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introlab / rtabmap

RTAB-Map library and standalone application
https://introlab.github.io/rtabmap
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Ros docker introlab3it/rtabmap_ros:melodic not built with multiRGBD #720

Open dagata-mining opened 3 years ago

dagata-mining commented 3 years ago

When I run this command sudo docker run -it --rm --env ROS_MASTER_URI=http://172.17.0.1:11311 --env ROS_IP=172.17.0.2 -v ~/.ros:/root introlab3it/rtabmap_ros:melodic roslaunch /root/my_launch_file.launch

I get the error :

[FATAL] [1620789173.224815374]: Cannot synchronize more than 1 rgbd topic (rtabmap_ros has been built without RTABMAP_SYNC_MULTI_RGBD option)

So I'm wondering how to have an image with the RTABMAP_SYNC_MULTI_RGBD ON

Also if Im building with Introlab3it/rtabmap_ros:melodic-latest I get the error:

[rtabmap/rtabmap-37] process has died [pid 366, exit code -11, cmd /opt/ros/melodic/lib/rtabmap_ros/rtabmap --delete_db_on_start scan_cloud:=assembled_cloud imu:=/sensor_t265_1/imu/data __name:=rtabmap __log:=/root/.ros/log/0c70268a-b2ce-11eb-b47c-d540a5fe237a/rtabmap-rtabmap-37.log]. log file: /root/.ros/log/0c70268a-b2ce-11eb-b47c-d540a5fe237a/rtabmap-rtabmap-37*.log

and

[rtabmap/icp_odometry-36] process has died [pid 327, exit code -11, cmd /opt/ros/melodic/lib/rtabmap_ros/icp_odometry scan_cloud:=combined_cloud __name:=icp_odometry __log:=/root/.ros/log/0c70268a-b2ce-11eb-b47c-d540a5fe237a/rtabmap-icp_odometry-36.log]. log file: /root/.ros/log/0c70268a-b2ce-11eb-b47c-d540a5fe237a/rtabmap-icp_odometry-36*.log

matlabbe commented 3 years ago

I tested with that option enabled, see commit above.

$ cd rtabmap_ros/docker/melodic/latest

$ docker build -t introlab3it/rtabmap_ros:melodic-latest .

$ roscore

$ docker run -it --rm \
 --env ROS_MASTER_URI=http://172.17.0.1:11311 --env ROS_IP=172.17.0.2 \
 -v ~/.ros:/root  \
 introlab3it/rtabmap_ros:melodic-latest \
 rosrun rtabmap_ros rtabmap --delete_db_on_start _subscribe_rgbd:=true _rgbd_cameras:=4 _database_path:=/root/rtabmap.db

Log: 

