Closed SerdarAbali closed 2 years ago
MartyG-RealSense
commented
2 years ago Hi @SerdarAbali Please try using the roslaunch instruction below to enable the IMU's gyro and accelerometer, as they are disabled by default in the RealSense ROS wrapper.
roslaunch realsense2_camera opensource_tracking.launch enable_gyro:=true enable_accel:=true unite_imu_method:=linear_interpolation
SerdarAbali
commented
2 years ago Dear @MartyG-RealSense , I am aware that it is disabled and I already enabled gyro. Just to make sure for 50th time, I reinstalled realsense2_camera seconds ago and I had exactly same error after sending the exact same command you posted above: `roslaunch realsense2_camera opensource_tracking.launch enable_gyro:=true enable_accel:=true unite_imu_method:=linear_interpolation ... logging to /home/debster/.ros/log/73fbfac6-e26c-11ec-a868-30e37abd990d/roslaunch-debster-KBL-U-Pro-Cubi2-MS-B142-21097.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://192.168.1.103:37173/
CLEAR PARAMETERS
PARAMETERS
NODES / ImuFilter (imu_filter_madgwick/imu_filter_node) ukf_se (robot_localization/ukf_localization_node) /camera/ realsense2_camera (nodelet/nodelet) realsense2_camera_manager (nodelet/nodelet) /rtabmap/ rgbd_odometry (rtabmap_ros/rgbd_odometry) rtabmap (rtabmap_ros/rtabmap)
auto-starting new master process[master]: started with pid [21107] ROS_MASTER_URI=http://192.168.1.103:11311
setting /run_id to 73fbfac6-e26c-11ec-a868-30e37abd990d
process[rosout-1]: started with pid [21120]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [21140]
process[camera/realsense2_camera-3]: started with pid [21141]
process[ImuFilter-4]: started with pid [21142]
process[rtabmap/rgbd_odometry-5]: started with pid [21143]
process[rtabmap/rtabmap-6]: started with pid [21152]
process[ukf_se-7]: started with pid [21172]
[ INFO] [1654171598.412871734]: Initializing nodelet with 4 worker threads.
[ WARN] [1654171598.658952984]: Warning: Some linear velocity entries in parameter imu0_config are listed true, but an sensor_msgs/Imu contains no information about linear velocities
[ INFO] [1654171598.677447428]: RealSense ROS v2.3.2
[ INFO] [1654171598.677519827]: Built with LibRealSense v2.50.0
[ INFO] [1654171598.677564939]: Running with LibRealSense v2.50.0
[ INFO] [1654171598.712426224]:
[ INFO] [1654171598.795232481]: Device with serial number 147122074808 was found.
[ INFO] [1654171598.795285300]: Device with physical ID 2-3-3 was found. [ INFO] [1654171598.795307555]: Device with name Intel RealSense D435I was found. [ INFO] [1654171598.797526313]: Device with port number 2-3 was found. [ INFO] [1654171598.798085967]: Device USB type: 3.2
[ INFO] [1654171598.810377370]: Starting node... [ INFO] [1654171598.871661461]: Initializing nodelet with 4 worker threads. [ INFO] [1654171598.887189785]: Initializing nodelet with 4 worker threads.
