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introlab / rtabmap_ros

RTAB-Map's ROS package.
http://wiki.ros.org/rtabmap_ros
BSD 3-Clause "New" or "Revised" License
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RTAB-MAP+ORBSLAM2 input RGBD data, detect stereo camera, then the rtab-map just finish initialization #1132

Closed zhuoyan28 closed 3 months ago

zhuoyan28 commented 3 months ago 
roslaunch rtabmap_ros euroc_datasets.launch \
   args:="Odom/Strategy 5 OdomORBSLAM/VocPath /home/shen/rtab_ws/src/ORB_SLAM2/Vocabulary/ORBvoc.txt" \
   MH_seq:=true \
   raw_images_for_odom:=true

... logging to /home/shen/.ros/log/4a97e338-dcf3-11ee-81bc-000c29b76e8c/roslaunch-shen-97501.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://shen:37605/

SUMMARY
========

CLEAR PARAMETERS
 * /rtabmap/rtabmap/
 * /rtabmap/rtabmapviz/
 * /rtabmap/stereo_odometry/

PARAMETERS
 * /imu_filter/publish_tf: False
 * /imu_filter/use_mag: False
 * /imu_filter/world_frame: enu
 * /point_to_tf/fixed_frame_id: world
 * /point_to_tf/frame_id: leica
 * /rosdistro: melodic
 * /rosversion: 1.14.13
 * /rtabmap/rtabmap/Mem/IncrementalMemory: true
 * /rtabmap/rtabmap/Mem/InitWMWithAllNodes: false
 * /rtabmap/rtabmap/approx_sync: False
 * /rtabmap/rtabmap/config_path: 
 * /rtabmap/rtabmap/database_path: ~/.ros/rtabmap.db
 * /rtabmap/rtabmap/frame_id: base_link
 * /rtabmap/rtabmap/gen_depth: False
 * /rtabmap/rtabmap/gen_depth_decimation: 1
 * /rtabmap/rtabmap/gen_depth_fill_holes_error: 0.1
 * /rtabmap/rtabmap/gen_depth_fill_holes_size: 0
 * /rtabmap/rtabmap/gen_depth_fill_iterations: 1
 * /rtabmap/rtabmap/gen_scan: False
 * /rtabmap/rtabmap/ground_truth_base_frame_id: 
 * /rtabmap/rtabmap/ground_truth_frame_id: 
 * /rtabmap/rtabmap/initial_pose: 
 * /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_frame_id_init: 
 * /rtabmap/rtabmap/odom_sensor_sync: False
 * /rtabmap/rtabmap/odom_tf_angular_variance: 0.001
 * /rtabmap/rtabmap/odom_tf_linear_variance: 0.001
 * /rtabmap/rtabmap/publish_tf: True
 * /rtabmap/rtabmap/queue_size: 10
 * /rtabmap/rtabmap/scan_cloud_max_points: 0
 * /rtabmap/rtabmap/subscribe_depth: False
 * /rtabmap/rtabmap/subscribe_odom_info: True
 * /rtabmap/rtabmap/subscribe_rgb: False
 * /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: True
 * /rtabmap/rtabmap/subscribe_user_data: False
 * /rtabmap/rtabmap/wait_for_transform_duration: 0.1
 * /rtabmap/rtabmapviz/approx_sync: False
 * /rtabmap/rtabmapviz/frame_id: base_link
 * /rtabmap/rtabmapviz/odom_frame_id: 
 * /rtabmap/rtabmapviz/queue_size: 10
 * /rtabmap/rtabmapviz/subscribe_depth: False
 * /rtabmap/rtabmapviz/subscribe_odom_info: True
 * /rtabmap/rtabmapviz/subscribe_rgb: False
 * /rtabmap/rtabmapviz/subscribe_rgbd: False
 * /rtabmap/rtabmapviz/subscribe_scan: False
 * /rtabmap/rtabmapviz/subscribe_scan_cloud: False
 * /rtabmap/rtabmapviz/subscribe_scan_descriptor: False
 * /rtabmap/rtabmapviz/subscribe_stereo: True
 * /rtabmap/rtabmapviz/wait_for_transform_duration: 0.1
 * /rtabmap/stereo_odometry/approx_sync: False
 * /rtabmap/stereo_odometry/approx_sync_max_interval: 0.0
 * /rtabmap/stereo_odometry/config_path: 
 * /rtabmap/stereo_odometry/expected_update_rate: 0.0
 * /rtabmap/stereo_odometry/frame_id: base_link
 * /rtabmap/stereo_odometry/ground_truth_base_frame_id: 
 * /rtabmap/stereo_odometry/ground_truth_frame_id: 
 * /rtabmap/stereo_odometry/guess_frame_id: 
 * /rtabmap/stereo_odometry/guess_min_rotation: 0.0
 * /rtabmap/stereo_odometry/guess_min_translation: 0.0
 * /rtabmap/stereo_odometry/keep_color: False
 * /rtabmap/stereo_odometry/max_update_rate: 0.0
 * /rtabmap/stereo_odometry/odom_frame_id: odom
 * /rtabmap/stereo_odometry/publish_tf: True
 * /rtabmap/stereo_odometry/queue_size: 10
 * /rtabmap/stereo_odometry/subscribe_rgbd: False
 * /rtabmap/stereo_odometry/wait_for_transform_duration: 0.1
 * /rtabmap/stereo_odometry/wait_imu_to_init: True
 * /stereo_camera/yaml_to_camera_info_left/yaml_path: /home/shen/rtab_w...
 * /stereo_camera/yaml_to_camera_info_right/frame_id: cam1
 * /stereo_camera/yaml_to_camera_info_right/yaml_path: /home/shen/rtab_w...
 * /use_sim_time: True

