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visual odometry process dies

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maogic

visual odometry process dies

Hello Mathieu,

I want to use rtabmap to aggregate point cloud and generate a 3D map. I'm running on Ubuntu 16.04 with ROS kinetic, PCL 1.8. The camera I'm using is Orbbec Astra Pro and I'm using libuvc for rgb image.

I was able to run rtabmap and generate the 3D map successfully on my desktop but when I work on the laptop, rtabmap cannot start successfully. Here is the output I get:

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mzwang@mzwang-Lenovo-Y700:/opt/ros/kinetic/share/rtabmap_ros/launch$ roslaunch rtabmap_ros rgbd_mapping.launch
... logging to /home/mzwang/.ros/log/6f951c10-8e5b-11e8-97df-a434d9607886/roslaunch-mzwang-Lenovo-Y700-19403.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://mzwang-Lenovo-Y700:41059/

SUMMARY
========

PARAMETERS
* /rosdistro: kinetic
* /rosversion: 1.12.13
* /rtabmap/rgbd_odometry/approx_sync: True
* /rtabmap/rgbd_odometry/config_path:
* /rtabmap/rgbd_odometry/frame_id: camera_link
* /rtabmap/rgbd_odometry/ground_truth_base_frame_id:
* /rtabmap/rgbd_odometry/ground_truth_frame_id:
* /rtabmap/rgbd_odometry/guess_frame_id:
* /rtabmap/rgbd_odometry/guess_min_rotation: 0.0
* /rtabmap/rgbd_odometry/guess_min_translation: 0.0
* /rtabmap/rgbd_odometry/odom_frame_id: /odom
* /rtabmap/rgbd_odometry/queue_size: 10
* /rtabmap/rgbd_odometry/subscribe_rgbd: False
* /rtabmap/rgbd_odometry/wait_for_transform_duration: 0.2
* /rtabmap/rtabmap/Mem/IncrementalMemory: true
* /rtabmap/rtabmap/Mem/InitWMWithAllNodes: false
* /rtabmap/rtabmap/approx_sync: True
* /rtabmap/rtabmap/config_path:
* /rtabmap/rtabmap/database_path: ~/.ros/rtabmap.db
* /rtabmap/rtabmap/frame_id: camera_link
* /rtabmap/rtabmap/ground_truth_base_frame_id:
* /rtabmap/rtabmap/ground_truth_frame_id:
* /rtabmap/rtabmap/map_frame_id: map
* /rtabmap/rtabmap/odom_frame_id:
* /rtabmap/rtabmap/odom_sensor_sync: False
* /rtabmap/rtabmap/odom_tf_angular_variance: 1.0
* /rtabmap/rtabmap/odom_tf_linear_variance: 1.0
* /rtabmap/rtabmap/queue_size: 10
* /rtabmap/rtabmap/scan_normal_k: 0
* /rtabmap/rtabmap/subscribe_depth: True
* /rtabmap/rtabmap/subscribe_odom_info: True
* /rtabmap/rtabmap/subscribe_rgbd: False
* /rtabmap/rtabmap/subscribe_scan: False
* /rtabmap/rtabmap/subscribe_scan_cloud: False
* /rtabmap/rtabmap/subscribe_stereo: False
* /rtabmap/rtabmap/subscribe_user_data: False
* /rtabmap/rtabmap/wait_for_transform_duration: 0.2
* /rtabmap/rtabmapviz/approx_sync: True
* /rtabmap/rtabmapviz/frame_id: camera_link
* /rtabmap/rtabmapviz/odom_frame_id:
* /rtabmap/rtabmapviz/queue_size: 10
* /rtabmap/rtabmapviz/subscribe_depth: True
* /rtabmap/rtabmapviz/subscribe_odom_info: True
* /rtabmap/rtabmapviz/subscribe_rgbd: False
* /rtabmap/rtabmapviz/subscribe_scan: False
* /rtabmap/rtabmapviz/subscribe_scan_cloud: False
* /rtabmap/rtabmapviz/subscribe_stereo: False
* /rtabmap/rtabmapviz/wait_for_transform_duration: 0.2