[ INFO] [1654171598.958302903]: JSON file is not provided [ INFO] [1654171598.958396315]: ROS Node Namespace: camera [ INFO] [1654171598.958485508]: Device Name: Intel RealSense D435I [ INFO] [1654171598.958570221]: Device Serial No: 147122074808 [ INFO] [1654171598.958656279]: Device physical port: 2-3-3 [ INFO] [1654171598.958742955]: Device FW version: 05.12.07.150 [ INFO] [1654171598.958828315]: Device Product ID: 0x0B3A [ INFO] [1654171598.958904623]: Enable PointCloud: Off [ INFO] [1654171598.958925047]: Align Depth: On [ INFO] [1654171598.958945402]: Sync Mode: On [ INFO] [1654171598.959009345]: Device Sensors: [ INFO] [1654171598.986737210]: Stereo Module was found. [ INFO] [1654171599.009229337]: RGB Camera was found. [ INFO] [1654171599.009828584]: Motion Module was found. [ INFO] [1654171599.010258947]: (Confidence, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1654171599.011720945]: num_filters: 1 [ INFO] [1654171599.012122704]: Setting Dynamic reconfig parameters. [ INFO] [1654171599.021478126]: Odometry: frame_id = camera_link [ INFO] [1654171599.021534935]: Odometry: odom_frame_id = odom [ INFO] [1654171599.021564139]: Odometry: publish_tf = true [ INFO] [1654171599.021583403]: Odometry: wait_for_transform = true [ INFO] [1654171599.021611380]: Odometry: wait_for_transform_duration = 0.200000 [ INFO] [1654171599.021665866]: Odometry: initial_pose = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 [ INFO] [1654171599.021692180]: Odometry: ground_truth_frame_id = [ INFO] [1654171599.021714929]: Odometry: ground_truth_base_frame_id = [ INFO] [1654171599.021735365]: Odometry: config_path = [ INFO] [1654171599.021758166]: Odometry: publish_null_when_lost = true [ INFO] [1654171599.021779748]: Odometry: guess_frame_id = [ INFO] [1654171599.021802892]: Odometry: guess_min_translation = 0.000000 [ INFO] [1654171599.021827355]: Odometry: guess_min_rotation = 0.000000 [ INFO] [1654171599.021846457]: Odometry: guess_min_time = 0.000000 [ INFO] [1654171599.021870651]: Odometry: expected_update_rate = 0.000000 Hz [ INFO] [1654171599.021893734]: Odometry: max_update_rate = 0.000000 Hz [ INFO] [1654171599.021913707]: Odometry: wait_imu_toinit = false [ INFO] [1654171599.021954908]: Odometry: stereoParams=0 visParams=1 icpParams=0 [ INFO] [1654171599.128387811]: /rtabmap/rtabmap(maps): map_filter_radius = 0.000000 [ INFO] [1654171599.128492700]: /rtabmap/rtabmap(maps): map_filter_angle = 30.000000 [ INFO] [1654171599.128737885]: /rtabmap/rtabmap(maps): map_cleanup = true [ INFO] [1654171599.129083903]: /rtabmap/rtabmap(maps): map_always_update = false [ INFO] [1654171599.129135820]: /rtabmap/rtabmap(maps): map_empty_ray_tracing = true [ INFO] [1654171599.129185706]: /rtabmap/rtabmap(maps): cloud_output_voxelized = true [ INFO] [1654171599.129235383]: /rtabmap/rtabmap(maps): cloud_subtract_filtering = false [ INFO] [1654171599.129281076]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2 [ INFO] [1654171599.132522061]: /rtabmap/rtabmap(maps): octomap_tree_depth = 16 [ INFO] [1654171599.305631917]: rtabmap: frame_id = camera_link [ INFO] [1654171599.305692231]: rtabmap: map_frame_id = map [ INFO] [1654171599.305718730]: rtabmap: use_action_for_goal = false [ INFO] [1654171599.305742243]: rtabmap: tf_delay = 0.050000 [ INFO] [1654171599.305766323]: rtabmap: tf_tolerance = 0.100000 [ INFO] [1654171599.305789503]: rtabmap: odom_sensor_sync = false [ INFO] [1654171599.308392484]: rtabmap: gen_scan = false [ INFO] [1654171599.308449164]: rtabmap: gen_depth = false [ INFO] [1654171599.891550969]: Done Setting Dynamic reconfig parameters. [ INFO] [1654171599.892312138]: depth stream is enabled - width: 848, height: 480, fps: 30, Format: Z16 [ INFO] [1654171599.893749820]: color stream is enabled - width: 1280, height: 720, fps: 30, Format: RGB8
