official RTAB-Map Forum - Re: Problems with launch and mapping

Re: Problems with launch and mapping

Posted by denzle on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Problems-with-launch-and-mapping-tp6808p6809.html

Errors and other info:

SUMMARY
========

PARAMETERS
* /rosdistro: melodic
* /rosversion: 1.14.6
* /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: false
* /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: 1
* /rtabmap/icp_odometry/OdomF2M/ScanMaxSize: 15000
* /rtabmap/icp_odometry/OdomF2M/ScanSubtractRadius: 0.2
* /rtabmap/icp_odometry/Reg/Strategy: 1
* /rtabmap/icp_odometry/frame_id: os1_sensor
* /rtabmap/icp_odometry/guess_frame_id: os1_sensor
* /rtabmap/icp_odometry/wait_imu_to_init: False
* /rtabmap/point_cloud_assembler/fixed_frame_id: fusion
* /rtabmap/point_cloud_assembler/max_clouds: 10
* /rtabmap/rgbd_sync/approx_sync: False
* /rtabmap/rtabmap/Grid/CellSize: 0.1
* /rtabmap/rtabmap/Grid/ClusterRadius: 1
* /rtabmap/rtabmap/Grid/FromDepth: true
* /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: false
* /rtabmap/rtabmap/Icp/PointToPlaneK: 20
* /rtabmap/rtabmap/Icp/PointToPlaneRadius: 0
* /rtabmap/rtabmap/Icp/VoxelSize: 0.2
* /rtabmap/rtabmap/Kp/DetectorStrategy: 6
* /rtabmap/rtabmap/Kp/MaxFeatures: 400
* /rtabmap/rtabmap/Mem/RehearsalSimilarity: 0.45
* /rtabmap/rtabmap/Optimizer/Strategy: 0
* /rtabmap/rtabmap/RGBD/AngularUpdate: 0.01
* /rtabmap/rtabmap/RGBD/LinearUpdate: 0.01
* /rtabmap/rtabmap/RGBD/NeighborLinkRefining: true
* /rtabmap/rtabmap/RGBD/OptimizeFromGraphEnd: false
* /rtabmap/rtabmap/RGBD/OptimizeMaxError: 0
* /rtabmap/rtabmap/RGBD/ProximityBySpace: true
* /rtabmap/rtabmap/RGBD/ProximityPathMaxNeighbors: 1
* /rtabmap/rtabmap/Reg/Force3DoF: true
* /rtabmap/rtabmap/Reg/Strategy: 1
* /rtabmap/rtabmap/Rtabmap/TimeThr: 0
* /rtabmap/rtabmap/Vis/FeatureType: 6
* /rtabmap/rtabmap/Vis/MinInliers: 15
* /rtabmap/rtabmap/approx_sync: False
* /rtabmap/rtabmap/frame_id: os1_sensor
* /rtabmap/rtabmap/queue_size: 10
* /rtabmap/rtabmap/scan_cloud_max_points: 32768
* /rtabmap/rtabmap/subscribe_depth: False
* /rtabmap/rtabmap/subscribe_rgb: False
* /rtabmap/rtabmap/subscribe_rgbd: True
* /rtabmap/rtabmap/subscribe_scan_cloud: True
* /rtabmap/rtabmapviz/approx_sync: False
* /rtabmap/rtabmapviz/frame_id: os1_sensor
* /rtabmap/rtabmapviz/odom_frame_id: /odom
* /rtabmap/rtabmapviz/subscribe_depth: False
* /rtabmap/rtabmapviz/subscribe_odom_info: True
* /rtabmap/rtabmapviz/subscribe_scan_cloud: True

NODES
/
img_node (ouster_ros/img_node)
viz_node (ouster_ros/viz_node)
/rtabmap/
icp_odometry (rtabmap_ros/icp_odometry)
point_cloud_assembler (nodelet/nodelet)
rgbd_sync (nodelet/nodelet)
rtabmap (rtabmap_ros/rtabmap)
rtabmapviz (rtabmap_ros/rtabmapviz)