[ INFO] [1620821203.831504560]: Starting node...
[ INFO] [1620821203.853207616]: Initializing nodelet with 12 worker threads.
[ INFO] [1620821203.994655805]: /rtabmap(maps): map_filter_radius          = 0.000000
[ INFO] [1620821203.994716100]: /rtabmap(maps): map_filter_angle           = 30.000000
[ INFO] [1620821203.994730999]: /rtabmap(maps): map_cleanup                = true
[ INFO] [1620821203.994755935]: /rtabmap(maps): map_always_update          = false
[ INFO] [1620821203.994788533]: /rtabmap(maps): map_empty_ray_tracing      = true
[ INFO] [1620821203.994816704]: /rtabmap(maps): cloud_output_voxelized     = true
[ INFO] [1620821203.994829266]: /rtabmap(maps): cloud_subtract_filtering   = false
[ INFO] [1620821203.994857636]: /rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1620821203.995557597]: /rtabmap(maps): octomap_tree_depth         = 16
[ INFO] [1620821204.009472039]: rtabmap: frame_id      = base_link
[ INFO] [1620821204.009514626]: rtabmap: map_frame_id  = map
[ INFO] [1620821204.009528259]: rtabmap: use_action_for_goal  = false
[ INFO] [1620821204.009569197]: rtabmap: tf_delay      = 0.050000
[ INFO] [1620821204.009602249]: rtabmap: tf_tolerance  = 0.100000
[ INFO] [1620821204.009642740]: rtabmap: odom_sensor_sync   = false
[ INFO] [1620821204.009978097]: rtabmap: gen_scan  = false
[ INFO] [1620821204.010011200]: rtabmap: gen_depth  = false
[ WARN] [1620821204.337084349]: Setting "Vis/EstimationType" parameter to 0 (1 is not supported for multi-cameras) as "subscribe_rgbd" is true and "rgbd_cameras">1. Set "Vis/EstimationType" to 0 to suppress this warning.
[ INFO] [1620821204.337744438]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1620821204.338069592]: rtabmap: Deleted database "/root/rtabmap.db" (--delete_db_on_start or -d are set).
[ INFO] [1620821204.338133826]: rtabmap: Using database from "/root/rtabmap.db" (0 MB).
[ INFO] [1620821204.680743528]: rtabmap: Database version = "0.20.10".
[ INFO] [1620821204.680887490]: rtabmap: SLAM mode (Mem/IncrementalMemory=true)
[ WARN] [1620821204.762883668]: rtabmap: Parameters subscribe_depth and subscribe_rgbd cannot be true at the same time. Parameter subscribe_depth is set to false.
[ INFO] [1620821204.769578060]: /rtabmap: subscribe_depth = false
[ INFO] [1620821204.769665575]: /rtabmap: subscribe_rgb = false
[ INFO] [1620821204.769716337]: /rtabmap: subscribe_stereo = false
[ INFO] [1620821204.769838603]: /rtabmap: subscribe_rgbd = true (rgbd_cameras=4)
[ INFO] [1620821204.769924432]: /rtabmap: subscribe_odom_info = false
[ INFO] [1620821204.770030049]: /rtabmap: subscribe_user_data = false
[ INFO] [1620821204.770113720]: /rtabmap: subscribe_scan = false
[ INFO] [1620821204.770228536]: /rtabmap: subscribe_scan_cloud = false
[ INFO] [1620821204.770394362]: /rtabmap: subscribe_scan_descriptor = false
[ INFO] [1620821204.770505674]: /rtabmap: queue_size    = 10
[ INFO] [1620821204.770612050]: /rtabmap: approx_sync   = true
[ INFO] [1620821204.770832676]: Setup rgbd4 callback
[ INFO] [1620821204.790409436]: 
/rtabmap subscribed to (approx sync):
   /odom \
   /rgbd_image0 \
   /rgbd_image1 \
   /rgbd_image2 \
   /rgbd_image3
[ INFO] [1620821204.875023314]: rtabmap 0.20.10 started...
dagata-mining commented 3 years ago

Thanks, your build did work

docker run -it --rm \
 --env ROS_MASTER_URI=http://172.17.0.1:11311 --env ROS_IP=172.17.0.2 \
 -v ~/.ros:/root  \
 introlab3it/rtabmap_ros:melodic-latest \
 rosrun rtabmap_ros rtabmap --delete_db_on_start  _subscribe_rgbd:=true _rgbd_cameras:=4 _database_path:=/root/rtabmap.db

However I can't manage to run the docker with a single launch file and I do set the delete_db_on_start _subscribe_rgbd:=true _rgbd_cameras:=4 _database_path:=/root/rtabmap.db in my launch file

Is it possible to run it from a single launch file?

matlabbe commented 3 years ago

Yes, you should be able to run a launch file. In your example, if your launch file my_launch_file.launch is in ~/.ros directory on host computer, then from inside docker it would be roslaunch my_launch_file.launch or roslaunch /root/my_launch_file.launch (normally docker would run from /root workdir though)

dagata-mining commented 3 years ago

Thanks I'm able to launch the file, however it crashes at 2 different places

[rtabmap/icp_odometry-36] process has died [pid 328, exit code -11, cmd /opt/ros/melodic/lib/rtabmap_ros/icp_odometry scan_cloud:=combined_cloud __name:=icp_odometry __log:=/root/.ros/log/939aaba8-b31e-11eb-b47c-d540a5fe237a/rtabmap-icp_odometry-36.log]. log file: /root/.ros/log/939aaba8-b31e-11eb-b47c-d540a5fe237a/rtabmap-icp_odometry-36*.log and

[rtabmap/rtabmap-37] process has died [pid 367, exit code -11, cmd /opt/ros/melodic/lib/rtabmap_ros/rtabmap --delete_db_on_start scan_cloud:=assembled_cloud imu:=/sensor_t265_1/imu/data __name:=rtabmap __log:=/root/.ros/log/aa760e98-b33d-11eb-b47c-d540a5fe237a/rtabmap-rtabmap-37.log]. log file: /root/.ros/log/aa760e98-b33d-11eb-b47c-d540a5fe237a/rtabmap-rtabmap-37*.log

matlabbe commented 3 years ago

Is Icp/Force4DoF set to true? The docker is not built with libpointmatcher version with this option, so if set to true, it will seg fault. I'll update the libpointmatcher version in docker images.

