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introlab / rtabmap

RTAB-Map library and standalone application
https://introlab.github.io/rtabmap
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"Map Not recieved"--RTABMAP does not work #914

Open PhilipAmadasun opened 1 year ago

PhilipAmadasun commented 1 year ago

I'm trying to use rtabmap with d435 camera with turtlebot2 following these instructions:

 $ roslaunch turtlebot_bringup minimal.launch
 $ roslaunch rtabmap_ros demo_turtlebot_mapping.launch
$ roslaunch rtabmap_ros demo_turtlebot_rviz.launch

On the rviz display I get Map warning error(message: no map received) and I realize that some. I check and see that rviz is getting image and depth information,so there is scan data being received. I get this error with roslaunch rtabmap_ros demo_turtlebot_mapping.launch

[ WARN] [1665195508.923794717]: /rtabmap/rtabmap: 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 set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10).
/rtabmap/rtabmap subscribed to (approx sync):
   /camera/rgb/image_rect_color \
   /camera/depth_registered/image_raw \
   /camera/rgb/camera_info \
   /scan

So I assume these two problems are related. Not sure how to fix this issue.

matlabbe commented 1 year ago

You will have to probably remap the input topics. rtabmap is expecting those topics:

/camera/rgb/image_rect_color
/camera/depth_registered/image_raw
/camera/rgb/camera_info
/scan

As explained in the warning, you can test if those topics are published with:

rostopic hz /camera/rgb/image_rect_color \
   /camera/depth_registered/image_raw \
   /camera/rgb/camera_info \
   /scan

If you need to remap camera topics in this demo, update those lines. If you don't publish any scan topic, you can remove that line.

PhilipAmadasun commented 1 year ago

@matlabbe Id I have to remap, how would I know what to remap to? I'm using realsense d435 camera. Only the /scan topic is receiving data. How do I know if I have to remap the topics, they are in the rostopic list, they just dont receive data. How do I know if I need to remap? and if I don't need to do so. How do I make the other topics receive data?

matlabbe commented 1 year ago 
roslaunch rtabmap_ros demo_turtlebot_mapping.launch \
   rgb_topic:=your_d435_color_image_topic \
   depth_topic:=your_d435_aligned_depth_topic \
   camera_info_topic:=your_d435_color_camera_info_topic

You can do rosnode info your_d435_node to see which topics are published by the camera. Then set them above.