Did Not Receive data within 5 secs

Posted by bruchpilot123 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Did-Not-Receive-data-within-5-secs-tp7626.html

Hello everybody,

i am currently working on my bachelor thesis and i am quite stuck for two days now.
I have following error:

[ WARN] [1615475290.390958688]: /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=1000).
/rtabmap subscribed to (approx sync):
   /zedA/zed_node_A/odom \
   /zedA/zed_node_A/rgb/image_rect_color \
   /zedA/zed_node_A/depth/depth_registered \
   /zedA/zed_node_A/rgb/camera_info \
   /bf_lidar/points_raw

But if I check with hz topic, everything seems to be normal:

                 topic                     rate   min_delta   max_delta   std_dev    window
===========================================================================================
/zedA/zed_node_A/odom                     28.53   6.104e-05   0.09813     0.01571    1373
/zedA/zed_node_A/rgb/image_rect_color     14.92   0.02464     0.2635      0.01287    1373
/zedA/zed_node_A/depth/depth_registered   14.99   0.02365     0.1135      0.01048    721
/zedA/zed_node_A/rgb/camera_info          29.99   7.582e-05   0.1122      0.03309    721
/bf_lidar/points_raw                      6.292   0.1442      0.1699      0.004314   720

My launch file is the following:

   

<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
        <remap from="/odom" to="/zedA/zed_node_A/odom" />
        <remap from="/rgb/image" to="/zedA/zed_node_A/rgb/image_rect_color"/>
        <remap from="/rgb/camera_info" to="/zedA/zed_node_A/rgb/camera_info"/>
        <remap from="/depth/image" to="/zedA/zed_node_A/depth/depth_registered"/>
        <remap from="/scan_cloud" to="/bf_lidar/points_raw"/>
        <param name="Optimizer/Iterations" type="int" value="50"/>
        <param name="subscribe_depth"      type="bool" value="true"/>
        <param name="subscribe_scan_cloud" type="bool" value="true"/>
        <param name="subscribe_stereo"     type="bool" value ="false"/>
        <param name="frame_id"             type="string" value="base_link"/>
        <param name="map_frame_id"         type="string" value ="map"/>
        <param name="publish_tf"           type="bool" value ="false"/>
        <param name="subscribe_rgb" type="bool" value="false"/>
        <param name="Grid/FromDepth" type="string" value="false"/>
        <param name="queue_size" type="int" value="1000"/>
    </node>
</launch>

I am using a ZED2 Camera on a Nvidia Jetson (single system).


Please help me, i feel totally lost and i really need to get run rtabmap.

Kindly regards

bruchpilot123