ResearcherYan
commented
8 months ago Odometry works fine but no visualization
First, I have to correct my wrong judgement above. According the link, actually the above warning icp_odometry: Did not receive data since 5 seconds! Make sure the input topics are published doesn't mean the odometry mulfunctions. Setting use_sim_time to true in rtabmap_s3e_lidar_odometry.launch.py can mute these warnings.
The odom topic is published normally.
$ ros2 topic echo /r0/odom | grep position -A3
position:
x: 60.38409423828125
y: -96.45026397705078
z: 22.329843521118164
--
position:
x: 60.287715911865234
y: -96.53614044189453
z: 22.338281631469727
--
position:
x: 60.1495246887207
y: -96.63011932373047
z: 22.352752685546875
--
position:
x: 60.008033752441406
y: -96.71749877929688
z: 22.359445571899414
--
position:
x: 59.893531799316406
y: -96.8121109008789
z: 22.371158599853516
So I want to check the map built by the odometry. But ros2 topic hz /r0/odom_local_map shows nothing. Using cslam_visualization yields nothing as well. Logs and rviz are shown below.
$ ros2 launch cslam_visualization visualization_lidar.launch.py
[INFO] [launch]: All log files can be found below /root/.ros/log/2024-03-14-07-44-38-357204-focal-fossa-382468
[INFO] [launch]: Default logging verbosity is set to INFO
/Swarm-SLAM/install/cslam_visualization/share/cslam_visualization/config/lidar.rviz
[INFO] [visualization_node.py-1]: process started with pid [382469]
[INFO] [rviz2-2]: process started with pid [382471]
[rviz2-2] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[rviz2-2] amdgpu: os_same_file_description couldn't determine if two DRM fds reference the same file description.
[rviz2-2] If they do, bad things may happen!
[rviz2-2] amdgpu: drmGetDevice2 failed.
[rviz2-2] [INFO] [1710402278.786154731] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-2] [INFO] [1710402278.786377196] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-2] [INFO] [1710402278.824423561] [rviz2]: Stereo is NOT SUPPORTED
[visualization_node.py-1] [INFO] [1710402280.481047464] [cslam_visualization]: rotation_to_sensor_frame: [0.5, -0.5, 0.5, -0.5]
[visualization_node.py-1] [INFO] [1710402280.481894046] [cslam_visualization]: Initialization done.
[visualization_node.py-1] [INFO] [1710402285.365301625] [cslam_visualization]: Publishing 0 pointclouds.
[visualization_node.py-1] [INFO] [1710402290.364881388] [cslam_visualization]: Publishing 0 pointclouds.
[visualization_node.py-1] [INFO] [1710402295.364725938] [cslam_visualization]: Publishing 0 pointclouds.
[visualization_node.py-1] [INFO] [1710402300.364767124] [cslam_visualization]: Publishing 0 pointclouds.
[visualization_node.py-1] [INFO] [1710402305.364765231] [cslam_visualization]: Publishing 0 pointclouds.
[visualization_node.py-1] [INFO] [1710402310.365180516] [cslam_visualization]: Publishing 0 pointclouds.
lajoiepy
HaynesLi
icp_odometry mulfunction
After successfully launching Swarm-SLAM without error, I want to visualized the accmulated map but yield failure. The logs are shown below.
The warning
icp_odometry: 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 setseems indicatertabmapdoesn't receive the lidar data.However, the lidar data's topic pulishes pointclouds just fine.
Then I use
rqt_graphto check the ROS graph, where I find thepose_graph_managerwill publish the topic/r0/cslam/keyframe_odomandmap_managerwill subscribe to it.However, the topic
/r0/cslam/keyframe_odomdoesn't publish any data, which confirmed that thertabmapdoesn't run correctly.I have no idea why rtabmap doesn't receive the lidar data when it's published correctly.
rtabmap can't activate visualization
In
rtabmap_s3e_lidar_odometry.launch.py,rtabmapvizis set totrue. But when I launch this launch file, rviz doesn't show up.Intead, using rtabmap source launch file with
ros2 launch rtabmap_launch rtabmap.launch.pycan activate the rviz.I don't know why the
rtabmap_s3e_lidar_odometry.launch.pydoesn't activate rviz.@lajoiepy Any help will be appreciated! Thank you!