Re: RTAB-Map + rosmon is not running twice

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-Map-rosmon-is-not-running-twice-tp8373p8443.html

Hi Inés,

I never used rosmon, so not sure what it is doing when stopping and starting a node. If you want to pause rtabmap, it is possible to do so with the custom services: rosservice call /rtabmap/pause, rosservice call /rtabmap/resume.

Otherwise when this warning happens, check:

 rostopic hz /robot/odom \
             /robot/zed2/zed_node/rgb/image_rect_color \
             /robot/zed2/zed_node/depth/depth_registered \
             /robot/zed2/zed_node/rgb/camera_info 

to make sure they are all still published. If so, check if the header/timestamp of the messages are all in the same range.

cheers,
Mathieu