ROS_MASTER_URI=http://localhost:11311

process[viz_node-1]: started with pid [4729]
process[img_node-2]: started with pid [4730]
process[rtabmap/rgbd_sync-3]: started with pid [4731]
type is rtabmap_ros/rgbd_sync
process[rtabmap/icp_odometry-4]: started with pid [4742]
process[rtabmap/rtabmap-5]: started with pid [4756]
process[rtabmap/point_cloud_assembler-6]: started with pid [4757]
type is rtabmap_ros/point_cloud_assembler
process[rtabmap/rtabmapviz-7]: started with pid [4762]
[ INFO] [1596141701.898509015]: Starting node...
[ INFO] [1596141701.924126783]: Initializing nodelet with 8 worker threads.
[ INFO] [1596141701.935650392]: Initializing nodelet with 8 worker threads.
[ INFO] [1596141702.012608909]: Odometry: frame_id = os1_sensor
[ INFO] [1596141702.012808542]: Odometry: odom_frame_id = odom
[ INFO] [1596141702.012996005]: Odometry: publish_tf = true
[ INFO] [1596141702.013175997]: Odometry: wait_for_transform = true
[ INFO] [1596141702.013396351]: Odometry: wait_for_transform_duration = 0.100000
[ INFO] [1596141702.013631144]: Odometry: initial_pose = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000
[ INFO] [1596141702.013818457]: Odometry: ground_truth_frame_id =
[ INFO] [1596141702.013993740]: Odometry: ground_truth_base_frame_id = os1_sensor
[ INFO] [1596141702.014157793]: Odometry: config_path =
[ INFO] [1596141702.014327665]: Odometry: publish_null_when_lost = true
[ INFO] [1596141702.014496268]: Odometry: guess_frame_id = os1_sensor
[ INFO] [1596141702.014668201]: Odometry: guess_min_translation = 0.000000
[ INFO] [1596141702.014840803]: Odometry: guess_min_rotation = 0.000000
[ INFO] [1596141702.015012626]: Odometry: guess_min_time = 0.000000
[ INFO] [1596141702.015184089]: Odometry: expected_update_rate = 0.000000 Hz
[ INFO] [1596141702.015356382]: Odometry: max_update_rate = 0.000000 Hz
[ INFO] [1596141702.015523464]: Odometry: wait_imu_to_init = false
[ INFO] [1596141702.015730507]: Odometry: stereoParams_=0 visParams_=0 icpParams_=1
[ INFO] [1596141702.019909193]: Setting odometry parameter "Icp/CorrespondenceRatio"="0.01"
[ INFO] [1596141702.020641315]: Setting odometry parameter "Icp/DownsamplingStep"="1"
[ INFO] [1596141702.022217339]: Setting odometry parameter "Icp/Epsilon"="0.001"
[ INFO] [1596141702.022906779]: Setting odometry parameter "Icp/Iterations"="10"
[ INFO] [1596141702.023639661]: Setting odometry parameter "Icp/MaxCorrespondenceDistance"="1"
[ INFO] [1596141702.025197234]: Setting odometry parameter "Icp/MaxTranslation"="2"
[ INFO] [1596141702.027133895]: Setting odometry parameter "Icp/PM"="true"
[ INFO] [1596141702.034421968]: Setting odometry parameter "Icp/PMOutlierRatio"="0.7"
[ INFO] [1596141702.034887635]: Setting odometry parameter "Icp/PointToPlane"="false"
[ INFO] [1596141702.035165589]: Setting odometry parameter "Icp/PointToPlaneK"="20"
[ INFO] [1596141702.036136045]: Setting odometry parameter "Icp/PointToPlaneRadius"="0"
[ INFO] [1596141702.039491337]: Setting odometry parameter "Icp/VoxelSize"="0.2"
[ INFO] [1596141702.046724949]: /rtabmap/rgbd_sync: approx_sync = false
[ INFO] [1596141702.047816707]: /rtabmap/rgbd_sync: queue_size = 10
[ INFO] [1596141702.047987219]: /rtabmap/rgbd_sync: depth_scale = 1.000000
[ INFO] [1596141702.048061560]: /rtabmap/rgbd_sync: decimation = 1
[ INFO] [1596141702.048134882]: /rtabmap/rgbd_sync: compressed_rate = 0.000000
[ INFO] [1596141702.074724794]:
/rtabmap/rgbd_sync subscribed to (exact sync):
/camera/color/image_raw \
/camera/aligned_depth_to_color/image_raw \
/camera/color/camera_info
[ INFO] [1596141702.076548443]: Setting odometry parameter "Odom/ScanKeyFrameThr"="0.9"
[ INFO] [1596141702.076963700]: Setting odometry parameter "Odom/Strategy"="1"
[ INFO] [1596141702.081271677]: Setting odometry parameter "OdomF2M/ScanMaxSize"="15000"
[ INFO] [1596141702.083946728]: Setting odometry parameter "OdomF2M/ScanSubtractRadius"="0.2"
[ INFO] [1596141702.130028755]: /rtabmap/rtabmap(maps): map_filter_radius = 0.000000
[ INFO] [1596141702.130139177]: /rtabmap/rtabmap(maps): map_filter_angle = 30.000000
[ INFO] [1596141702.130166147]: /rtabmap/rtabmap(maps): map_cleanup = true
[ INFO] [1596141702.130189718]: /rtabmap/rtabmap(maps): map_always_update = false
[ INFO] [1596141702.130208338]: /rtabmap/rtabmap(maps): map_empty_ray_tracing = true
[ INFO] [1596141702.130227778]: /rtabmap/rtabmap(maps): cloud_output_voxelized = true
[ INFO] [1596141702.130245269]: /rtabmap/rtabmap(maps): cloud_subtract_filtering = false