[ INFO] [1654171599.904795622]: Expected frequency for depth = 30.00000 [ INFO] [1654171600.031360889]: Expected frequency for color = 30.00000 [ INFO] [1654171600.118225520]: Expected frequency for aligned_depth_to_color = 30.00000
[ INFO] [1654171600.250053981]: SELECTED BASE:Depth, 0 [ INFO] [1654171600.290379789]: RealSense Node Is Up! [ WARN] [1654171600.368895112]: 02/06 15:06:40,369 WARNING [139978864576256] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 02/06 15:06:40,419 WARNING [139978864576256] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 02/06 15:06:40,469 WARNING [139978864576256] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 [ INFO] [1654171600.521565797]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true" [ INFO] [1654171600.522596626]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false" 02/06 15:06:40,620 WARNING [139978864576256] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 02/06 15:06:40,680 WARNING [139978864576256] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 02/06 15:06:40,731 WARNING [139978864576256] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 02/06 15:06:40,781 WARNING [139978864576256] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Resource temporarily unavailable, number: b 02/06 15:06:40,831 WARNING [139978864576256] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 02/06 15:06:40,882 WARNING [139978864576256] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Resource temporarily unavailable, number: b 02/06 15:06:41,032 WARNING [139978864576256] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 02/06 15:06:41,082 WARNING [139978864576256] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Resource temporarily unavailable, number: b [ INFO] [1654171601.170229703]: RGBDOdometry: approx_sync = true [ INFO] [1654171601.170275367]: RGBDOdometry: queue_size = 10 [ INFO] [1654171601.170302027]: RGBDOdometry: subscribe_rgbd = false [ INFO] [1654171601.170320868]: RGBDOdometry: rgbd_cameras = 1 [ INFO] [1654171601.170341861]: RGBDOdometry: keep_color = false [ INFO] [1654171601.201592784]: /rtabmap/rgbd_odometry subscribed to (approx sync): /camera/color/image_raw \ /camera/aligned_depth_to_color/image_raw \ /camera/color/camera_info [ INFO] [1654171601.448070118]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.076673s [ WARN] (2022-06-02 15:06:41.596) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=68) between -1 and 2" [ INFO] [1654171601.596983562]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.143853s [ WARN] (2022-06-02 15:06:41.745) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=50) between -1 and 3" [ INFO] [1654171601.746416692]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.142985s [ INFO] [1654171601.795309174]: RTAB-Map detection rate = 1.000000 Hz [ INFO] [1654171601.796283328]: rtabmap: Deleted database "/home/debster/.ros/rtabmap.db" (--delete_db_on_start or -d are set). [ INFO] [1654171601.796360222]: rtabmap: Using database from "/home/debster/.ros/rtabmap.db" (0 MB). [ WARN] [1654171601.802153088]: Failed to meet update rate! Took 0.008367479000000000583 [ WARN] (2022-06-02 15:06:41.930) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=56) between -1 and 4" [ INFO] [1654171601.931022448]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.177164s [ WARN] (2022-06-02 15:06:42.060) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=54) between -1 and 5" [ INFO] [1654171602.061219925]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.124303s [ INFO] [1654171602.084137700]: rtabmap: Database version = "0.20.18". [ INFO] [1654171602.084312708]: rtabmap: SLAM mode (Mem/IncrementalMemory=true) [ INFO] [1654171602.143196472]: /rtabmap/rtabmap: subscribe_depth = true [ INFO] [1654171602.143268966]: /rtabmap/rtabmap: subscribe_rgb = true [ INFO] [1654171602.143291086]: /rtabmap/rtabmap: subscribe_stereo = false [ INFO] [1654171602.143318388]: /rtabmap/rtabmap: subscribe_rgbd = false (rgbd_cameras=1) [ INFO] [1654171602.143341924]: /rtabmap/rtabmap: subscribe_odom_info = true [ INFO] [1654171602.143363271]: /rtabmap/rtabmap: subscribe_user_data = false [ INFO] [1654171602.143386529]: /rtabmap/rtabmap: subscribe_scan = false [ INFO] [1654171602.143408628]: /rtabmap/rtabmap: subscribe_scan_cloud = false [ INFO] [1654171602.143436142]: /rtabmap/rtabmap: subscribe_scan_descriptor = false [ INFO] [1654171602.143460130]: /rtabmap/rtabmap: queue_size = 10 [ INFO] [1654171602.143498048]: /rtabmap/rtabmap: approx_sync = true [ INFO] [1654171602.143606755]: Setup depth callback [ INFO] [1654171602.173791870]: /rtabmap/rtabmap subscribed to (approx sync): /rtabmap/odom \ /camera/color/image_raw \ /camera/aligned_depth_to_color/image_raw \ /camera/color/camera_info \ /rtabmap/odom_info [ WARN] (2022-06-02 15:06:42.228) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=45) between -1 and 6" [ INFO] [1654171602.228835093]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.163246s [ WARN] [1654171602.307546190]: Failed to meet update rate! Took 0.010560094000000000772 [ WARN] [1654171602.307864219]: Failed to meet update rate! Took 0.0075585280000000001216 [ WARN] (2022-06-02 15:06:42.384) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=55) between -1 and 7" [ INFO] [1654171602.385540119]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.152477s [ WARN] (2022-06-02 15:06:42.552) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=49) between -1 and 8" [ INFO] [1654171602.552527190]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.161401s [ERROR] (2022-06-02 15:06:42.569) Rtabmap.cpp:1278::process() RGB-D SLAM mode is enabled, memory is incremental but no odometry is provided. Image 30 is ignored!
[ INFO] [1654171602.651034679]: rtabmap 0.20.18 started... [ WARN] (2022-06-02 15:06:42.693) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=45) between -1 and 9" [ INFO] [1654171602.694516054]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.137140s [ WARN] (2022-06-02 15:06:42.832) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=41) between -1 and 10" [ INFO] [1654171602.833143269]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.132923s [ WARN] (2022-06-02 15:06:42.980) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=43) between -1 and 11" [ INFO] [1654171602.980653022]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.142878s [ WARN] (2022-06-02 15:06:43.139) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=34) between -1 and 12" [ INFO] [1654171603.139677336]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.153343s [ WARN] (2022-06-02 15:06:43.265) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=26) between -1 and 13" [ INFO] [1654171603.266065680]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.123775s [ WARN] (2022-06-02 15:06:43.409) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=42) between -1 and 14" [ INFO] [1654171603.410649000]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.141575s [ WARN] (2022-06-02 15:06:43.541) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=23) between -1 and 15" [ INFO] [1654171603.541883826]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.127200s [ WARN] (2022-06-02 15:06:43.661) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=25) between -1 and 16" [ INFO] [1654171603.661658050]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.116323s [ERROR] (2022-06-02 15:06:43.667) Rtabmap.cpp:1278::process() RGB-D SLAM mode is enabled, memory is incremental but no odometry is provided. Image 65 is ignored!
