search

introlab / rtabmap_ros

RTAB-Map's ROS package.
http://wiki.ros.org/rtabmap_ros
BSD 3-Clause "New" or "Revised" License
922 stars 549 forks source link

When launching test_velodyne.launch getting error: Input cloud doesn't have "t", "time", "stamps" or "timestamp" field! #1063

Open astef3 opened 7 months ago

astef3 commented 7 months ago

ROS distro: Noetic Ubuntu 20.04

Hi, I tried to use the test_velodyne.launch file with Velodyne data from rosbag. But, when I launched the test_velodyne.launch file (unchanged) and played the velodyne rosbag, I get constant errors:

Input cloud doesn't have "t", "time", "stamps" or "timestamp" field! Failed to deskew input cloud, aborting odometry update!

Can you please help me with resolving this issue? Because I understand that the second error (deskew) is because of the first one, but I cannot understand how its possible that the input cloud is without timestamp, when Velodyne PointCloud2 messages always provide time as well.

Thank you in advance for your time and help.

matlabbe commented 7 months ago

Can you verify that your bag has really a timestamp channel? Otherwise, you can disable deskewing in that example.