dagata-mining commented 3 years ago

Unfortunately it did not solve the problem

matlabbe commented 3 years ago

If you do:

$ docker pull introlab3it/rtabmap_ros:melodic-latest
$ roscore
$ docker run -it --rm \
 --env ROS_MASTER_URI=http://172.17.0.1:11311 --env ROS_IP=172.17.0.2 \
 -v ~/.ros:/root  \
 introlab3it/rtabmap_ros:melodic-latest \
 roslaunch rtabmap_ros rtabmap.launch args:="-d --Icp/Force4DoF true" icp_odometry:=true rtabmapviz:=false database_path:=/root/rtabmap.db

is it crashing? My log:

... logging to /root/.ros/log/c4cda8d4-b372-11eb-87cc-9be2df5a7a4f/roslaunch-8a79cd3faeca-1.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://172.17.0.2:41633/

SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.10
 * /rtabmap/icp_odometry/config_path: 
 * /rtabmap/icp_odometry/expected_update_rate: 0.0
 * /rtabmap/icp_odometry/frame_id: camera_link
 * /rtabmap/icp_odometry/ground_truth_base_frame_id: 
 * /rtabmap/icp_odometry/ground_truth_frame_id: 
 * /rtabmap/icp_odometry/guess_frame_id: 
 * /rtabmap/icp_odometry/guess_min_rotation: 0.0
 * /rtabmap/icp_odometry/guess_min_translation: 0.0
 * /rtabmap/icp_odometry/max_update_rate: 0.0
 * /rtabmap/icp_odometry/odom_frame_id: odom
 * /rtabmap/icp_odometry/publish_tf: True
 * /rtabmap/icp_odometry/queue_size: 10
 * /rtabmap/icp_odometry/scan_cloud_max_points: 0
 * /rtabmap/icp_odometry/wait_for_transform_duration: 0.2
 * /rtabmap/icp_odometry/wait_imu_to_init: False
 * /rtabmap/rtabmap/Mem/IncrementalMemory: true
 * /rtabmap/rtabmap/Mem/InitWMWithAllNodes: false
 * /rtabmap/rtabmap/approx_sync: True
 * /rtabmap/rtabmap/config_path: 
 * /rtabmap/rtabmap/database_path: /root/rtabmap.db
 * /rtabmap/rtabmap/frame_id: camera_link
 * /rtabmap/rtabmap/gen_scan: False
 * /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: True
 * /rtabmap/rtabmap/subscribe_odom_info: True
 * /rtabmap/rtabmap/subscribe_rgb: True
 * /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: False
 * /rtabmap/rtabmap/subscribe_user_data: False
 * /rtabmap/rtabmap/wait_for_transform_duration: 0.2

NODES
  /rtabmap/
    icp_odometry (rtabmap_ros/icp_odometry)
    rtabmap (rtabmap_ros/rtabmap)

