Re: How to improve mapping accuracy based on ArUco identification code?

Posted by xsasdA on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-improve-mapping-accuracy-based-on-ArUco-identification-code-tp8393p9239.html

Hello,
thank you very much for the information.

I was able to update RTABMap now. In order to make it work, I had to update librealsense packages as well. Otherwise, I got this error when trying to install rtabmap standalone libraries "rs2::sensor’ has no member named ‘get_active_streams’; did you mean ‘get_option_name’?'" in CameraStereoImages2.cpp.

(Because we were talking about upgrading rtabmap in order to be able to use Marker/Priors, I decided to post my questions/problems regarding this upgrade here. If this is not the right place to post it here, I can repost it as a new question on rtabmap forum or/and realsense forum. Feel free to tell me and sorry in advance.)

If I try to replay my old bagfile now, I get the following errors:

In the rosbag play terminal:

[ERROR] [1670926021.493159740, 1616584700.766188181]: Client [/rtabmap/rtabmap] wants topic /d435_1/rgbd_image to have datatype/md5sum [rtabmap_ros/RGBDImage/affef6cc8804ffba98ce6ed6f1ca8942], but our version has [rtabmap_ros/RGBDImage/a7fa8f34f44b976b3b2dec13c02f9f0e]. Dropping connection.
[ERROR] [1670926021.494318351, 1616584700.766188181]: Client [/rtabmap/rtabmap] wants topic /d435_2/rgbd_image to have datatype/md5sum [rtabmap_ros/RGBDImage/affef6cc8804ffba98ce6ed6f1ca8942], but our version has [rtabmap_ros/RGBDImage/a7fa8f34f44b976b3b2dec13c02f9f0e]. Dropping connection.

In the launchfile terminal that is running rtabmap, apriltag_ros and rviz nodes:

[ WARN] [1670926021.498743601, 1616584700.766188181]: /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):
   /d435_1/rgbd_image \
   /d435_2/rgbd_image \
   /velodyne_points

I checked all the topics, and they do get published (velodyne_points with 5Hz and d435_1&2/rgbd_image with 30Hz):
d435_1 & 2:

[...]
average rate: 29.597
	min: 0.030s max: 0.043s std dev: 0.00440s window: 27
average rate: 29.731
	min: 0.020s max: 0.043s std dev: 0.00495s window: 56
average rate: 29.674
	min: 0.020s max: 0.043s std dev: 0.00516s window: 86
[...]

velodyne_points:

[...]
average rate: 5.137
	min: 0.163s max: 0.207s std dev: 0.01302s window: 9
average rate: 5.078
	min: 0.163s max: 0.207s std dev: 0.01097s window: 14
average rate: 5.054
	min: 0.163s max: 0.207s std dev: 0.00975s window: 19
[...]

I also tried to fix the bag file by checking it first:

rosbag check ivi-apriltag-2.bag
The following migrations need to occur:
 * From: realsense2_camera/IMUInfo [a02adb3a99530b11ba18a16f40f9512a]
   To:   Unknown
    1 rules missing:
     * From: realsense2_camera/IMUInfo [a02adb3a99530b11ba18a16f40f9512a]
       To:   Unknown
 * From: rtabmap_ros/RGBDImage [a7fa8f34f44b976b3b2dec13c02f9f0e]
   To:   rtabmap_ros/RGBDImage [affef6cc8804ffba98ce6ed6f1ca8942]
    1 rules missing:
     * From: rtabmap_ros/RGBDImage [a7fa8f34f44b976b3b2dec13c02f9f0e]
       To:   rtabmap_ros/RGBDImage [affef6cc8804ffba98ce6ed6f1ca8942]
 * From: realsense2_camera/Extrinsics [3627b43073f4cd5dd6dc179a49eda2ad]
   To:   Unknown
    1 rules missing:
     * From: realsense2_camera/Extrinsics [3627b43073f4cd5dd6dc179a49eda2ad]
       To:   Unknown

This seems to indicate that the topics and msg-types have changed.
Do I need to rerecord a bagfile with the new versions to match the new hash of the rtabmap_ros/RGBDImage Topic and would this fix the realsense topic mismatches too? I'm not sure how to fix the migrations that have an Unknown target.

Best regards,
xsasda