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-tp8393p9278.html

Thanks for the hint. I added a ROS_WARN inside CoreWrapper.cpp. Unfortunately, the tag callback seems to never be called when running the launch and bagfile.

I tried to debug why that is happening, but everything seems fine. The only thing slightly related that I found was a CMake warning about a missing python module (numpy) in the apriltag package while building the whole catkin workspace. After fixing that related issue, it still does not work.

EDIT: I tried to investigate the problem further and found some weird error messages in the master.log after executing the launch + bag file:

[rosmaster.threadpool][ERROR] 2023-01-03 22:14:18,667: Traceback (most recent call last):
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run
    result = cmd(*args)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rosmaster/master_api.py", line 210, in publisher_update_task
    ret = xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1243, in __call__
    return self.__send(self.__name, args)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1602, in __request
    verbose=self.__verbose
  File "/usr/lib/python2.7/xmlrpclib.py", line 1283, in request
    return self.single_request(host, handler, request_body, verbose)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1316, in single_request
    return self.parse_response(response)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1493, in parse_response
    return u.close()
  File "/usr/lib/python2.7/xmlrpclib.py", line 800, in close
    raise Fault(**self._stack[0])
Fault: <Fault -1: 'publisherUpdate: unknown method name'>

That error occurs 25 times throughout the whole run and is happening quite often for /tf & /tf_static topics:

[rosmaster.master][INFO] 2023-01-03 22:14:18,665: publisherUpdate[/tf_static] -> http://p53:39023/ ['http://p53:41113/']: sec=0.00, exception=<Fault -1: 'publisherUpdate: unknown method name'>

But also one time for rtabmap/cloudmap:

[rosmaster.master][INFO] 2023-01-03 22:14:18,667: publisherUpdate[/rtabmap/cloud_map] -> http://p53:39023/ []: sec=0.00, exception=<Fault -1: 'publisherUpdate: unknown method name'>

I'm not sure if these errors are related to my problem, because I don't understand them good enough to judge. I've read the following: https://github.com/ros/ros_comm/issues/572 --- especially https://github.com/ros/ros_comm/issues/572#issuecomment-89087064 which indicates, that the error occurs when the master can't call updatePublishers method on a node.
On the other hand, the same problem occurs for one user at rosanswers, because a node is both subscribing and publishing to a topic, although the marked answer states that this is not the actual cause of the problem: https://answers.ros.org/question/12870/rosmaster-unresponsive/?answer=19084#post-id-19084