ROS_MASTER_URI=http://172.17.0.1:11311

process[rtabmap/icp_odometry-1]: started with pid [40]
[ INFO] [1620859317.780546933]: Initializing nodelet with 12 worker threads.
[ INFO] [1620859317.836630438]: Odometry: frame_id               = camera_link
[ INFO] [1620859317.836655676]: Odometry: odom_frame_id          = odom
[ INFO] [1620859317.836666246]: Odometry: publish_tf             = true
[ INFO] [1620859317.836677446]: Odometry: wait_for_transform     = true
[ INFO] [1620859317.836725153]: Odometry: wait_for_transform_duration  = 0.200000
[ INFO] [1620859317.836803924]: Odometry: initial_pose           = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000
[ INFO] [1620859317.836825986]: Odometry: ground_truth_frame_id  = 
[ INFO] [1620859317.836859368]: Odometry: ground_truth_base_frame_id = 
[ INFO] [1620859317.836903560]: Odometry: config_path            = 
[ INFO] [1620859317.836926144]: Odometry: publish_null_when_lost = true
[ INFO] [1620859317.836963070]: Odometry: guess_frame_id         = 
[ INFO] [1620859317.837000687]: Odometry: guess_min_translation  = 0.000000
[ INFO] [1620859317.837012402]: Odometry: guess_min_rotation     = 0.000000
[ INFO] [1620859317.837031136]: Odometry: guess_min_time         = 0.000000
[ INFO] [1620859317.837046937]: Odometry: expected_update_rate   = 0.000000 Hz
[ INFO] [1620859317.837064289]: Odometry: max_update_rate        = 0.000000 Hz
[ INFO] [1620859317.837082595]: Odometry: wait_imu_to_init       = false
[ INFO] [1620859317.837113015]: Odometry: stereoParams_=0 visParams_=0 icpParams_=1
[ INFO] [1620859317.841580011]: Setting odometry parameter "Icp/CorrespondenceRatio"="0.01"
[ INFO] [1620859317.841924446]: Setting odometry parameter "Icp/DownsamplingStep"="1"
[ INFO] [1620859317.842258669]: Setting odometry parameter "Icp/Epsilon"="0.001"
[ INFO] [1620859317.843340566]: Setting odometry parameter "Icp/Iterations"="10"
[ INFO] [1620859317.843684744]: Setting odometry parameter "Icp/MaxCorrespondenceDistance"="0.15"
[ INFO] [1620859317.844932649]: Setting odometry parameter "Icp/MaxTranslation"="2"
[ INFO] [1620859317.849824292]: Setting odometry parameter "Icp/PointToPlane"="true"
[ INFO] [1620859317.851118972]: Setting odometry parameter "Icp/PointToPlaneK"="20"
[ INFO] [1620859317.852256040]: Setting odometry parameter "Icp/PointToPlaneMinComplexity"="0.05"
[ INFO] [1620859317.852572529]: Setting odometry parameter "Icp/PointToPlaneRadius"="0"
[ INFO] [1620859317.852907796]: Setting odometry parameter "Icp/RangeMax"="20"
[ INFO] [1620859317.854770935]: Setting odometry parameter "Icp/VoxelSize"="0.05"
[ INFO] [1620859317.869033624]: Setting odometry parameter "Odom/ScanKeyFrameThr"="0.95"
[ INFO] [1620859317.869458654]: Setting odometry parameter "Odom/Strategy"="0"
[ INFO] [1620859317.873860386]: Setting odometry parameter "OdomF2M/ScanMaxSize"="30000"
[ INFO] [1620859317.876254692]: Setting odometry parameter "OdomF2M/ScanSubtractRadius"="0.05"
process[rtabmap/rtabmap-2]: started with pid [41]
[ INFO] [1620859317.951715566]: Update odometry parameter "Icp/Force4DoF"="true" from arguments
[ WARN] [1620859317.955136214]: Odometry: Parameter name changed: "Icp/PM" -> "Icp/Strategy". Please update your launch file accordingly. Value "true" is still set to the new parameter name.
[ WARN] [1620859317.955468855]: Odometry: Parameter name changed: "Icp/PMForce4DoF" -> "Icp/Force4DoF". Please update your launch file accordingly. Value "false" is still set to the new parameter name.
[ WARN] [1620859317.955838669]: Odometry: Parameter name changed: "Icp/PMOutlierRatio" -> "Icp/OutlierRatio". Please update your launch file accordingly. Value "0.7" is still set to the new parameter name.
[ WARN] [1620859317.979973988]: IcpOdometry: Transferring value 20 of "Icp/RangeMax" to ros parameter "scan_range_max" for convenience. "Icp/RangeMax" is set to 0.
[ WARN] [1620859317.980363907]: IcpOdometry: Transferring value 0.05 of "Icp/VoxelSize" to ros parameter "scan_voxel_size" for convenience. "Icp/VoxelSize" is set to 0.
