Re: ros-noetic usage
Posted by
xantho on
URL: http://official-rtab-map-forum.206.s1.nabble.com/ros-noetic-usage-tp9609p9612.html
Thanks!
I managed to install and compile the ros package.
Now, I run a modified sensor_fusion.launch file (I have a second file renamed) and when I run
rosrun rtabmap_viz rtabmap_viz
I get a bunch of warnings about parameters not found. A sample follows:
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
[ WARN] [1691695802.851864689]: rtabmap_viz: rtabmap's parameters seem not all there yet! continuing with those there if some...
[ WARN] [1691695802.852541348]: rtabmap_viz: Parameter BRIEF/Bytes not found
[ WARN] [1691695802.853130560]: rtabmap_viz: Parameter BRISK/Octaves not found
[ WARN] [1691695802.853741172]: rtabmap_viz: Parameter BRISK/PatternScale not found
[ WARN] [1691695802.854313535]: rtabmap_viz: Parameter BRISK/Thresh not found
[ WARN] [1691695802.854976338]: rtabmap_viz: Parameter Bayes/FullPredictionUpdate not found
[ WARN] [1691695802.855572809]: rtabmap_viz: Parameter Bayes/PredictionLC not found
[ WARN] [1691695802.856124587]: rtabmap_viz: Parameter Bayes/VirtualPlacePriorThr not found
[ WARN] [1691695802.856622453]: rtabmap_viz: Parameter Db/TargetVersion not found
[ WARN] [1691695802.857101153]: rtabmap_viz: Parameter DbSqlite3/CacheSize not found
[ WARN] [1691695802.857574110]: rtabmap_viz: Parameter DbSqlite3/InMemory not found
[ WARN] [1691695802.858071463]: rtabmap_viz: Parameter DbSqlite3/JournalMode not found
[ WARN] [1691695802.858615275]: rtabmap_viz: Parameter DbSqlite3/Synchronous not found
[ WARN] [1691695802.859286116]: rtabmap_viz: Parameter DbSqlite3/TempStore not found
[ WARN] [1691695802.859805136]: rtabmap_viz: Parameter FAST/CV not found
[ WARN] [1691695802.860221372]: rtabmap_viz: Parameter FAST/Gpu not found
[ WARN] [1691695802.860613992]: rtabmap_viz: Parameter FAST/GpuKeypointsRatio not found
[ WARN] [1691695802.861053459]: rtabmap_viz: Parameter FAST/GridCols not found
[ WARN] [1691695802.861452987]: rtabmap_viz: Parameter FAST/GridRows not found
[ WARN] [1691695802.861850300]: rtabmap_viz: Parameter FAST/MaxThreshold not found
[ WARN] [1691695802.862240583]: rtabmap_viz: Parameter FAST/MinThreshold not found
[ WARN] [1691695802.862685120]: rtabmap_viz: Parameter FAST/NonmaxSuppression not found
[ WARN] [1691695802.863081007]: rtabmap_viz: Parameter FAST/Threshold not found
[ WARN] [1691695802.863537508]: rtabmap_viz: Parameter FREAK/NOctaves not found
[ WARN] [1691695802.864060117]: rtabmap_viz: Parameter FREAK/OrientationNormalized not found
[ WARN] [1691695802.864591496]: rtabmap_viz: Parameter FREAK/PatternScale not found
[ WARN] [1691695802.865043092]: rtabmap_viz: Parameter FREAK/ScaleNormalized not found
[ WARN] [1691695802.865534049]: rtabmap_viz: Parameter GFTT/BlockSize not found
[ WARN] [1691695802.866070082]: rtabmap_viz: Parameter GFTT/K not found
[ WARN] [1691695802.866563677]: rtabmap_viz: Parameter GFTT/MinDistance not found
[ WARN] [1691695802.866988330]: rtabmap_viz: Parameter GFTT/QualityLevel not found
[ WARN] [1691695802.867417879]: rtabmap_viz: Parameter GFTT/UseHarrisDetector not found
[ WARN] [1691695802.867810125]: rtabmap_viz: Parameter GMS/ThresholdFactor not found
[ WARN] [1691695802.868306126]: rtabmap_viz: Parameter GMS/WithRotation not found
[ WARN] [1691695802.868729906]: rtabmap_viz: Parameter GMS/WithScale not found
[ WARN] [1691695802.869095657]: rtabmap_viz: Parameter GTSAM/Optimizer not found
[ WARN] [1691695802.869478042]: rtabmap_viz: Parameter Grid/3D not found
[ WARN] [1691695802.869871653]: rtabmap_viz: Parameter Grid/CellSize not found
[ WARN] [1691695802.870246548]: rtabmap_viz: Parameter Grid/ClusterRadius not found
[ WARN] [1691695802.870677939]: rtabmap_viz: Parameter Grid/DepthDecimation not found
some more in between ...