NODES
/rtabmap/
rgbd_odometry (rtabmap_ros/rgbd_odometry)
rtabmap (rtabmap_ros/rtabmap)
rtabmapviz (rtabmap_ros/rtabmapviz)

ROS_MASTER_URI=http://localhost:11311

process[rtabmap/rgbd_odometry-1]: started with pid [19420]
process[rtabmap/rtabmap-2]: started with pid [19421]
process[rtabmap/rtabmapviz-3]: started with pid [19422]
[ INFO] [1532338490.077494937]: Starting node...
[ INFO] [1532338490.095900920]: Initializing nodelet with 8 worker threads.
[ INFO] [1532338490.099140069]: Initializing nodelet with 8 worker threads.
[ INFO] [1532338490.209587836]: Starting node...
[ INFO] [1532338490.310373425]: rtabmapviz: Using configuration from "/home/mzwang/.ros/rtabmap_gui.ini"
[ INFO] [1532338490.314881848]: /rtabmap/rtabmap(maps): map_filter_radius = 0.000000
[ INFO] [1532338490.314907096]: /rtabmap/rtabmap(maps): map_filter_angle = 30.000000
[ INFO] [1532338490.314917407]: /rtabmap/rtabmap(maps): map_cleanup = true
[ INFO] [1532338490.314929457]: /rtabmap/rtabmap(maps): map_negative_poses_ignored = true
[ INFO] [1532338490.314937805]: /rtabmap/rtabmap(maps): map_negative_scan_ray_tracing = true
[ INFO] [1532338490.314949761]: /rtabmap/rtabmap(maps): cloud_output_voxelized = true
[ INFO] [1532338490.314960398]: /rtabmap/rtabmap(maps): cloud_subtract_filtering = false
[ INFO] [1532338490.314970461]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1532338490.330381848]: Odometry: frame_id = camera_link
[ INFO] [1532338490.330451924]: Odometry: odom_frame_id = /odom
[ INFO] [1532338490.330489848]: Odometry: publish_tf = true
[ INFO] [1532338490.330519810]: Odometry: wait_for_transform = true
[ INFO] [1532338490.330559377]: Odometry: wait_for_transform_duration = 0.200000
[ INFO] [1532338490.330608016]: Odometry: initial_pose = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000
[ INFO] [1532338490.330638843]: Odometry: ground_truth_frame_id =
[ INFO] [1532338490.330669350]: Odometry: ground_truth_base_frame_id =
[ INFO] [1532338490.330698888]: Odometry: config_path =
[ INFO] [1532338490.330728617]: Odometry: publish_null_when_lost = true
[ INFO] [1532338490.330757009]: Odometry: guess_frame_id =
[ INFO] [1532338490.330786781]: Odometry: guess_min_translation = 0.000000
[ INFO] [1532338490.330816980]: Odometry: guess_min_rotation = 0.000000
[ INFO] [1532338490.341737426]: /rtabmap/rtabmap(maps): octomap_tree_depth = 16
[ INFO] [1532338490.391800643]: rtabmap: frame_id = camera_link
[ INFO] [1532338490.391837444]: rtabmap: map_frame_id = map
[ INFO] [1532338490.391863680]: rtabmap: tf_delay = 0.050000
[ INFO] [1532338490.391881025]: rtabmap: tf_tolerance = 0.100000
[ INFO] [1532338490.391900790]: rtabmap: odom_sensor_sync = false
[ INFO] [1532338490.741046852]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1532338490.741784291]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[ INFO] [1532338490.895558073]: RGBDOdometry: approx_sync = true
[ INFO] [1532338490.895591285]: RGBDOdometry: queue_size = 10
[ INFO] [1532338490.895612510]: RGBDOdometry: subscribe_rgbd = false
[ INFO] [1532338490.895641163]: RGBDOdometry: rgbd_cameras = 1
[ INFO] [1532338490.918274855]:
/rtabmap/rgbd_odometry subscribed to (approx sync):
/camera/rgb/image_raw,
