doronhi
commented
3 years ago See #1763
Closed Majed-Alsubaie closed 3 years ago
doronhi
commented
3 years ago See #1763
Majed-Alsubaie
commented
3 years ago @doronhi Thanks , its work
Now , i am facing #1310 , https://github.com/introlab/rtabmap_ros/issues/517
MartyG-RealSense
commented
3 years ago @doronhi Thanks very much for the advice to @Majed-Alsubaie
@Majed-Alsubaie Can you confirm please if your new problem is with the stereo baseline like in the two links that you kindly provided, please? Thanks!
Majed-Alsubaie
commented
3 years ago @MartyG-RealSense Hi,, Yes it is with stereo baseline like the two links above
Doing:
roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" left_image_topic:=/camera/infra1/image_rect_raw right_image_topic:=/camera/infra2/image_rect_raw left_camera_info_topic:=/camera/infra1/camera_info right_camera_info_topic:=/camera/infra2/camera_info stereo:=true wait_imu_to_init:=true imu_topic:=/rtabmap/imu
what i got:
PARAMETERS
* /rosdistro: noetic
* /rosversion: 1.15.9
* /rtabmap/rtabmap/Mem/IncrementalMemory: true
* /rtabmap/rtabmap/Mem/InitWMWithAllNodes: false
* /rtabmap/rtabmap/approx_sync: False
* /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/landmark_angular_variance: 9999.0
* /rtabmap/rtabmap/landmark_linear_variance: 0.0001
* /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/publish_tf: True
* /rtabmap/rtabmap/queue_size: 10
* /rtabmap/rtabmap/scan_cloud_max_points: 0
* /rtabmap/rtabmap/subscribe_depth: False
* /rtabmap/rtabmap/subscribe_odom_info: True
* /rtabmap/rtabmap/subscribe_rgb: False
* /rtabmap/rtabmap/subscribe_rgbd: False
* /rtabmap/rtabmap/subscribe_scan: False
* /rtabmap/rtabmap/subscribe_scan_cloud: False
* /rtabmap/rtabmap/subscribe_scan_descriptor: False
* /rtabmap/rtabmap/subscribe_stereo: True
* /rtabmap/rtabmap/subscribe_user_data: False
* /rtabmap/rtabmap/wait_for_transform_duration: 0.2
* /rtabmap/rtabmapviz/approx_sync: False
* /rtabmap/rtabmapviz/frame_id: camera_link
* /rtabmap/rtabmapviz/odom_frame_id:
* /rtabmap/rtabmapviz/queue_size: 10
* /rtabmap/rtabmapviz/subscribe_depth: False
* /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_scan_descriptor: False
* /rtabmap/rtabmapviz/subscribe_stereo: True
* /rtabmap/rtabmapviz/wait_for_transform_duration: 0.2
* /rtabmap/stereo_odometry/approx_sync: False
* /rtabmap/stereo_odometry/config_path:
* /rtabmap/stereo_odometry/expected_update_rate: 0.0
* /rtabmap/stereo_odometry/frame_id: camera_link
* /rtabmap/stereo_odometry/ground_truth_base_frame_id:
* /rtabmap/stereo_odometry/ground_truth_frame_id:
* /rtabmap/stereo_odometry/guess_frame_id:
* /rtabmap/stereo_odometry/guess_min_rotation: 0.0
* /rtabmap/stereo_odometry/guess_min_translation: 0.0
* /rtabmap/stereo_odometry/max_update_rate: 0.0
* /rtabmap/stereo_odometry/odom_frame_id: odom
* /rtabmap/stereo_odometry/publish_tf: True
* /rtabmap/stereo_odometry/queue_size: 10
* /rtabmap/stereo_odometry/subscribe_rgbd: False
* /rtabmap/stereo_odometry/wait_for_transform_duration: 0.2
* /rtabmap/stereo_odometry/wait_imu_to_init: True
NODES
/rtabmap/
rtabmap (rtabmap_ros/rtabmap)
rtabmapviz (rtabmap_ros/rtabmapviz)
stereo_odometry (rtabmap_ros/stereo_odometry)
ROS_MASTER_URI=http://localhost:11311
process[rtabmap/stereo_odometry-1]: started with pid [16856]
process[rtabmap/rtabmap-2]: started with pid [16857]
process[rtabmap/rtabmapviz-3]: started with pid [16858]
[ INFO] [1616632155.321627368]: Starting node...
[ INFO] [1616632155.353845333]: Initializing nodelet with 8 worker threads.
[ INFO] [1616632155.358570837]: Initializing nodelet with 8 worker threads.