[ WARN] [1620859317.980799645]: IcpOdometry: Transferring value 20 of "Icp/PointToPlaneK" to ros parameter "scan_normal_k" for convenience.
[ WARN] (2021-05-12 22:41:57.981) OdometryF2M.cpp:163::OdometryF2M() OdomF2M/BundleAdjustment=1 cannot be used with registration not done only with images (Reg/Strategy=1), disabling bundle adjustment.
[ INFO] [1620859317.987205427]: IcpOdometry: scan_cloud_max_points  = 0
[ INFO] [1620859317.987225782]: IcpOdometry: scan_downsampling_step = 1
[ INFO] [1620859317.987249712]: IcpOdometry: scan_range_min         = 0.000000 m
[ INFO] [1620859317.987286143]: IcpOdometry: scan_range_max         = 20.000000 m
[ INFO] [1620859317.987299886]: IcpOdometry: scan_voxel_size        = 0.050000 m
[ INFO] [1620859317.987322946]: IcpOdometry: scan_normal_k          = 20
[ INFO] [1620859317.987356868]: IcpOdometry: scan_normal_radius     = 0.000000 m
[ INFO] [1620859317.987392111]: IcpOdometry: scan_normal_ground_up  = 0.000000
[ INFO] [1620859318.140050416]: Starting node...
[ INFO] [1620859318.164207900]: Initializing nodelet with 12 worker threads.
[ INFO] [1620859318.301203285]: /rtabmap/rtabmap(maps): map_filter_radius          = 0.000000
[ INFO] [1620859318.301263100]: /rtabmap/rtabmap(maps): map_filter_angle           = 30.000000
[ INFO] [1620859318.301292479]: /rtabmap/rtabmap(maps): map_cleanup                = true
[ INFO] [1620859318.301300666]: /rtabmap/rtabmap(maps): map_always_update          = false
[ INFO] [1620859318.301308041]: /rtabmap/rtabmap(maps): map_empty_ray_tracing      = true
[ INFO] [1620859318.301343028]: /rtabmap/rtabmap(maps): cloud_output_voxelized     = true
[ INFO] [1620859318.301351956]: /rtabmap/rtabmap(maps): cloud_subtract_filtering   = false
[ INFO] [1620859318.301398487]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1620859318.307690414]: /rtabmap/rtabmap(maps): octomap_tree_depth         = 16
[ INFO] [1620859318.326946821]: rtabmap: frame_id      = camera_link
[ INFO] [1620859318.327014418]: rtabmap: map_frame_id  = map
[ INFO] [1620859318.327046262]: rtabmap: use_action_for_goal  = false
[ INFO] [1620859318.327063621]: rtabmap: tf_delay      = 0.050000
[ INFO] [1620859318.327078985]: rtabmap: tf_tolerance  = 0.100000
[ INFO] [1620859318.327091943]: rtabmap: odom_sensor_sync   = false
[ INFO] [1620859318.327666573]: rtabmap: gen_scan  = false
[ INFO] [1620859318.327703613]: rtabmap: gen_depth  = false
[ INFO] [1620859318.393929321]: Setting RTAB-Map parameter "Icp/CorrespondenceRatio"="0.3"
[ INFO] [1620859318.395111386]: Setting RTAB-Map parameter "Icp/Epsilon"="0.001"
[ INFO] [1620859318.396528246]: Setting RTAB-Map parameter "Icp/Iterations"="30"
[ INFO] [1620859318.396899881]: Setting RTAB-Map parameter "Icp/MaxCorrespondenceDistance"="0.3"
[ INFO] [1620859318.397945364]: Setting RTAB-Map parameter "Icp/MaxTranslation"="1"
[ INFO] [1620859318.401517360]: Setting RTAB-Map parameter "Icp/PointToPlane"="true"
[ INFO] [1620859318.402484160]: Setting RTAB-Map parameter "Icp/PointToPlaneK"="20"
[ INFO] [1620859318.402850111]: Setting RTAB-Map parameter "Icp/PointToPlaneLowComplexityStrategy"="0"
[ INFO] [1620859318.403204190]: Setting RTAB-Map parameter "Icp/PointToPlaneMinComplexity"="0.05"
[ INFO] [1620859318.403607045]: Setting RTAB-Map parameter "Icp/PointToPlaneRadius"="0"
[ INFO] [1620859318.404093015]: Setting RTAB-Map parameter "Icp/RangeMax"="20"
[ INFO] [1620859318.405978348]: Setting RTAB-Map parameter "Icp/VoxelSize"="0"
[ INFO] [1620859318.421396349]: Setting RTAB-Map parameter "Kp/MaxFeatures"="-1"
[ INFO] [1620859318.439689851]: Setting RTAB-Map parameter "Mem/ImagePostDecimation"="4"
[ INFO] [1620859318.440036038]: Setting RTAB-Map parameter "Mem/ImagePreDecimation"="4"
[ INFO] [1620859318.440376048]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1620859318.440725459]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[ INFO] [1620859318.442384859]: Setting RTAB-Map parameter "Mem/LaserScanNormalK"="20"