[ INFO] [1596141702.130267179]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1596141702.137113485]: /rtabmap/rtabmap(maps): octomap_tree_depth = 16
[ INFO] [1596141702.166833388]: rtabmap: frame_id = os1_sensor
[ INFO] [1596141702.166879559]: rtabmap: map_frame_id = map
[ INFO] [1596141702.166894129]: rtabmap: use_action_for_goal = false
[ INFO] [1596141702.166910609]: rtabmap: tf_delay = 0.050000
[ INFO] [1596141702.166927739]: rtabmap: tf_tolerance = 0.100000
[ INFO] [1596141702.166941179]: rtabmap: odom_sensor_sync = false
[ INFO] [1596141702.207686133]: Starting node...
[ INFO] [1596141702.224891521]: /rtabmap/point_cloud_assembler: queue_size=5
[ INFO] [1596141702.227779225]: /rtabmap/point_cloud_assembler: fixed_frame_id=fusion
[ INFO] [1596141702.227826406]: /rtabmap/point_cloud_assembler: max_clouds=10
[ INFO] [1596141702.227905237]: /rtabmap/point_cloud_assembler: assembling_time=0.000000s
[ INFO] [1596141702.227954888]: /rtabmap/point_cloud_assembler: skip_clouds=0
[ INFO] [1596141702.227989268]: /rtabmap/point_cloud_assembler: circular_buffer=false
[ INFO] [1596141702.228019339]: /rtabmap/point_cloud_assembler: wait_for_transform_duration=0.100000
[ INFO] [1596141702.228041969]: /rtabmap/point_cloud_assembler: range_min=0.000000
[ INFO] [1596141702.228063229]: /rtabmap/point_cloud_assembler: range_max=0.000000
[ INFO] [1596141702.228080790]: /rtabmap/point_cloud_assembler: voxel_size=0.000000m
[ INFO] [1596141702.228100800]: /rtabmap/point_cloud_assembler: noise_radius=0.000000m
[ INFO] [1596141702.228121360]: /rtabmap/point_cloud_assembler: noise_min_neighbors=5
[ INFO] [1596141702.239026901]:
/rtabmap/point_cloud_assembler subscribed to /os1_cloud_node/points
[ INFO] [1596141702.274003374]: Setting odometry parameter "Reg/Strategy"="1"
[ INFO] [1596141702.314276180]: Setting RTAB-Map parameter "Grid/CellSize"="0.1"
[ INFO] [1596141702.315809785]: Setting RTAB-Map parameter "Grid/ClusterRadius"="1"
[ INFO] [1596141702.326604132]: Setting RTAB-Map parameter "Grid/FromDepth"="true"
[ INFO] [1596141702.326971648]: Setting RTAB-Map parameter "Grid/GroundIsObstacle"="true"
[ INFO] [1596141702.350730948]: Setting RTAB-Map parameter "Grid/RangeMax"="20"
[ WARN] [1596141702.367630520]: IcpOdometry: Transferring value 0.2 of "Icp/VoxelSize" to ros parameter "scan_voxel_size" for convenience. "Icp/VoxelSize" is set to 0.
[ WARN] [1596141702.368157419]: IcpOdometry: Transferring value 20 of "Icp/PointToPlaneK" to ros parameter "scan_normal_k" for convenience.
[ INFO] [1596141702.375205118]: rtabmapviz: Using configuration from "/home/dan/.ros/rtabmapGUI.ini"
[ INFO] [1596141702.387573611]: Setting RTAB-Map parameter "Icp/CorrespondenceRatio"="0.4"
[ INFO] [1596141702.389187566]: IcpOdometry: scan_cloud_max_points = 0
[ INFO] [1596141702.389281637]: IcpOdometry: scan_downsampling_step = 1
[ INFO] [1596141702.389318148]: IcpOdometry: scan_range_min = 0.000000 m
[ INFO] [1596141702.389340318]: IcpOdometry: scan_range_max = 0.000000 m
[ INFO] [1596141702.389361889]: IcpOdometry: scan_voxel_size = 0.200000 m
[ INFO] [1596141702.389384459]: IcpOdometry: scan_normal_k = 20
[ INFO] [1596141702.389413489]: IcpOdometry: scan_normal_radius = 0.000000 m
[ INFO] [1596141702.390735540]: Setting RTAB-Map parameter "Icp/Epsilon"="0.001"
[ INFO] [1596141702.391266238]: Setting RTAB-Map parameter "Icp/Iterations"="10"
[ INFO] [1596141702.391892407]: Setting RTAB-Map parameter "Icp/MaxCorrespondenceDistance"="1"
[ INFO] [1596141702.396128143]: Setting RTAB-Map parameter "Icp/MaxTranslation"="3"
[ INFO] [1596141702.396917206]: Setting RTAB-Map parameter "Icp/PM"="true"
[ INFO] [1596141702.404238169]: Setting RTAB-Map parameter "Icp/PMOutlierRatio"="0.7"
[ INFO] [1596141702.404603765]: Setting RTAB-Map parameter "Icp/PointToPlane"="false"
[ INFO] [1596141702.404968631]: Setting RTAB-Map parameter "Icp/PointToPlaneK"="20"
[ INFO] [1596141702.406891941]: Setting RTAB-Map parameter "Icp/PointToPlaneRadius"="0"
[ INFO] [1596141702.410636290]: Setting RTAB-Map parameter "Icp/VoxelSize"="0.2"
[ INFO] [1596141702.424725698]: Setting RTAB-Map parameter "Kp/DetectorStrategy"="6"
[ INFO] [1596141702.436802886]: Setting RTAB-Map parameter "Kp/MaxFeatures"="400"
[ INFO] [1596141702.469073998]: Setting RTAB-Map parameter "Mem/NotLinkedNodesKept"="false"
[ INFO] [1596141702.472767476]: Setting RTAB-Map parameter "Mem/RehearsalSimilarity"="0.45"
