Posted by
shihab_haque on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Troubleshoot-using-rtabmap-with-zed-2-tp6892p6896.html
I didn't use odometry published from the zed2 camera, i.e /zed2/odom , rather I was using rtabmap odometry !
also, another question, i got another warning saying : /scan_map topic is deprecated! Subscribe to /cloud_map topic instead with
. Do "$ rosrun rtabmap_ros rtabmap --params | grep Grid" to see all occupancy grid parameters.
but the description says that Grid/FromDepth should be true for creating occupancy grip map from Depth images ! Should I leave it the way it is?
The parameters I was using :
PARAMETERS
* /rosdistro: melodic
* /rosversion: 1.14.9
* /rtabmap/rgbd_odometry/approx_sync: False
* /rtabmap/rgbd_odometry/config_path:
* /rtabmap/rgbd_odometry/expected_update_rate: 0.0
* /rtabmap/rgbd_odometry/frame_id: base_link
* /rtabmap/rgbd_odometry/ground_truth_base_frame_id:
* /rtabmap/rgbd_odometry/ground_truth_frame_id:
* /rtabmap/rgbd_odometry/guess_frame_id:
* /rtabmap/rgbd_odometry/guess_min_rotation: 0.0
* /rtabmap/rgbd_odometry/guess_min_translation: 0.0
* /rtabmap/rgbd_odometry/max_update_rate: 0.0
* /rtabmap/rgbd_odometry/odom_frame_id: odom
* /rtabmap/rgbd_odometry/publish_tf: True
* /rtabmap/rgbd_odometry/queue_size: 10
* /rtabmap/rgbd_odometry/subscribe_rgbd: False
* /rtabmap/rgbd_odometry/wait_for_transform_duration: 0.2
* /rtabmap/rgbd_odometry/wait_imu_to_init: False
* /rtabmap/rtabmap/Mem/IncrementalMemory: true
* /rtabmap/rtabmap/Mem/InitWMWithAllNodes: false
* /rtabmap/rtabmap/approx_sync: False
* /rtabmap/rtabmap/config_path:
* /rtabmap/rtabmap/database_path: ~/.ros/rtabmap.db
* /rtabmap/rtabmap/frame_id: base_link
* /rtabmap/rtabmap/ground_truth_base_frame_id:
* /rtabmap/rtabmap/ground_truth_frame_id:
* /rtabmap/rtabmap/landmark_angular_variance: 9999.0
* /rtabmap/rtabmap/landmark_linear_variance: 0.0001
* /rtabmap/rtabmap/map_frame_id: map
* /rtabmap/rtabmap/odom_frame_id:
* /rtabmap/rtabmap/odom_sensor_sync: False
* /rtabmap/rtabmap/odom_tf_angular_variance: 1.0
* /rtabmap/rtabmap/odom_tf_linear_variance: 1.0
* /rtabmap/rtabmap/publish_tf: True
* /rtabmap/rtabmap/queue_size: 10
* /rtabmap/rtabmap/scan_cloud_max_points: 0
* /rtabmap/rtabmap/subscribe_depth: True
* /rtabmap/rtabmap/subscribe_odom_info: True
* /rtabmap/rtabmap/subscribe_rgb: True
* /rtabmap/rtabmap/subscribe_rgbd: False
* /rtabmap/rtabmap/subscribe_scan: False
* /rtabmap/rtabmap/subscribe_scan_cloud: False
* /rtabmap/rtabmap/subscribe_scan_descriptor: False
* /rtabmap/rtabmap/subscribe_stereo: False
* /rtabmap/rtabmap/subscribe_user_data: False
* /rtabmap/rtabmap/wait_for_transform_duration: 0.2
* /rtabmap/rtabmapviz/approx_sync: False
* /rtabmap/rtabmapviz/frame_id: base_link
* /rtabmap/rtabmapviz/odom_frame_id:
* /rtabmap/rtabmapviz/queue_size: 10
* /rtabmap/rtabmapviz/subscribe_depth: True
* /rtabmap/rtabmapviz/subscribe_odom_info: True
* /rtabmap/rtabmapviz/subscribe_rgbd: False
* /rtabmap/rtabmapviz/subscribe_scan: False
* /rtabmap/rtabmapviz/subscribe_scan_cloud: False
* /rtabmap/rtabmapviz/subscribe_scan_descriptor: False
* /rtabmap/rtabmapviz/subscribe_stereo: False
* /rtabmap/rtabmapviz/wait_for_transform_duration: 0.2
NODES
/rtabmap/
rgbd_odometry (rtabmap_ros/rgbd_odometry)
rtabmap (rtabmap_ros/rtabmap)
rtabmapviz (rtabmap_ros/rtabmapviz)
ROS_MASTER_URI=
http://localhost:11311process[rtabmap/rgbd_odometry-1]: started with pid [26365]
process[rtabmap/rtabmap-2]: started with pid [26366]
process[rtabmap/rtabmapviz-3]: started with pid [26368]
[ INFO] [1599575582.744059807]: Starting node...