[ INFO] [1620859318.442811833]: Setting RTAB-Map parameter "Mem/LaserScanNormalRadius"="0"
[ INFO] [1620859318.443204026]: Setting RTAB-Map parameter "Mem/LaserScanVoxelSize"="0.05"
[ INFO] [1620859318.445089498]: Setting RTAB-Map parameter "Mem/NotLinkedNodesKept"="false"
[ INFO] [1620859318.449811226]: Setting RTAB-Map parameter "Mem/STMSize"="30"
[ INFO] [1620859318.459560804]: Setting RTAB-Map parameter "Optimizer/GravitySigma"="0.3"
[ INFO] [1620859318.462927725]: Setting RTAB-Map parameter "Optimizer/Strategy"="2"
[ INFO] [1620859318.469602638]: Setting RTAB-Map parameter "RGBD/AngularUpdate"="0.05"
[ INFO] [1620859318.469998867]: Setting RTAB-Map parameter "RGBD/CreateOccupancyGrid"="false"
[ INFO] [1620859318.473419666]: Setting RTAB-Map parameter "RGBD/LinearUpdate"="0.05"
[ INFO] [1620859318.486108050]: Setting RTAB-Map parameter "RGBD/ProximityBySpace"="false"
[ INFO] [1620859318.487090641]: Setting RTAB-Map parameter "RGBD/ProximityMaxGraphDepth"="0"
[ INFO] [1620859318.489785894]: Setting RTAB-Map parameter "RGBD/ProximityPathMaxNeighbors"="1"
[ INFO] [1620859318.493572684]: Setting RTAB-Map parameter "Reg/Strategy"="1"
[ INFO] [1620859318.495138956]: Setting RTAB-Map parameter "Rtabmap/DetectionRate"="2"
[ INFO] [1620859318.575585067]: Update RTAB-Map parameter "Icp/Force4DoF"="true" from arguments
[ WARN] [1620859318.585930793]: Rtabmap: Parameter name changed: "Icp/PM" -> "Icp/Strategy". Please update your launch file accordingly. Value "true" is still set to the new parameter name.
[ WARN] [1620859318.586287290]: Rtabmap: Parameter name changed: "Icp/PMForce4DoF" -> "Icp/Force4DoF". Please update your launch file accordingly. Value "false" is still set to the new parameter name.
[ WARN] [1620859318.586646347]: Rtabmap: Parameter name changed: "Icp/PMOutlierRatio" -> "Icp/OutlierRatio". Please update your launch file accordingly. Value "0.7" is still set to the new parameter name.
[ WARN] [1620859318.659513593]: Rtabmap: Parameter name changed: "RGBD/SavedLocalizationIgnored" -> "RGBD/StartAtOrigin". Please update your launch file accordingly. Value "true" is still set to the new parameter name.
[ INFO] [1620859318.679260815]: RTAB-Map detection rate = 2.000000 Hz
[ INFO] [1620859318.679541891]: rtabmap: Deleted database "/root/rtabmap.db" (--delete_db_on_start or -d are set).
[ INFO] [1620859318.679595765]: rtabmap: Using database from "/root/rtabmap.db" (0 MB).
[ INFO] [1620859318.842326229]: rtabmap: Database version = "0.20.10".
[ INFO] [1620859318.842489077]: rtabmap: SLAM mode (Mem/IncrementalMemory=true)
[ INFO] [1620859318.930993267]: /rtabmap/rtabmap: subscribe_depth = true
[ INFO] [1620859318.931110542]: /rtabmap/rtabmap: subscribe_rgb = true
[ INFO] [1620859318.931197782]: /rtabmap/rtabmap: subscribe_stereo = false
[ INFO] [1620859318.931287740]: /rtabmap/rtabmap: subscribe_rgbd = false (rgbd_cameras=1)
[ INFO] [1620859318.931370312]: /rtabmap/rtabmap: subscribe_odom_info = true
[ INFO] [1620859318.931483496]: /rtabmap/rtabmap: subscribe_user_data = false
[ INFO] [1620859318.931596696]: /rtabmap/rtabmap: subscribe_scan = false
[ INFO] [1620859318.931679801]: /rtabmap/rtabmap: subscribe_scan_cloud = false
[ INFO] [1620859318.931759441]: /rtabmap/rtabmap: subscribe_scan_descriptor = false
[ INFO] [1620859318.931841857]: /rtabmap/rtabmap: queue_size    = 10
[ INFO] [1620859318.931946034]: /rtabmap/rtabmap: approx_sync   = true
[ INFO] [1620859318.932115736]: Setup depth callback
[ INFO] [1620859318.985211620]: 
/rtabmap/rtabmap subscribed to (approx sync):
   /rtabmap/odom \
   /camera/rgb/image_rect_color \
   /camera/depth_registered/image_raw \
   /camera/rgb/camera_info \
   /rtabmap/odom_info
[ INFO] [1620859319.083062482]: rtabmap 0.20.10 started...
dagata-mining commented 3 years ago

New Image seems to work, both with your script and my launch files