NODES
  /
    cam0_imu_link (tf/static_transform_publisher)
    cam1_imu_link (tf/static_transform_publisher)
    imu_base_link (tf/static_transform_publisher)
    imu_filter (imu_complementary_filter/complementary_filter_node)
    leica_base_link (tf/static_transform_publisher)
    point_to_tf (rtabmap_ros/point_to_tf.py)
    world_to_map (tf/static_transform_publisher)
  /rtabmap/
    rtabmap (rtabmap_ros/rtabmap)
    rtabmapviz (rtabmap_ros/rtabmapviz)
    stereo_odometry (rtabmap_ros/stereo_odometry)
  /stereo_camera/
    yaml_to_camera_info_left (rtabmap_ros/yaml_to_camera_info.py)
    yaml_to_camera_info_right (rtabmap_ros/yaml_to_camera_info.py)

auto-starting new master
process[master]: started with pid [97518]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 4a97e338-dcf3-11ee-81bc-000c29b76e8c
process[rosout-1]: started with pid [97532]
started core service [/rosout]
process[stereo_camera/yaml_to_camera_info_left-2]: started with pid [97540]
process[stereo_camera/yaml_to_camera_info_right-3]: started with pid [97541]
process[imu_base_link-4]: started with pid [97542]
process[cam0_imu_link-5]: started with pid [97543]
process[cam1_imu_link-6]: started with pid [97550]
process[leica_base_link-7]: started with pid [97555]
process[point_to_tf-8]: started with pid [97565]
process[world_to_map-9]: started with pid [97567]
ERROR: cannot launch node of type [imu_complementary_filter/complementary_filter_node]: imu_complementary_filter
ROS path [0]=/opt/ros/melodic/share/ros
ROS path [1]=/home/shen/rtab_ws/src
ROS path [2]=/opt/ros/melodic/share
process[rtabmap/stereo_odometry-11]: started with pid [97569]
process[rtabmap/rtabmap-12]: started with pid [97580]
process[rtabmap/rtabmapviz-13]: started with pid [97581]
[ INFO] [1709864799.805756847]: Starting node...
[ INFO] [1709864799.880340575]: Initializing nodelet with 4 worker threads.
[ INFO] [1709864799.931939823]: Initializing nodelet with 4 worker threads.
[ INFO] [1709864800.083396705]: Starting node...
[ INFO] [1709864800.127753090]: Odometry: frame_id               = base_link
[ INFO] [1709864800.127851890]: Odometry: odom_frame_id          = odom
[ INFO] [1709864800.127901001]: Odometry: publish_tf             = true
[ INFO] [1709864800.127953533]: Odometry: wait_for_transform     = true
[ INFO] [1709864800.128008892]: Odometry: wait_for_transform_duration  = 0.100000
[ INFO] [1709864800.128054060]: Odometry: log_to_rosout_level    = 4
[ INFO] [1709864800.128132297]: Odometry: initial_pose           = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000
[ INFO] [1709864800.128185095]: Odometry: ground_truth_frame_id  = 
[ INFO] [1709864800.128268093]: Odometry: ground_truth_base_frame_id = 
[ INFO] [1709864800.128975674]: Odometry: config_path            = 
[ INFO] [1709864800.129030122]: Odometry: publish_null_when_lost = true
[ INFO] [1709864800.129416042]: Odometry: guess_frame_id         = 
[ INFO] [1709864800.129475253]: Odometry: guess_min_translation  = 0.000000
[ INFO] [1709864800.129521368]: Odometry: guess_min_rotation     = 0.000000
[ INFO] [1709864800.129566079]: Odometry: guess_min_time         = 0.000000
[ INFO] [1709864800.129610715]: Odometry: expected_update_rate   = 0.000000 Hz
[ INFO] [1709864800.129654371]: Odometry: max_update_rate        = 0.000000 Hz