[ INFO] [1616632155.410329440]: Odometry: frame_id = camera_link
[ INFO] [1616632155.410358697]: Odometry: odom_frame_id = odom
[ INFO] [1616632155.410370601]: Odometry: publish_tf = true
[ INFO] [1616632155.410381615]: Odometry: wait_for_transform = true
[ INFO] [1616632155.410397717]: Odometry: wait_for_transform_duration = 0.200000
[ INFO] [1616632155.410427322]: Odometry: initial_pose = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000
[ INFO] [1616632155.410438968]: Odometry: ground_truth_frame_id =
[ INFO] [1616632155.410449466]: Odometry: ground_truth_base_frame_id =
[ INFO] [1616632155.410460172]: Odometry: config_path =
[ INFO] [1616632155.410470618]: Odometry: publish_null_when_lost = true
[ INFO] [1616632155.410480973]: Odometry: guess_frame_id =
[ INFO] [1616632155.410491608]: Odometry: guess_min_translation = 0.000000
[ INFO] [1616632155.410502309]: Odometry: guess_min_rotation = 0.000000
[ INFO] [1616632155.410512787]: Odometry: guess_min_time = 0.000000
[ INFO] [1616632155.410523694]: Odometry: expected_update_rate = 0.000000 Hz
[ INFO] [1616632155.410534201]: Odometry: max_update_rate = 0.000000 Hz
[ INFO] [1616632155.410544484]: Odometry: wait_imu_to_init = true
[ INFO] [1616632155.410567765]: Odometry: stereoParams_=1 visParams_=1 icpParams_=0
[ INFO] [1616632155.473228437]: /rtabmap/rtabmap(maps): map_filter_radius = 0.000000
[ INFO] [1616632155.473265664]: /rtabmap/rtabmap(maps): map_filter_angle = 30.000000
[ INFO] [1616632155.473278517]: /rtabmap/rtabmap(maps): map_cleanup = true
[ INFO] [1616632155.473288149]: /rtabmap/rtabmap(maps): map_always_update = false
[ INFO] [1616632155.473297527]: /rtabmap/rtabmap(maps): map_empty_ray_tracing = true
[ INFO] [1616632155.473306373]: /rtabmap/rtabmap(maps): cloud_output_voxelized = true
[ INFO] [1616632155.473317868]: /rtabmap/rtabmap(maps): cloud_subtract_filtering = false
[ INFO] [1616632155.473329433]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1616632155.488149472]: Starting node...
[ INFO] [1616632155.500839826]: /rtabmap/rtabmap(maps): octomap_tree_depth = 16
[ INFO] [1616632155.543310180]: rtabmap: frame_id = camera_link
[ INFO] [1616632155.543339482]: rtabmap: map_frame_id = map
[ INFO] [1616632155.543351622]: rtabmap: use_action_for_goal = false
[ INFO] [1616632155.543364287]: rtabmap: tf_delay = 0.050000
[ INFO] [1616632155.543376063]: rtabmap: tf_tolerance = 0.100000
[ INFO] [1616632155.543386959]: rtabmap: odom_sensor_sync = false
[ INFO] [1616632155.543946592]: rtabmap: stereo_to_depth = false
[ INFO] [1616632155.703654482]: rtabmapviz: Using configuration from "/home/majed/.ros/rtabmap_gui.ini"
[ INFO] [1616632155.775969840]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1616632155.776287067]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[ INFO] [1616632155.784736022]: odometry: Subscribing to IMU topic /rtabmap/imu
[ INFO] [1616632155.787311684]: StereoOdometry: approx_sync = false
[ INFO] [1616632155.787346526]: StereoOdometry: queue_size = 10
[ INFO] [1616632155.787363788]: StereoOdometry: subscribe_rgbd = false
[ INFO] [1616632155.787379157]: StereoOdometry: keep_color = false
[ INFO] [1616632155.802197961]:
/rtabmap/stereo_odometry subscribed to (exact sync):
/camera/infra1/image_rect_raw \
/camera/infra2/image_rect_raw \
/camera/infra1/camera_info \
/camera/infra2/camera_info
[ WARN] [1616632155.931834508]: odometry: Initialized odometry with IMU's orientation (rpy = -0.146117 -0.139200 -1.528787).
[ INFO] [1616632156.018109425]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1616632156.018271631]: rtabmap: Deleted database "/home/majed/.ros/rtabmap.db" (--delete_db_on_start or -d are set).
[ INFO] [1616632156.018301491]: rtabmap: Using database from "/home/majed/.ros/rtabmap.db" (0 MB).
[ERROR] [1616632156.031004060]: The stereo baseline (-0.049927) should be positive (baseline=-Tx/fx). We assume a horizontal left/right stereo setup where the Tx (or P(0,3)) is negative in the right camera info msg.
[ERROR] [1616632156.060412698]: The stereo baseline (-0.049927) should be positive (baseline=-Tx/fx). We assume a horizontal left/right stereo setup where the Tx (or P(0,3)) is negative in the right camera info msg.
[ERROR] [1616632156.094383915]: The stereo baseline (-0.049927) should be positive (baseline=-Tx/fx). We assume a horizontal left/right stereo setup where the Tx (or P(0,3)) is negative in the right camera info msg.
[ERROR] [1616632156.127131895]: The stereo baseline (-0.049927) should be positive (baseline=-Tx/fx). We assume a horizontal left/right stereo setup where the Tx (or P(0,3)) is negative in the right camera info msg.
[ERROR] [1616632156.160430436]: The stereo baseline (-0.049927) should be positive (baseline=-Tx/fx). We assume a horizontal left/right stereo setup where the Tx (or P(0,3)) is negative in the right camera info msg.