[ INFO] [1596141702.475349536]: Setting RTAB-Map parameter "Mem/STMSize"="30"
[ INFO] [1596141702.498611847]: Setting RTAB-Map parameter "Optimizer/Strategy"="0"
[ INFO] [1596141702.507270342]: Setting RTAB-Map parameter "RGBD/AngularUpdate"="0.01"
[ INFO] [1596141702.514406833]: Setting RTAB-Map parameter "RGBD/LinearUpdate"="0.01"
[ INFO] [1596141702.522930796]: Setting RTAB-Map parameter "RGBD/NeighborLinkRefining"="true"
[ INFO] [1596141702.523924552]: Setting RTAB-Map parameter "RGBD/OptimizeFromGraphEnd"="false"
[ INFO] [1596141702.524254737]: Setting RTAB-Map parameter "RGBD/OptimizeMaxError"="0"
[ INFO] [1596141702.528568183]: Setting RTAB-Map parameter "RGBD/ProximityBySpace"="true"
[ INFO] [1596141702.540488269]: Setting RTAB-Map parameter "RGBD/ProximityPathMaxNeighbors"="1"
[ INFO] [1596141702.543047129]: Setting RTAB-Map parameter "Reg/Force3DoF"="true"
[ INFO] [1596141702.544233437]: Setting RTAB-Map parameter "Reg/Strategy"="1"
[ INFO] [1596141702.546411001]: Setting RTAB-Map parameter "Rtabmap/DetectionRate"="1"
[ INFO] [1596141702.562094355]: Setting RTAB-Map parameter "Rtabmap/TimeThr"="0"
[ INFO] [1596141702.623072413]: Setting RTAB-Map parameter "Vis/FeatureType"="6"
[ INFO] [1596141702.631075218]: Setting RTAB-Map parameter "Vis/MinInliers"="15"
[ WARN] [1596141702.644026849]: IcpOdometry: "scan_cloud_max_points" is not set but input cloud is not dense, for convenience it will be set to 65536 (1024x64)
[ INFO] [1596141702.652671493]: Odom: ratio=0.000000, std dev=99.995000m|99.995000rad, update time=0.000621s
[ INFO] [1596141702.749566871]: Odom: ratio=0.989523, std dev=0.005452m|0.005452rad, update time=0.002618s
[ INFO] [1596141702.775479703]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1596141702.775685847]: rtabmap: Deleted database "/home/dan/.ros/rtabmap.db" (--delete_db_on_start or -d are set).
[ INFO] [1596141702.775724547]: rtabmap: Using database from "/home/dan/.ros/rtabmap.db" (0 MB).
[ WARN] (2020-07-30 21:41:42.777) Features2d.cpp:529::create() BRIEF and FREAK features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2020-07-30 21:41:42.779) Features2d.cpp:529::create() BRIEF and FREAK features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2020-07-30 21:41:42.780) Features2d.cpp:529::create() BRIEF and FREAK features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ INFO] [1596141702.847774868]: Odom: ratio=0.989523, std dev=0.005493m|0.005493rad, update time=0.003712s
[ WARN] (2020-07-30 21:41:42.919) Features2d.cpp:529::create() BRIEF and FREAK features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ INFO] [1596141702.921193799]: rtabmap: Database version = "0.20.2".
[ INFO] [1596141702.950633548]: Odom: ratio=0.974771, std dev=0.005258m|0.005258rad, update time=0.003267s
[ INFO] [1596141702.965490319]: /rtabmap/rtabmap: subscribe_depth = false
[ INFO] [1596141702.965544409]: /rtabmap/rtabmap: subscribe_rgb = false
[ INFO] [1596141702.965579640]: /rtabmap/rtabmap: subscribe_stereo = false
[ INFO] [1596141702.965616211]: /rtabmap/rtabmap: subscribe_rgbd = true (rgbd_cameras=1)
[ INFO] [1596141702.965650431]: /rtabmap/rtabmap: subscribe_odom_info = false
[ INFO] [1596141702.965687732]: /rtabmap/rtabmap: subscribe_user_data = false
[ INFO] [1596141702.965747773]: /rtabmap/rtabmap: subscribe_scan = false
[ INFO] [1596141702.965807484]: /rtabmap/rtabmap: subscribe_scan_cloud = true
[ INFO] [1596141702.965857074]: /rtabmap/rtabmap: subscribe_scan_descriptor = false
[ INFO] [1596141702.965890765]: /rtabmap/rtabmap: queue_size = 10
[ INFO] [1596141702.965925205]: /rtabmap/rtabmap: approx_sync = false
[ INFO] [1596141702.966029477]: Setup rgbd callback
[ INFO] [1596141702.979001678]:
/rtabmap/rtabmap subscribed to (exact sync):
/odom \
/rtabmap/rgbd_image \
/os1_cloud_node/points
[ INFO] [1596141703.042605498]: Odom: ratio=0.978136, std dev=0.005328m|0.005328rad, update time=0.003220s
[ INFO] [1596141703.121004897]: rtabmap 0.20.2 started...
[ INFO] [1596141703.140408469]: Odom: ratio=0.986079, std dev=0.005436m|0.005436rad, update time=0.002513s
[ INFO] [1596141703.242219482]: Odom: ratio=0.989523, std dev=0.005577m|0.005577rad, update time=0.002950s
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
[ INFO] [1596141703.343006200]: Odom: ratio=0.989523, std dev=0.005420m|0.005420rad, update time=0.003487s
[ INFO] [1596141703.443102117]: Odom: ratio=0.975890, std dev=0.005285m|0.005285rad, update time=0.002849s