[ WARN] (2022-06-02 15:06:43.786) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=29) between -1 and 17" [ INFO] [1654171603.786527918]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.117284s [ WARN] (2022-06-02 15:06:43.907) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=21) between -1 and 18" [ INFO] [1654171603.907617588]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.117624s [ WARN] (2022-06-02 15:06:44.005) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=16) between -1 and 19" [ INFO] [1654171604.005815028]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.095401s [ WARN] (2022-06-02 15:06:44.117) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=11) between -1 and 20" [ INFO] [1654171604.117489127]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.108936s [ WARN] (2022-06-02 15:06:44.219) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=17) between -1 and 21" [ INFO] [1654171604.219885280]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.097543s [ WARN] (2022-06-02 15:06:44.318) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=13) between -1 and 22" [ INFO] [1654171604.318832634]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.095156s [ WARN] (2022-06-02 15:06:44.423) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=9) between -1 and 23" [ INFO] [1654171604.423560575]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.101640s [ WARN] (2022-06-02 15:06:44.526) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=9) between -1 and 24" [ INFO] [1654171604.527719902]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.100838s [ WARN] (2022-06-02 15:06:44.640) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=12) between -1 and 25" [ INFO] [1654171604.640468631]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.104163s [ WARN] (2022-06-02 15:06:44.751) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=16) between -1 and 26" [ INFO] [1654171604.751948509]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.105624s [ERROR] (2022-06-02 15:06:44.757) Rtabmap.cpp:1278::process() RGB-D SLAM mode is enabled, memory is incremental but no odometry is provided. Image 98 is ignored!
[ WARN] (2022-06-02 15:06:44.858) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=16) between -1 and 27" [ INFO] [1654171604.859067029]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.103490s [ WARN] (2022-06-02 15:06:44.971) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=15) between -1 and 28" [ INFO] [1654171604.971502601]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.100466s [ WARN] (2022-06-02 15:06:45.074) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=11) between -1 and 29" [ INFO] [1654171605.075034465]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.098372s [ WARN] (2022-06-02 15:06:45.184) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=8) between -1 and 30" [ INFO] [1654171605.184529758]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.106762s [ WARN] (2022-06-02 15:06:45.294) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=8) between -1 and 31" [ INFO] [1654171605.295996506]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.108137s [ WARN] (2022-06-02 15:06:45.422) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=20) between -1 and 32" [ INFO] [1654171605.422980769]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.119871s [ WARN] (2022-06-02 15:06:45.526) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=12) between -1 and 33" [ INFO] [1654171605.527392491]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.097915s [ WARN] (2022-06-02 15:06:45.631) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=12) between -1 and 34" [ INFO] [1654171605.632532691]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.094806s [ WARN] (2022-06-02 15:06:45.738) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=11) between -1 and 35" [ INFO] [1654171605.739031814]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.101590s [ WARN] (2022-06-02 15:06:45.837) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=10) between -1 and 36" [ INFO] [1654171605.837542597]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.095781s [ERROR] (2022-06-02 15:06:45.840) Rtabmap.cpp:1278::process() RGB-D SLAM mode is enabled, memory is incremental but no odometry is provided. Image 131 is ignored!
[ WARN] (2022-06-02 15:06:45.940) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=7) between -1 and 37" [ INFO] [1654171605.940812175]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.099066s [ WARN] (2022-06-02 15:06:46.039) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=11) between -1 and 38" [ INFO] [1654171606.039810429]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.096356s [ WARN] (2022-06-02 15:06:46.138) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=11) between -1 and 39" [ INFO] [1654171606.138984303]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.096478s [ WARN] (2022-06-02 15:06:46.240) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=6) between -1 and 40" [ INFO] [1654171606.240971828]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.099170s [ WARN] (2022-06-02 15:06:46.346) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=12) between -1 and 41" [ INFO] [1654171606.347024546]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.099452s [ WARN] (2022-06-02 15:06:46.442) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=8) between -1 and 42" [ INFO] [1654171606.442452249]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.091245s [ WARN] (2022-06-02 15:06:46.536) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=9) between -1 and 43" [ INFO] [1654171606.536971592]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.091916s [ WARN] (2022-06-02 15:06:46.636) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=14) between -1 and 44" [ INFO] [1654171606.636778510]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.096749s [ WARN] (2022-06-02 15:06:46.731) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=9) between -1 and 45" [ INFO] [1654171606.732305332]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.092845s [ WARN] (2022-06-02 15:06:46.833) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=11) between -1 and 46" [ INFO] [1654171606.834104313]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.099079s [ WARN] (2022-06-02 15:06:46.935) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=15) between -1 and 47" [ INFO] [1654171606.935963016]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.095327s [ERROR] (2022-06-02 15:06:46.939) Rtabmap.cpp:1278::process() RGB-D SLAM mode is enabled, memory is incremental but no odometry is provided. Image 157 is ignored!