[ERROR] [1616632156.193588046]: The stereo baseline (-0.049927) should be positive (baseline=-Tx/fx). We assume a horizontal left/right stereo setup where the Tx (or P(0,3)) is negative in the right camera info msg.
[ INFO] [1616632156.223265282]: rtabmap: Database version = "0.20.7".
[ERROR] [1616632156.227400662]: The stereo baseline (-0.049927) should be positive (baseline=-Tx/fx). We assume a horizontal left/right stereo setup where the Tx (or P(0,3)) is negative in the right camera info msg.
[ERROR] [1616632156.255023726]: The stereo baseline (-0.049927) should be positive (baseline=-Tx/fx). We assume a horizontal left/right stereo setup where the Tx (or P(0,3)) is negative in the right camera info msg.
how did i install realsense-ros ?:
using sudo apt-get install ros-noetic-realsense2-camera
Thanks for help
MartyG-RealSense
commented
3 years ago Hi @Majed-Alsubaie ROS wrapper 2.2.22 introduced a new system where the default profile of the particular camera model being used is applied near the end of the roslaunch process (under the Setting dynamic reconfig parameters heading) if an invalid configuration request is detected.
On the D435i, the default camera configuration is depth + RGB.
Under the new system, custom stream definitions in the roslaunch instruction require three factors - stream height, stream width and FPS (expressed as a decimal number, such as 30.0).
infra1_width:=640 infra1_height:=480 infra1_fps:=30.0 infra2_width:=640 infra2_height:=480 infra2_fps:=30.0
The subject is discussed further in the link below.
Majed-Alsubaie
commented
3 years ago @MartyG-RealSense
I thought we are talking about stereo baseline issue
[ERROR] [1616632156.127131895]: The stereo baseline (-0.049927) should be positive (baseline=-Tx/fx). We assume a horizontal left/right stereo setup where the Tx (or P(0,3)) is negative in the right camera info msg.
Please how can i overcome the stereo baseline issue ? have you worked on it ? can i have hint or procedures ? Thanks
MartyG-RealSense
commented
3 years ago The nformation I posted was in relation to your original question at the start of this case, where you stated that the infra1 and infra2 topics were not being published after roslaunch. Are you able to obtain the infra topics now?
Edit: I see that problem was solved earlier in the discussion. https://github.com/IntelRealSense/realsense-ros/issues/1773#issuecomment-805561176 My apologies. I will look at the stereo baseline issue now.
MartyG-RealSense
commented
3 years ago Essentially, your problem seems to be that RTABMAP is reporting this:
The stereo baseline ... should be positive (baseline=-Tx/fx). We assume a horizontal left/right stereo setup where the Tx (or P(0,3)) is negative in the right camera info msg
The problem, as you have mentioned, is referred to in RealSense ROS case https://github.com/IntelRealSense/realsense-ros/issues/1310
I do not have knowledge of this subject unfortunately, so I will refer it to @doronhi who commented on the above case.
Majed-Alsubaie
commented
3 years ago Hi @doronhi , regarding to the baseline sign convention issue
i am thinking of changing the sign of p(0,3) at rostopic
/camera/infra2/camera_info
where the p(0,3) value is the issue' source as suggested by https://github.com/introlab/rtabmap_ros/issues/517
So , is this a good approach ? + please,, how and where can i find this node/script that publish the the rostopic ?
thanks
MartyG-RealSense
commented
3 years ago Reminder to @doronhi about the question of @Majed-Alsubaie in the comment above. Thanks!
MartyG-RealSense
commented
3 years ago Hi @Majed-Alsubaie Do you still require assistance with this case, please? Thanks!
Majed-Alsubaie
commented
3 years ago Hi @MartyG-RealSense ,, yes , i am looking for you help @doronhi , could you please help me?
doronhi
commented
3 years ago Majed-Alsubaie
commented
3 years ago Thank you @doronhi ,, So far it is working well after i change the sign,,
Exactly in this line: https://github.com/IntelRealSense/realsense-ros/blob/c11f8ff2db6a334bedd555e41f9d556a85b9b2bf/realsense2_camera/src/base_realsense_node.cpp#L1913
Thank you @MartyG-RealSense , i would like to close the case
MartyG-RealSense
commented
3 years ago Thanks very much @Majed-Alsubaie - it is great to hear that the advice of @doronhi is working for you. Thanks for the update!
Hello,,, I am trying to subscribe these topics
/camera/infra1/image_rect_raw \ /camera/infra2/image_rect_raw \ /camera/infra1/camera_info \ /camera/infra2/camera_info \I launched the file with enabling both infra1/2 , by usingroslaunch realsense2_camera rs_camera.launch enable_infra1:=true enable_infra2:=true unite_imu_method:=linear_interpolation enable_gyro:=true enable_accel:=true enable_sync:=true initial_reset:=truebut i got only these topic without infra1 / infra2
why that happened and how can i solve it ? thanks and yes there are several warning but i read that i can safley ignore them
Device information : Distributor ID: Ubuntu Description: Ubuntu 20.04.2 LTS Release: 20.04 kernel : 5.8.0-48-generic ROS : Noetic
SUMMARY