[ INFO] [1709864800.129698147]: Odometry: min_update_rate        = 0.000000 Hz
[ INFO] [1709864800.129744411]: Odometry: wait_imu_to_init       = true
[ INFO] [1709864800.129824996]: Odometry: stereoParams_=1 visParams_=1 icpParams_=0
[ INFO] [1709864800.165839721]: /rtabmap/rtabmap(maps): map_filter_radius          = 0.000000
[ INFO] [1709864800.166004430]: /rtabmap/rtabmap(maps): map_filter_angle           = 30.000000
[ INFO] [1709864800.166165881]: /rtabmap/rtabmap(maps): map_cleanup                = true
[ INFO] [1709864800.166243569]: /rtabmap/rtabmap(maps): map_always_update          = false
[ INFO] [1709864800.166277676]: /rtabmap/rtabmap(maps): map_empty_ray_tracing      = true
[ INFO] [1709864800.166394420]: /rtabmap/rtabmap(maps): cloud_output_voxelized     = true
[ INFO] [1709864800.166421438]: /rtabmap/rtabmap(maps): cloud_subtract_filtering   = false
[ INFO] [1709864800.166577406]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1709864800.167298853]: /rtabmap/rtabmap(maps): octomap_tree_depth         = 16
[ INFO] [1709864800.236227303]: rtabmap: frame_id      = base_link
[ INFO] [1709864800.236292115]: rtabmap: map_frame_id  = map
[ INFO] [1709864800.236323547]: rtabmap: log_to_rosout_level = 4
[ INFO] [1709864800.236362923]: rtabmap: initial_pose  = 
[ INFO] [1709864800.236407997]: rtabmap: use_action_for_goal  = false
[ INFO] [1709864800.236454256]: rtabmap: tf_delay      = 0.050000
[ INFO] [1709864800.236481500]: rtabmap: tf_tolerance  = 0.100000
[ INFO] [1709864800.236516634]: rtabmap: odom_sensor_sync   = false
[ INFO] [1709864800.237361367]: rtabmap: stereo_to_depth = false
[ INFO] [1709864800.237443839]: rtabmap: gen_scan  = false
[ INFO] [1709864800.237474944]: rtabmap: gen_depth  = false
[ INFO] [1709864800.306517429]: rtabmapviz: Using configuration from "/home/shen/.ros/rtabmap_gui.ini"
[ INFO] [1709864800.734510952]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1709864800.735137934]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[ WARN] (2024-03-08 10:26:40.840) Parameters.cpp:1135::parseArguments() Parameter migration from "Odom/FeatureType" to "Vis/FeatureType" (value=6).
[ INFO] [1709864800.840494088]: Odometry: Ignored parameter "Kp/DetectorStrategy"="6" from arguments
[ INFO] [1709864800.840554155]: Update odometry parameter "Odom/Strategy"="5" from arguments
[ INFO] [1709864800.840600325]: Update odometry parameter "OdomORBSLAM/VocPath"="/home/shen/rtab_ws/src/ORB_SLAM2/Vocabulary/ORBvoc.txt" from arguments
[ INFO] [1709864800.840625268]: Odometry: Ignored parameter "RGBD/CreateOccupancyGrid"="false" from arguments
[ INFO] [1709864800.840652522]: Update odometry parameter "Rtabmap/ImagesAlreadyRectified"="false" from arguments
[ INFO] [1709864800.840673284]: Update odometry parameter "Vis/FeatureType"="6" from arguments
[ INFO] [1709864801.274474089]: odometry: Subscribing to IMU topic /imu/data
[ INFO] [1709864801.284102818]: StereoOdometry: approx_sync = false
[ INFO] [1709864801.284174720]: StereoOdometry: queue_size = 10
[ INFO] [1709864801.284196230]: StereoOdometry: subscribe_rgbd = false
[ INFO] [1709864801.284205916]: StereoOdometry: keep_color = false
[ INFO] [1709864801.324586906]: 
/rtabmap/stereo_odometry subscribed to (exact sync):
   /cam0/image_raw \
   /cam1/image_raw \
   /stereo_camera/left/camera_info \