[ WARN] [1691695803.000032790]: rtabmap_viz: Parameter StereoBM/SpeckleWindowSize not found
[ WARN] [1691695803.000546184]: rtabmap_viz: Parameter StereoBM/TextureThreshold not found
[ WARN] [1691695803.000952335]: rtabmap_viz: Parameter StereoBM/UniquenessRatio not found
[ WARN] [1691695803.001342932]: rtabmap_viz: Parameter StereoSGBM/BlockSize not found
[ WARN] [1691695803.001720756]: rtabmap_viz: Parameter StereoSGBM/Disp12MaxDiff not found
[ WARN] [1691695803.002109353]: rtabmap_viz: Parameter StereoSGBM/MinDisparity not found
[ WARN] [1691695803.002520444]: rtabmap_viz: Parameter StereoSGBM/Mode not found
[ WARN] [1691695803.002901709]: rtabmap_viz: Parameter StereoSGBM/NumDisparities not found
[ WARN] [1691695803.003271786]: rtabmap_viz: Parameter StereoSGBM/P1 not found
[ WARN] [1691695803.003638837]: rtabmap_viz: Parameter StereoSGBM/P2 not found
[ WARN] [1691695803.004011312]: rtabmap_viz: Parameter StereoSGBM/PreFilterCap not found
[ WARN] [1691695803.004381934]: rtabmap_viz: Parameter StereoSGBM/SpeckleRange not found
[ WARN] [1691695803.004753171]: rtabmap_viz: Parameter StereoSGBM/SpeckleWindowSize not found
[ WARN] [1691695803.005147279]: rtabmap_viz: Parameter StereoSGBM/UniquenessRatio not found
[ WARN] [1691695803.005551650]: rtabmap_viz: Parameter SuperPoint/Cuda not found
[ WARN] [1691695803.005985942]: rtabmap_viz: Parameter SuperPoint/ModelPath not found
[ WARN] [1691695803.006427589]: rtabmap_viz: Parameter SuperPoint/NMS not found
[ WARN] [1691695803.006846714]: rtabmap_viz: Parameter SuperPoint/NMSRadius not found
[ WARN] [1691695803.007254885]: rtabmap_viz: Parameter SuperPoint/Threshold not found
[ WARN] [1691695803.007652237]: rtabmap_viz: Parameter VhEp/Enabled not found
[ WARN] [1691695803.008078500]: rtabmap_viz: Parameter VhEp/MatchCountMin not found
[ WARN] [1691695803.008579517]: rtabmap_viz: Parameter VhEp/RansacParam1 not found
[ WARN] [1691695803.009003508]: rtabmap_viz: Parameter VhEp/RansacParam2 not found
[ WARN] [1691695803.009423846]: rtabmap_viz: Parameter Vis/BundleAdjustment not found
[ WARN] [1691695803.009852271]: rtabmap_viz: Parameter Vis/CorFlowEps not found
[ WARN] [1691695803.010275363]: rtabmap_viz: Parameter Vis/CorFlowIterations not found
[ WARN] [1691695803.010689249]: rtabmap_viz: Parameter Vis/CorFlowMaxLevel not found
[ WARN] [1691695803.011099871]: rtabmap_viz: Parameter Vis/CorFlowWinSize not found
[ WARN] [1691695803.011597775]: rtabmap_viz: Parameter Vis/CorGuessMatchToProjection not found
[ WARN] [1691695803.012065286]: rtabmap_viz: Parameter Vis/CorGuessWinSize not found
[ WARN] [1691695803.013160287]: rtabmap_viz: Parameter Vis/CorNNDR not found
[ WARN] [1691695803.014060102]: rtabmap_viz: Parameter Vis/CorNNType not found
