running two bag file with the same topics, rtabmap works for one of them, but fails for the other!

Posted by Masoumeh on
URL: http://official-rtab-map-forum.206.s1.nabble.com/running-two-bag-file-with-the-same-topics-rtabmap-works-for-one-of-them-but-fails-for-the-other-tp9170.html

Hi mattieu,

I faced a strange problem. I recorded two bag file with the same topics, in two different environment. when i run rtabmap for one of them, it works fine and starts localisation and mapping, but when i run the other bag file, it showing the following error:


[ INFO] [1666178407.119119970, 1666097980.404289616]: Odom: ratio=0.328588, std dev=0.012211m|0.003861rad, update time=0.029093s
[ INFO] [1666178407.222111806, 1666097980.515903832]: Odom: ratio=0.330183, std dev=0.011590m|0.003665rad, update time=0.031869s
[ INFO] [1666178407.316425285, 1666097980.606755710]: Odom: ratio=0.331432, std dev=0.012092m|0.003824rad, update time=0.024660s
[ INFO] [1666178407.418576240, 1666097980.708707759]: Odom: ratio=0.331598, std dev=0.011884m|0.003758rad, update time=0.031212s
[ WARN] [1666178407.465465303, 1666097980.760439255]: /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"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10).
/rtabmap/rtabmap subscribed to (approx sync):
   /rtabmap/odom \
   /rgbd_image \
   /velodyne_points
[ WARN] [1666178407.465881487, 1666097980.760439255]: /rtabmap/rtabmapviz: 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).
/rtabmap/rtabmapviz subscribed to (approx sync):
   /rtabmap/odom \
   /rgbd_image \
   /rtabmap/odom_filtered_input_scan


Would you please guide me what is the issue? am i able to send to you the bag files?