   /stereo_camera/right/camera_info
[ WARN] (2024-03-08 10:26:41.337) Parameters.cpp:1135::parseArguments() Parameter migration from "Odom/FeatureType" to "Vis/FeatureType" (value=6).
[ INFO] [1709864801.337533317]: Update RTAB-Map parameter "Kp/DetectorStrategy"="6" from arguments
[ INFO] [1709864801.337633973]: Update RTAB-Map parameter "Odom/Strategy"="5" from arguments
[ INFO] [1709864801.337692090]: Update RTAB-Map parameter "OdomORBSLAM/VocPath"="/home/shen/rtab_ws/src/ORB_SLAM2/Vocabulary/ORBvoc.txt" from arguments
[ INFO] [1709864801.337747410]: Update RTAB-Map parameter "RGBD/CreateOccupancyGrid"="false" from arguments
[ INFO] [1709864801.337790477]: Update RTAB-Map parameter "Rtabmap/ImagesAlreadyRectified"="false" from arguments
[ INFO] [1709864801.337809803]: Update RTAB-Map parameter "Vis/FeatureType"="6" from arguments
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
[ INFO] [1709864801.660855136]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1709864801.662269363]: rtabmap: Deleted database "/home/shen/.ros/rtabmap.db" (--delete_db_on_start or -d are set).
[ INFO] [1709864801.662421482]: rtabmap: Using database from "/home/shen/.ros/rtabmap.db" (0 MB).
[ WARN] (2024-03-08 10:26:41.665) Features2d.cpp:561::create() BRIEF, FREAK and DAISY features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2024-03-08 10:26:41.667) Features2d.cpp:561::create() BRIEF, FREAK and DAISY features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2024-03-08 10:26:41.668) Features2d.cpp:561::create() BRIEF, FREAK and DAISY features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2024-03-08 10:26:41.672) Features2d.cpp:561::create() BRIEF, FREAK and DAISY features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2024-03-08 10:26:41.673) Features2d.cpp:561::create() BRIEF, FREAK and DAISY features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2024-03-08 10:26:41.674) Features2d.cpp:561::create() BRIEF, FREAK and DAISY features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2024-03-08 10:26:41.676) Features2d.cpp:561::create() BRIEF, FREAK and DAISY features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2024-03-08 10:26:41.677) Features2d.cpp:561::create() BRIEF, FREAK and DAISY features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2024-03-08 10:26:41.677) Features2d.cpp:561::create() BRIEF, FREAK and DAISY features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2024-03-08 10:26:41.715) Features2d.cpp:561::create() BRIEF, FREAK and DAISY features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2024-03-08 10:26:41.716) Features2d.cpp:561::create() BRIEF, FREAK and DAISY features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ WARN] (2024-03-08 10:26:41.717) Features2d.cpp:561::create() BRIEF, FREAK and DAISY features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead.
[ INFO] [1709864801.719490125]: rtabmap: Database version = "0.20.23".
[ INFO] [1709864801.719755697]: rtabmap: SLAM mode (Mem/IncrementalMemory=true)
[ INFO] [1709864801.776771582]: /rtabmap/rtabmap: subscribe_depth = false
[ INFO] [1709864801.776874354]: /rtabmap/rtabmap: subscribe_rgb = false
[ INFO] [1709864801.776952377]: /rtabmap/rtabmap: subscribe_stereo = true
[ INFO] [1709864801.776993175]: /rtabmap/rtabmap: subscribe_rgbd = false (rgbd_cameras=1)