[ INFO] [1599575582.777006318]: Initializing nodelet with 16 worker threads.
[ INFO] [1599575582.783859082]: Initializing nodelet with 16 worker threads.
[ INFO] [1599575582.812070610]: Starting node...
[ INFO] [1599575582.830066878]: Odometry: frame_id = base_link
[ INFO] [1599575582.830096063]: Odometry: odom_frame_id = odom
[ INFO] [1599575582.830112494]: Odometry: publish_tf = true
[ INFO] [1599575582.830131470]: Odometry: wait_for_transform = true
[ INFO] [1599575582.830154374]: Odometry: wait_for_transform_duration = 0.200000
[ INFO] [1599575582.830206052]: Odometry: initial_pose = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000
[ INFO] [1599575582.830218897]: Odometry: ground_truth_frame_id =
[ INFO] [1599575582.830231861]: Odometry: ground_truth_base_frame_id =
[ INFO] [1599575582.830242241]: Odometry: config_path =
[ INFO] [1599575582.830253172]: Odometry: publish_null_when_lost = true
[ INFO] [1599575582.830263271]: Odometry: guess_frame_id =
[ INFO] [1599575582.830277027]: Odometry: guess_min_translation = 0.000000
[ INFO] [1599575582.830288348]: Odometry: guess_min_rotation = 0.000000
[ INFO] [1599575582.830298478]: Odometry: guess_min_time = 0.000000
[ INFO] [1599575582.830309318]: Odometry: expected_update_rate = 0.000000 Hz
[ INFO] [1599575582.830326751]: Odometry: max_update_rate = 0.000000 Hz
[ INFO] [1599575582.830337993]: Odometry: wait_imu_to_init = false
[ INFO] [1599575582.830363551]: Odometry: stereoParams_=0 visParams_=1 icpParams_=0
[ INFO] [1599575582.861494904]: /rtabmap/rtabmap(maps): map_filter_radius = 0.000000
[ INFO] [1599575582.861533398]: /rtabmap/rtabmap(maps): map_filter_angle = 30.000000
[ INFO] [1599575582.861550730]: /rtabmap/rtabmap(maps): map_cleanup = true
[ INFO] [1599575582.861565639]: /rtabmap/rtabmap(maps): map_always_update = false
[ INFO] [1599575582.861580196]: /rtabmap/rtabmap(maps): map_empty_ray_tracing = true
[ INFO] [1599575582.861596918]: /rtabmap/rtabmap(maps): cloud_output_voxelized = true
[ INFO] [1599575582.861619872]: /rtabmap/rtabmap(maps): cloud_subtract_filtering = false
[ INFO] [1599575582.861653375]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1599575582.878944704]: /rtabmap/rtabmap(maps): octomap_tree_depth = 16
[ INFO] [1599575582.910427675]: rtabmap: frame_id = base_link
[ INFO] [1599575582.910473392]: rtabmap: map_frame_id = map
[ INFO] [1599575582.910496616]: rtabmap: use_action_for_goal = false
[ INFO] [1599575582.910517846]: rtabmap: tf_delay = 0.050000
[ INFO] [1599575582.910539818]: rtabmap: tf_tolerance = 0.100000
[ INFO] [1599575582.910564926]: rtabmap: odom_sensor_sync = false
[ INFO] [1599575582.945851500]: rtabmapviz: Using configuration from "/home/shihab/.ros/rtabmap_gui.ini"
[ INFO] [1599575583.184950017, 1498.364000000]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1599575583.185558192, 1498.364000000]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[ INFO] [1599575583.284027430, 1498.428000000]: RGBDOdometry: approx_sync = false
[ INFO] [1599575583.284065873, 1498.428000000]: RGBDOdometry: queue_size = 10
[ INFO] [1599575583.284076844, 1498.428000000]: RGBDOdometry: subscribe_rgbd = false
[ INFO] [1599575583.284102142, 1498.428000000]: RGBDOdometry: rgbd_cameras = 1
[ INFO] [1599575583.296743009, 1498.435000000]:
/rtabmap/rgbd_odometry subscribed to (exact sync):
/zed2/left/image_rect_color,
/zed2/depth/depth_registered,
/zed2/left/camera_info
OpenType support missing for "Ubuntu", script 12
[ INFO] [1599575583.524514274, 1498.600000000]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1599575583.533981804, 1498.606000000]: rtabmap: Deleted database "/home/shihab/.ros/rtabmap.db" (--delete_db_on_start or -d are set).
