RTAB-Map + rosmon is not running twice

Posted by iprob on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-Map-rosmon-is-not-running-twice-tp8373.html

Hi,

I'm using RTAB-Map with ZED2 and ROS. The ZED2 is plugged in a Jetson Nano that is in the same network with my robot PC. The Jetson is properly publishing the image topics in the robot ROS master, and the robot is publishing its odometry. These topics are consumed by the RTAB-Map, which is running in a rosmon node that I start and stop when I want to create a new map using the rosmon start and stop services. When I start the node for the first time it goes well, but the problem is that if I stop it and in any moment start it again, the RTAB-Map does not map and this warning is prompted:

 [CommonDataSubscriber::warningLoop]: /robot/zed2/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=10).
/robot/zed2/rtabmap subscribed to (approx sync):
             /robot/odom \
             /robot/zed2/zed_node/rgb/image_rect_color \
             /robot/zed2/zed_node/depth/depth_registered \
             /robot/zed2/zed_node/rgb/camera_info

I am using the same method to run a LOAM-based algorithm instead of RTAB-Map and this is not happening. The date and time in the jetson is synchronized so that should not be the problem, and it happens always the second time but not the first and the jetson node is always running. Maybe there is any kind of incompatibility between RTAB-Map and rosmon? Is there anyone that have used rosmon and RTAB-Map?

Thank you in advance,
Inés