/camera/depth_registered/image_raw,
/camera/rgb/camera_info
[ INFO] [1532338491.285973692]: Reading parameters from the ROS server...
[ INFO] [1532338491.545164496]: Parameters read = 0
[FATAL] (2018-07-23 05:34:51.683) OdometryF2M.cpp:980::computeTransform() no valid camera model!
[ INFO] [1532338491.694355041]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1532338491.694440656]: rtabmap: Using database from "/home/mzwang/.ros/rtabmap.db" (0 MB).
[ INFO] [1532338491.719125543]: rtabmap: Database version = "0.17.1".
[ INFO] [1532338491.741691798]: /rtabmap/rtabmap: queue_size = 10
[ INFO] [1532338491.741729779]: /rtabmap/rtabmap: rgbd_cameras = 1
[ INFO] [1532338491.741759038]: /rtabmap/rtabmap: approx_sync = true
[ INFO] [1532338491.741815271]: Setup depth callback
[ INFO] [1532338491.759803349]:
/rtabmap/rtabmap subscribed to (approx sync):
/odom,
/camera/rgb/image_raw,
/camera/depth_registered/image_raw,
/camera/rgb/camera_info,
/rtabmap/odom_info
[ INFO] [1532338491.764449807]: rtabmap 0.17.1 started...
terminate called after throwing an instance of 'UException'
what(): [FATAL] (2018-07-23 05:34:51.683) OdometryF2M.cpp:980::computeTransform() no valid camera model!
[ INFO] [1532338493.114090636]: /rtabmap/rtabmapviz: queue_size = 10
[ INFO] [1532338493.114117305]: /rtabmap/rtabmapviz: rgbd_cameras = 1
[ INFO] [1532338493.114127022]: /rtabmap/rtabmapviz: approx_sync = true
[ INFO] [1532338493.114163377]: Setup depth callback
[ INFO] [1532338493.155660758]:
/rtabmap/rtabmapviz subscribed to (approx sync):
/odom,
/camera/rgb/image_raw,
/camera/depth_registered/image_raw,
/camera/rgb/camera_info,
/rtabmap/odom_info
[ INFO] [1532338493.155769800]: rtabmapviz started.
[ WARN] [1532338496.759952024]: /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):
/odom,
/camera/rgb/image_raw,
/camera/depth_registered/image_raw,
/camera/rgb/camera_info,
/rtabmap/odom_info
[ WARN] [1532338498.155830086]: /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):
/odom,
/camera/rgb/image_raw,
/camera/depth_registered/image_raw,
/camera/rgb/camera_info,
/rtabmap/odom_info
[rtabmap/rgbd_odometry-1] process has died [pid 19420, exit code -6, cmd /opt/ros/kinetic/lib/rtabmap_ros/rgbd_odometry rgb/image:=/camera/rgb/image_raw depth/image:=/camera/depth_registered/image_raw rgb/camera_info:=/camera/rgb/camera_info rgbd_image:=rgbd_image odom:=/odom __name:=rgbd_odometry __log:=/home/mzwang/.ros/log/6f951c10-8e5b-11e8-97df-a434d9607886/rtabmap-rgbd_odometry-1.log].
log file: /home/mzwang/.ros/log/6f951c10-8e5b-11e8-97df-a434d9607886/rtabmap-rgbd_odometry-1*.log
[ WARN] [1532338501.760154682]: /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):
/odom,
/camera/rgb/image_raw,
/camera/depth_registered/image_raw,
/camera/rgb/camera_info,
/rtabmap/odom_info

------------------------------------------------------------------------------------------------------------------------------------------------------

The three /camera topics are alive but the nothing was published to the /odom topic.
Can you help me solve the problem?
Thank you!

Mao

matlabbe

Re: visual odometry process dies

Administrator

Can you show the content of the camera_info?

$ rostopic echo /camera/rgb/camera_info