[ INFO] [1599575587.382990547, 1501.665000000]: /rtabmap/rtabmapviz: subscribe_depth = true
[ INFO] [1599575587.383019342, 1501.665000000]: /rtabmap/rtabmapviz: subscribe_rgb = false
[ INFO] [1599575587.383033428, 1501.665000000]: /rtabmap/rtabmapviz: subscribe_stereo = false
[ INFO] [1599575587.383052374, 1501.665000000]: /rtabmap/rtabmapviz: subscribe_rgbd = false (rgbd_cameras=1)
[ INFO] [1599575587.383063616, 1501.665000000]: /rtabmap/rtabmapviz: subscribe_odom_info = true
[ INFO] [1599575587.383073575, 1501.665000000]: /rtabmap/rtabmapviz: subscribe_user_data = false
[ INFO] [1599575587.383084576, 1501.665000000]: /rtabmap/rtabmapviz: subscribe_scan = false
[ INFO] [1599575587.383096288, 1501.665000000]: /rtabmap/rtabmapviz: subscribe_scan_cloud = false
[ INFO] [1599575587.383111437, 1501.665000000]: /rtabmap/rtabmapviz: subscribe_scan_descriptor = false
[ INFO] [1599575587.383123840, 1501.665000000]: /rtabmap/rtabmapviz: queue_size = 10
[ INFO] [1599575587.383136394, 1501.665000000]: /rtabmap/rtabmapviz: approx_sync = false
[ INFO] [1599575587.383168525, 1501.665000000]: Setup depth callback
[ INFO] [1599575587.460875124, 1501.714000000]:
/rtabmap/rtabmapviz subscribed to (exact sync):
/rtabmap/odom,
/zed2/left/image_rect_color,
/zed2/depth/depth_registered,
/zed2/left/camera_info,
/rtabmap/odom_info
[ INFO] [1599575587.460972298, 1501.714000000]: rtabmapviz started.
[ INFO] [1599575587.477655002, 1501.725000000]: Odom: quality=875, std dev=0.000273m|0.000032rad, update time=0.054597s
[ INFO] [1599575587.712037106, 1501.917000000]: Odom: quality=873, std dev=0.001464m|0.000032rad, update time=0.050321s
[ INFO] [1599575587.858360751, 1502.033000000]: rtabmap: Database version = "0.20.0".
[ INFO] [1599575587.873940520, 1502.046000000]: /rtabmap/rtabmap: subscribe_depth = true
[ INFO] [1599575587.873977139, 1502.046000000]: /rtabmap/rtabmap: subscribe_rgb = true
[ INFO] [1599575587.873996386, 1502.046000000]: /rtabmap/rtabmap: subscribe_stereo = false
[ INFO] [1599575587.874011925, 1502.046000000]: /rtabmap/rtabmap: subscribe_rgbd = false (rgbd_cameras=1)
[ INFO] [1599575587.874034077, 1502.046000000]: /rtabmap/rtabmap: subscribe_odom_info = true
[ INFO] [1599575587.874054306, 1502.046000000]: /rtabmap/rtabmap: subscribe_user_data = false
[ INFO] [1599575587.874072120, 1502.046000000]: /rtabmap/rtabmap: subscribe_scan = false
[ INFO] [1599575587.874087659, 1502.046000000]: /rtabmap/rtabmap: subscribe_scan_cloud = false
[ INFO] [1599575587.874104000, 1502.046000000]: /rtabmap/rtabmap: subscribe_scan_descriptor = false
[ INFO] [1599575587.874120682, 1502.046000000]: /rtabmap/rtabmap: queue_size = 10
[ INFO] [1599575587.874138656, 1502.046000000]: /rtabmap/rtabmap: approx_sync = false
[ INFO] [1599575587.874181317, 1502.046000000]: Setup depth callback
[ INFO] [1599575587.884725562, 1502.052000000]:
/rtabmap/rtabmap subscribed to (exact sync):
/rtabmap/odom,
/zed2/left/image_rect_color,
/zed2/depth/depth_registered,
/zed2/left/camera_info,
/rtabmap/odom_info
[ INFO] [1599575587.955953978, 1502.108000000]: Odom: quality=874, std dev=0.000303m|0.000032rad, update time=0.056572s
[ INFO] [1599575587.992330574, 1502.136000000]: rtabmap 0.20.0 started...