^C[ukf_se-7] killing on exit [rtabmap/rtabmap-6] killing on exit [rtabmap/rgbd_odometry-5] killing on exit [ImuFilter-4] killing on exit [camera/realsense2_camera-3] killing on exit [camera/realsense2_camera_manager-2] killing on exit [ WARN] (2022-06-02 15:06:47.053) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=14) between -1 and 48" [ WARN] (2022-06-02 15:06:47.259) OdometryF2M.cpp:525::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=14) between -1 and 49" rtabmap: Saving database/long-term memory... (located at /home/debster/.ros/rtabmap.db) rtabmap: Saving database/long-term memory...done! (located at /home/debster/.ros/rtabmap.db, 0 MB) [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done `
MartyG-RealSense
commented
2 years ago Most of the errors that you experienced are also reported in the case https://github.com/IntelRealSense/realsense-ros/issues/1793
Do the errors occur if the camera is stationary, or do they start once the camera begins moving?
SerdarAbali
commented
2 years ago Error occurs when the camera is stationary.
MartyG-RealSense
commented
2 years ago Thank you. Does the IMU publish its topics correctly if launching with rs_camera instead of rs_opensource_tracking
roslaunch realsense2_camera rs_camera.launch enable_gyro:=true enable_accel:=true unite_imu_method:=linear_interpolation
SerdarAbali
commented
2 years ago Yes, it is published
/camera/gyro/imu_info /camera/imu
and rostopic echo shows value changes when I move the camera which proves the brand new hardware is healthy.
Rviz plugin tutorial set to camera/imu visualisation also work fine when I move the camera, it is very accurate.
But I get the error below:
WARNING [140196892882688] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
I also tried with initial_reset:=true
MartyG-RealSense
commented
2 years ago The developer of the RealSense ROS1 wrapper has said in the past that the Resource temporarily unavailable error message can be related to lack of system resources - the application can't keep up with the incoming flow of images arriving from the camera.
What computer / computing device are you using, please?
SerdarAbali
commented
2 years ago I use an MSI Cubi 2, sort of Intel NUC equivalent version of MSI.
4G ram - DDR4 2133MHz Intel(R) Core(TM) i3-7100U CPU @ 2.40GHz All USB ports are 3.1 gen1
MartyG-RealSense
commented
2 years ago It sounds like a good specification. Are you using the official 1 meter USB cable supplied with the camera or a longer cable of your own choice?
SerdarAbali
commented
2 years ago It sounds like a good specification. Are you using the official 1 meter USB cable supplied with the camera or a longer cable of your own choice?
Yes.
I will report back after I build rtabmap ros in 30 mins. I suspect rtabmap package that comes with melodic. I will report back shortly for the sake of next guy that purchases this camera and make it work with Ros1
SerdarAbali
commented
2 years ago @MartyG-RealSense thank you for your patience. Everything is ok now. Problem was the rtabmap that I installed via ros-melodic-rtabmap-ros.
I removed it and installed rtabmap-ros to my catkin workspace using melodic branch and now all work perfectly.
MartyG-RealSense
commented
2 years ago That's excellent news :) Thanks very much for the update!
MartyG-RealSense
commented
2 years ago Case closed due to solution achieved and no further comments received.
Dear community, what does it take it to make this nearly 400 EUR device work properly when I send the command:
roslaunch realsense2_camera opensource_tracking.launchHow do I troubleshoot the below errors?
[ INFO] [1654169704.476895759]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.103005s [ERROR] (2022-06-02 14:35:04.480) Rtabmap.cpp:1278::process() RGB-D SLAM mode is enabled, memory is incremental but no odometry is provided. Image 167 is ignored!It is just plain and simple question.