Unable to run rgdb with OpenLoris Scene Dataset

Posted by VK on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Unable-to-run-rgdb-with-OpenLoris-Scene-Dataset-tp7752.html

Dear Mathieu,

I'm trying to use rtabmap's rgbd_odometry on a bag file from OpenLoris Scene Dataset https://lifelong-robotic-vision.github.io/dataset/scene.html and I keep receive the following warning
[ WARN] [1617208938.818289296, 1560004895.400903523]: /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.

I double checked the name topics from the bag file, I "played" with various values for the queue size but nothing changed,

When I simply play the bag file, rostopic list seems to be ok:
$ rostopic list
/clock
/d400/accel/imu_info
/d400/accel/sample
/d400/aligned_depth_to_color/camera_info
/d400/aligned_depth_to_color/image_raw
/d400/color/camera_info
/d400/color/image_raw
/d400/depth/camera_info
/d400/depth/image_raw
/d400/gyro/imu_info
/d400/gyro/sample
/d400/imu0
/gt
/odom
/rosout
/rosout_agg
/scan
/t265/accel/imu_info
/t265/accel/sample
/t265/fisheye1/camera_info
/t265/fisheye1/image_raw
/t265/fisheye2/camera_info
/t265/fisheye2/image_raw
/t265/gyro/imu_info
/t265/gyro/sample
/tf_static

I also checked if data  are actually published while the bag is playing
$ rostopic hz /d400/color/image_raw
subscribed to [/d400/color/image_raw]
WARNING: may be using simulated time
no new messages
no new messages
no new messages
average rate: 29.992
        min: 0.030s max: 0.041s std dev: 0.00475s window: 24
average rate: 30.005
        min: 0.030s max: 0.042s std dev: 0.00474s window: 54
average rate: 29.993
        min: 0.030s max: 0.042s std dev: 0.00474s window: 84
average rate: 29.995
        min: 0.030s max: 0.042s std dev: 0.00474s window: 114
average rate: 29.936
        min: 0.030s max: 0.043s std dev: 0.00453s window: 144

I am trying to launch the rgbd_odomerty as following:
roslaunch rtabmap_ros rtabmap.launch    \
   rtabmapviz:=true \
   approx_sync:=true \
   use_sim_time:=true \
   visual_odometry:=true \
   rgbd_odometry:=true \
   depth:=true \
   subscribe_depth:=true \
   frame_id:=base_link \
   camera_info_topic:=/d400/color/camera_info \
   depth_camera_info_topic:=/d400/depth/camera_info \
   rgb_topic:=/d400/color/image_raw \
   depth_topic:=/d400/depth/image_raw \
   queue_size:=30 \
   args:="-d  \
      --Odom/Strategy 0 \
      --Reg/Strategy 0 \
      --Vis/FeatureType 8 \
      --Kp/DetectorStrategy 8"

One thing I noticed is that when using the  $ rosrun tf view_frames, I only take the tf_static transform (which is a tf2 message, not timestamped)
cafe1-1.pdf

Any, advice?