The sensor type pointcloud is not available

Hi ANYbotics team!

Thank you for sharing the great work! I got an issue when I launch the elevation map. I Hope could get some help from your guys.

I have recorded the rosbag with realsense D435 and T265. Then I play the rosbag and launch the elevation map, I got an error like this:

PARAMETERS

/elevation_mapping/enable_visibility_cleanup: False
/elevation_mapping/fused_map_publishing_rate: 10
/elevation_mapping/init_submap_height_offset: 0.01
/elevation_mapping/initialization_method: 0
/elevation_mapping/initialize_elevation_map: False
/elevation_mapping/input_sources/camera/publish_on_update: True
/elevation_mapping/input_sources/camera/queue_size: 1
/elevation_mapping/input_sources/camera/sensor_processor/cutoff_max_depth: 3.25
/elevation_mapping/input_sources/camera/sensor_processor/cutoff_min_depth: 0.2
/elevation_mapping/input_sources/camera/sensor_processor/lateral_factor: 0.01576
/elevation_mapping/input_sources/camera/sensor_processor/normal_factor_a: 0.000611
/elevation_mapping/input_sources/camera/sensor_processor/normal_factor_b: 0.003587
/elevation_mapping/input_sources/camera/sensor_processor/normal_factor_c: 0.3515
/elevation_mapping/input_sources/camera/sensor_processor/normal_factor_d: 0
/elevation_mapping/input_sources/camera/sensor_processor/normal_factor_e: 1
/elevation_mapping/input_sources/camera/sensor_processor/type: structured_light
/elevation_mapping/input_sources/camera/topic: /d435/depth/color...
/elevation_mapping/input_sources/camera/type: pointcloud
/elevation_mapping/length_in_x: 3
/elevation_mapping/length_in_x_init_submap: 1.0
/elevation_mapping/length_in_y: 3
/elevation_mapping/length_in_y_init_submap: 1.0
/elevation_mapping/mahalanobis_distance_threshold: 2.5
/elevation_mapping/map_frame_id: map
/elevation_mapping/margin_init_submap: 0.3
/elevation_mapping/max_variance: 0.05
/elevation_mapping/min_update_rate: 2.0
/elevation_mapping/min_variance: 0.0001
/elevation_mapping/multi_height_noise: 0.001
/elevation_mapping/position_x: 0.0
/elevation_mapping/position_y: 0.0
/elevation_mapping/postprocessor_pipeline: [{'type': 'gridMa...
/elevation_mapping/resolution: 0.05
/elevation_mapping/robot_base_frame_id: base_link
/elevation_mapping/robot_motion_map_update/covariance_scale: 0.01
/elevation_mapping/robot_pose_cache_size: 200
/elevation_mapping/robot_pose_with_covariance_topic: /base_link_pose
/elevation_mapping/scanning_duration: 1.0
/elevation_mapping/sensor_processor/ignore_points_above: 0.4
/elevation_mapping/surface_normal_positive_axis: z
/elevation_mapping/target_frame_init_submap: base_link
/elevation_mapping/time_offset_for_point_cloud: 0.0
/elevation_mapping/time_tolerance: 1.0
/elevation_mapping/track_point_frame_id: base_link
/elevation_mapping/track_point_x: 0.0
/elevation_mapping/track_point_y: 0.0
/elevation_mapping/track_point_z: 0.0
/elevation_mapping/visibility_cleanup_rate: 1.0
/rosdistro: melodic
/rosversion: 1.14.10
/use_sim_time: True

NODES / elevation_mapping (elevation_mapping/elevation_mapping) rviz (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[elevation_mapping-1]: started with pid [19895] process[rviz-2]: started with pid [19896] [ WARN] [1627314207.262260646]: Could not find the parameter: algorithm. Setting to default value: 'area'. [ WARN] [1627314207.262782677]: Could not find the parameter: parallelization_enabled. Setting to default value: 'false'. [ WARN] [1627314207.262801917]: Could not find the parameter: thread_number. Setting to default value: 'automatic'. [ INFO] [1627314207.263397473]: Elevation mapping node started. [ INFO] [1627314207.268062300]: Elevation map grid resized to 60 rows and 60 columns. [ERROR] [1627314207.272677919]: The sensor type pointcloud is not available. [elevation_mapping-1] process has died [pid 19895, exit code -11, cmd /home/marmot/realrobot_ws/devel/lib/elevation_mapping/elevation_mapping __name:=elevation_mapping __log:=/home/marmot/.ros/log/45faa8ae-ede7-11eb-b029-b0a460dfc915/elevation_mapping-1.log]. log file: /home/marmot/.ros/log/45faa8ae-ede7-11eb-b029-b0a460dfc915/elevation_mapping-1*.log

here is the config file

I got the pointcloud topic in Rviz and terminal: $ rostopic type /d435/depth/color/points sensor_msgs/PointCloud2

ANYbotics / elevation_mapping

The sensor type pointcloud is not available #178