Re: Livox Avia, + Depth cameras and organized point clouds.

Posted by FPSychoric on Dec 13, 2022; 9:52pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/Livox-Avia-Depth-cameras-and-organized-point-clouds-tp9200p9241.html

Hi, I'm traying to follow your .launch example. I'm using d435i its imu and I have also available the Avia's IMU. In your example you have camera/imu as imu topic, as I do. But in my case this section is not working:

    <!-- IMU orientation estimation and publish tf accordingly to os_sensor frame -->
    <node pkg="nodelet" type="nodelet" name="imu_nodelet_manager" args="manager">
      <remap from="imu/data_raw" to="$(arg imu_topic)"/>
      <remap from="imu/data" to="$(arg imu_topic)/filtered"/>
    </node>
    <node pkg="nodelet" type="nodelet" name="imu_filter" args="load imu_filter_madgwick/ImuFilterNodelet imu_nodelet_manager">
      <param name="use_mag" value="false"/>
      <param name="world_frame" value="enu"/>
      <param name="publish_tf" value="false"/>
    </node>
    <node pkg="nodelet" type="nodelet" name="imu_to_tf" args="load rtabmap_ros/imu_to_tf imu_nodelet_manager">
      <remap from="imu/data" to="$(arg imu_topic)/filtered"/>
      <param name="fixed_frame_id" value="$(arg frame_id)_stabilized"/>
      <param name="base_frame_id" value="$(arg frame_id)"/>
    </node> 
    
    <!-- Lidar Deskewing -->
    <node if="$(arg deskewing)" pkg="nodelet" type="nodelet" name="lidar_deskewing" args="standalone rtabmap_ros/lidar_deskewing" output="screen">
      <param name="wait_for_transform" value="0.01"/>
      <param name="fixed_frame_id" value="$(arg frame_id)_stabilized"/>
      <param name="slerp" value="$(arg slerp)"/>
      <remap from="input_cloud" to="$(arg scan_topic)"/>
    </node>

I receive errors as follow

[ERROR] (2022-12-13 21:49:16.308) CoreWrapper.cpp:2385::imuAsyncCallback() IMU received doesn't have orientation set, it is ignored.
[ERROR] (2022-12-13 21:49:16.313) CoreWrapper.cpp:2385::imuAsyncCallback() IMU received doesn't have orientation set, it is ignored.
[ERROR] (2022-12-13 21:49:16.318) CoreWrapper.cpp:2385::imuAsyncCallback() IMU received doesn't have orientation set, it is ignored.
[ERROR] (2022-12-13 21:49:16.324) CoreWrapper.cpp:2385::imuAsyncCallback() IMU received doesn't have orientation set, it is ignored.
[ERROR] (2022-12-13 21:49:16.328) CoreWrapper.cpp:2385::imuAsyncCallback() IMU received doesn't have orientation set, it is ignored.
[ WARN] [1670968156.333317291]: /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"). Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
/rtabmap/rtabmapviz subscribed to (exact sync):
   /rtabmap/odom_filtered_input_scan \
   /rtabmap/odom_info

And this 

[ WARN] [1670968155.052019801]: /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 \
   /camera/color/image_raw \
   /camera/color/camera_info \
   /rtabmap/assembled_cloud

I had other issues but I were removing erros little to little

In the lidar driver side, this message appear when I run rtabmap in other window

[ERROR] [1670968066.774769420]: Client [/lidar_deskewing] wants topic /livox/lidar to have datatype/md5sum [sensor_msgs/PointCloud2/1158d486dd51d683ce2f1be655c3c181], but our version has [livox_ros_driver/CustomMsg/e4d6829bdfe657cb6c21a746c86b21a6]. Dropping connection.
[ERROR] [1670968144.717018573]: Client [/lidar_deskewing] wants topic /livox/lidar to have datatype/md5sum [sensor_msgs/PointCloud2/1158d486dd51d683ce2f1be655c3c181], but our version has [livox_ros_driver/CustomMsg/e4d6829bdfe657cb6c21a746c86b21a6]. Dropping connection.