[ INFO] [1596141751.943481066]: Odom: ratio=0.992991, std dev=0.005504m|0.005504rad, update time=0.003458s
[ INFO] [1596141752.044525841]: Odom: ratio=0.981524, std dev=0.005684m|0.005684rad, update time=0.002612s
[ WARN] [1596141752.076596250]: /rtabmap/rgbd_sync: 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. Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
/rtabmap/rgbd_sync subscribed to (exact sync):
/camera/color/image_raw \
/camera/aligned_depth_to_color/image_raw \
/camera/color/camera_info
[ INFO] [1596141752.145761628]: Odom: ratio=0.978136, std dev=0.005631m|0.005631rad, update time=0.002639s
[ INFO] [1596141752.248610600]: Odom: ratio=0.973654, std dev=0.005905m|0.005905rad, update time=0.003404s

[ INFO] [1596141752.748355725]: Odom: ratio=0.977012, std dev=0.005749m|0.005749rad, update time=0.003592s
[ INFO] [1596141752.846884240]: Odom: ratio=0.977012, std dev=0.005629m|0.005629rad, update time=0.004886s
[ INFO] [1596141752.947600080]: Odom: ratio=0.984936, std dev=0.005824m|0.005824rad, update time=0.003363s
^C[ WARN] [1596141752.981292364]: /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):
/odom \
/rtabmap/rgbd_image \
/os1_cloud_node/points
[rtabmap/rtabmapviz-7] killing on exit