[ WARN] [1691695803.015046586]: rtabmap_viz: Parameter Vis/CorType not found
[ WARN] [1691695803.015756292]: rtabmap_viz: Parameter Vis/DepthAsMask not found
[ WARN] [1691695803.016455987]: rtabmap_viz: Parameter Vis/EpipolarGeometryVar not found
[ WARN] [1691695803.017060420]: rtabmap_viz: Parameter Vis/EstimationType not found
[ WARN] [1691695803.017625627]: rtabmap_viz: Parameter Vis/FeatureType not found
[ WARN] [1691695803.018166940]: rtabmap_viz: Parameter Vis/ForwardEstOnly not found
[ WARN] [1691695803.018726559]: rtabmap_viz: Parameter Vis/GridCols not found
[ WARN] [1691695803.019314975]: rtabmap_viz: Parameter Vis/GridRows not found
[ WARN] [1691695803.019924676]: rtabmap_viz: Parameter Vis/InlierDistance not found
[ WARN] [1691695803.020424896]: rtabmap_viz: Parameter Vis/Iterations not found
[ WARN] [1691695803.020879524]: rtabmap_viz: Parameter Vis/MaxDepth not found
[ WARN] [1691695803.021313140]: rtabmap_viz: Parameter Vis/MaxFeatures not found
[ WARN] [1691695803.021905690]: rtabmap_viz: Parameter Vis/MeanInliersDistance not found
[ WARN] [1691695803.022493736]: rtabmap_viz: Parameter Vis/MinDepth not found
[ WARN] [1691695803.023073789]: rtabmap_viz: Parameter Vis/MinInliers not found
[ WARN] [1691695803.023625872]: rtabmap_viz: Parameter Vis/MinInliersDistribution not found
[ WARN] [1691695803.024189871]: rtabmap_viz: Parameter Vis/PnPFlags not found
[ WARN] [1691695803.024804619]: rtabmap_viz: Parameter Vis/PnPMaxVariance not found
[ WARN] [1691695803.025396805]: rtabmap_viz: Parameter Vis/PnPRefineIterations not found
[ WARN] [1691695803.025948229]: rtabmap_viz: Parameter Vis/PnPReprojError not found
[ WARN] [1691695803.026429060]: rtabmap_viz: Parameter Vis/PnPSamplingPolicy not found
[ WARN] [1691695803.026900465]: rtabmap_viz: Parameter Vis/PnPVarianceMedianRatio not found
[ WARN] [1691695803.027312530]: rtabmap_viz: Parameter Vis/RefineIterations not found
[ WARN] [1691695803.027693219]: rtabmap_viz: Parameter Vis/RoiRatios not found
[ WARN] [1691695803.028126028]: rtabmap_viz: Parameter Vis/SubPixEps not found
[ WARN] [1691695803.028650258]: rtabmap_viz: Parameter Vis/SubPixIterations not found
[ WARN] [1691695803.029093538]: rtabmap_viz: Parameter Vis/SubPixWinSize not found
[ WARN] [1691695803.029548995]: rtabmap_viz: Parameter g2o/Baseline not found
[ WARN] [1691695803.029950926]: rtabmap_viz: Parameter g2o/Optimizer not found
[ WARN] [1691695803.030459879]: rtabmap_viz: Parameter g2o/PixelVariance not found
[ WARN] [1691695803.031053430]: rtabmap_viz: Parameter g2o/RobustKernelDelta not found
[ WARN] [1691695803.031617334]: rtabmap_viz: Parameter g2o/Solver not found
[ WARN] [1691695808.413664571]: /rtabmap_viz: 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_viz subscribed to:
/odomHow can I rectify this?