[ INFO] [1709864801.777040075]: /rtabmap/rtabmap: subscribe_odom_info = true
[ INFO] [1709864801.777096907]: /rtabmap/rtabmap: subscribe_user_data = false
[ INFO] [1709864801.777141175]: /rtabmap/rtabmap: subscribe_scan = false
[ INFO] [1709864801.777244849]: /rtabmap/rtabmap: subscribe_scan_cloud = false
[ INFO] [1709864801.777333790]: /rtabmap/rtabmap: subscribe_scan_descriptor = false
[ INFO] [1709864801.777379464]: /rtabmap/rtabmap: queue_size    = 10
[ INFO] [1709864801.777428559]: /rtabmap/rtabmap: approx_sync   = false
[ INFO] [1709864801.778121838]: Setup stereo callback
[ INFO] [1709864801.819332013]: 
/rtabmap/rtabmap subscribed to (exact sync):
   /rtabmap/odom \
   /cam0/image_raw \
   /cam1/image_raw \
   /stereo_camera/left/camera_info \
   /stereo_camera/right/camera_info \
   /rtabmap/odom_info
[ INFO] [1709864802.052128035]: rtabmap 0.20.23 started...
[ INFO] [1709864802.707108392]: rtabmapviz: Reading parameters from the ROS server...
[ INFO] [1709864803.108083676]: rtabmapviz: Parameters read = 359
[ INFO] [1709864803.108182238]: rtabmapviz: Parameters successfully read.
[ INFO] [1709864803.508980210]: /rtabmap/rtabmapviz: subscribe_depth = false
[ INFO] [1709864803.509129260]: /rtabmap/rtabmapviz: subscribe_rgb = false
[ INFO] [1709864803.509203377]: /rtabmap/rtabmapviz: subscribe_stereo = true
[ INFO] [1709864803.509283496]: /rtabmap/rtabmapviz: subscribe_rgbd = false (rgbd_cameras=1)
[ INFO] [1709864803.509312067]: /rtabmap/rtabmapviz: subscribe_odom_info = true
[ INFO] [1709864803.509372345]: /rtabmap/rtabmapviz: subscribe_user_data = false
[ INFO] [1709864803.509401987]: /rtabmap/rtabmapviz: subscribe_scan = false
[ INFO] [1709864803.509423238]: /rtabmap/rtabmapviz: subscribe_scan_cloud = false
[ INFO] [1709864803.509443391]: /rtabmap/rtabmapviz: subscribe_scan_descriptor = false
[ INFO] [1709864803.509464960]: /rtabmap/rtabmapviz: queue_size    = 10
[ INFO] [1709864803.509510330]: /rtabmap/rtabmapviz: approx_sync   = false
[ INFO] [1709864803.509631794]: Setup stereo callback
[ INFO] [1709864803.601678297]: 
/rtabmap/rtabmapviz subscribed to (exact sync):
   /rtabmap/odom \
   /cam0/image_raw \
   /cam1/image_raw \
   /stereo_camera/left/camera_info \
   /stereo_camera/right/camera_info \
   /rtabmap/odom_info
[ INFO] [1709864803.602007859]: rtabmapviz started.
[ WARN] [1709864886.273990127, 1305031098.382347911]: Detected jump back in time of 3.78216s. Clearing TF buffer.
[ WARN] [1709864886.274197827, 1305031098.382347911]: Detected jump back in time of 3.78216s. Clearing TF buffer.
[ WARN] [1709864886.274191416, 1305031098.382347911]: Detected jump back in time of 3.78216s. Clearing TF buffer.
matlabbe commented 3 months ago

Did you play the bag with --clock? or what is the command used to play the euroc bag?

zhuoyan28 commented 3 months ago

I find the reason: euroc_datasets is a stereo data set, but the test data set given by experience is rgbd, resulting in no image in the output. the commands are: roslaunch rtabmap_ros euroc_datasets.launch args:="Odom/Strategy 5 OdomORBSLAM/VocPath /home/rosadmin/rtab_ws/src/ORB_SLAM3/Vocabulary/ORBvoc.txt" MH_seq:=true raw_images_for_odom:=true rosbag play --clock V1_01_easy.bag

the instruction is 【ROS】RTABMAP+ORBSLAM3环境搭建步骤 https://zhuanlan.zhihu.com/p/528557998