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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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RTABMAP republish doesn't accept camera input topic #1133

Closed lempiy closed 3 months ago

lempiy commented 3 months ago

Hi. I'm trying to make RTabmap + ORBSLAM3 working together. I managed to compile everything on ros noetic, including ORBSLAM3 lib, rtabmap with -DWITH_ORB_SLAM=ON and rtabmap_ros.

rtabmap --version
RTAB-Map:               0.21.4
PCL:                    1.10.0
With VTK:                7.1.1
OpenCV:                  4.2.0
With OpenCV xfeatures2d: false
With OpenCV nonfree:     false
With ORB OcTree:          true
With SuperPoint Torch:   false
With Python3:            false
With FastCV:             false
With OpenGV:             false
With Madgwick:            true
With PDAL:               false
With TORO:                true
With g2o:                false
With GTSAM:               true
With Vertigo:             true
With CVSBA:              false
With Ceres:              false
With OpenNI2:             true
With Freenect:           false
With Freenect2:          false
With K4W2:               false
With K4A:                false
With DC1394:              true
With FlyCapture2:        false
With ZED:                false
With ZED Open Capture:   false
With RealSense:          false
With RealSense SLAM:     false
With RealSense2:          true
With MYNT EYE S:         false
With DepthAI:            false
With libpointmatcher:     true
With CCCoreLib:          false
With Open3D:             false
With OctoMap:             true
With GridMap:             true
With cpu-tsdf:           false
With open chisel:        false
With Alice Vision:       false
With LOAM:               false
With FLOAM:              false
With FOVIS:              false
With Viso2:              false
With DVO:                false
With ORB_SLAM3:           true  <--- it's linked
With OKVIS:              false
With MSCKF_VIO:          false
With VINS-Fusion:        false
With OpenVINS:           false

I'm starting my ros launch config: roslaunch realsense2_camera rs_rtabmap_d455.launch

<launch>
    <!-- 
          NOTICE: Installation of rtabmap is required for using this launch file:
                  For installation type:
                        apt-get install ros-kinetic-rtabmap-ros
    -->
    <arg name="device_type_camera1"       default="d4.5"/>  <!-- Note: using regular expression. match D435, D435i, D415... -->
    <arg name="serial_no_camera1"         default=""/>
    <arg name="camera1"                   default="d455"/>
    <arg name="clip_distance"             default="-2"/>
    <arg name="use_rviz"                  default="true"/>
    <arg name="use_rtabmapviz"            default="true"/>

    <include file="$(find realsense2_camera)/launch/rs_camera.launch">
              <arg name="enable_infra"        value="true"/>
              <arg name="enable_gyro"         value="true"/>
              <arg name="enable_accel"        value="true"/>
              <arg name="enable_pointcloud"   value="true"/>
              <arg name="align_depth"         value="true"/>
              <arg name="unite_imu_method"    value="copy"/>
    </include>

    <!-- Start IMU filter -->
    <node pkg="imu_filter_madgwick" type="imu_filter_node" name="imu_filter" output="screen">
        <param name="use_mag" value="false" />
        <param name="publish_tf" value="false" />
        <param name="world_frame" value="enu" />
        <remap from="/imu/data_raw" to="/camera/imu" />
        <remap from="/imu/data" to="/rtabmap/imu" />
    </node>

    <include file="$(find rtabmap_ros)/launch/rtabmap.launch">
            <arg name="rtabmap_args"       value="--delete_db_on_start"/>
            <arg name="rgbd_topic"         value="/camera/aligned_depth_to_color/image_raw"/>
            <arg name="subscribe_rgbd"     value="true"/>
            <arg name="frame_id"           value="camera_link"/>
            <arg name="rgb_topic"          value="/camera/color/image_raw"/>
            <arg name="camera_info_topic"  value="/camera/color/camera_info"/>
            <arg name="queue_size"         value="200"/>
            <arg name="wait_imu_to_init"   value="true" />
            <arg name="imu_topic"          value="/rtabmap/imu"/>
            <arg name="rviz"               value="$(arg use_rviz)"/>
            <arg name="rtabmapviz"         value="$(arg use_rtabmapviz)"/>
            <arg name="cfg"                value="$(find realsense2_camera)/launch/rtabmap.ini" />
   </include>
</launch>

Getting error

Client [/rtabmap/republish_rgbd_image] wants topic /camera/aligned_depth_to_color/image_raw to have datatype/md5sum [rtabmap_msgs/RGBDImage/affef6cc8804ffba98ce6ed6f1ca8942], but our version has [sensor_msgs/Image/060021388200f6f0f447d0fcd9c64743]. Dropping connection.

Why /rtabmap/republish_rgbd expects rtabmap_msgs/RGBDImage ? Would be thankful for help.

matlabbe commented 3 months ago

I think you meant:

<arg name="depth_topic"       value="/camera/aligned_depth_to_color/image_raw"/>
<arg name="subscribe_rgbd"    value="false"/>

or

<arg name="depth_topic"       value="/camera/aligned_depth_to_color/image_raw"/>
<arg name="rgbd_sync"         value="true"/>

I think with D400 series, you could also set

<arg name="approx_sync"         value="false"/> <!-- if rgbd_sync is not set -->
<arg name="approx_rgbd_sync"    value="false"/> <!-- if rgbd_sync is set -->
lempiy commented 3 months ago

Thank you for your rapid answer. Fixing topic from rgbd -> depth resolved problem with datatypes.

But now I got rgbd_odometry crashing after ORB Voc loaded

Vocabulary loaded!

Initialization of Atlas from scratch 
Creation of new map with id: 0
Creation of new map with last KF id: 0
Seq. Name: 
[rtabmap/rgbd_odometry-6] process has died [pid 16803, exit code -11, cmd /home/anton/Projects/rtabmap_ros/devel/lib/rtabmap_odom/rgbd_odometry --delete_db_on_start rgb/image:=/camera/color/image_raw depth/image:=/camera/aligned_depth_to_color/image_raw rgb/camera_info:=/camera/color/camera_info rgbd_image:=rgbd_image odom:=odom imu:=/rtabmap/imu __name:=rgbd_odometry __log:=/home/anton/.ros/log/a48aaf0e-deee-11ee-9aed-4338ecc5a3fa/rtabmap-rgbd_odometry-6.log].
log file: /home/anton/.ros/log/a48aaf0e-deee-11ee-9aed-4338ecc5a3fa/rtabmap-rgbd_odometry-6*.log

This happens in both cases (<arg name="rgbd_sync" value="true"/> and <arg name="rgbd_sync" value="false"/>)

Maybe you have some suggestion how to get more debug information about a reason of the crash? /home/anton/.ros/log/a48aaf0e-deee-11ee-9aed-4338ecc5a3fa/rtabmap-rgbd_odometry-6.log, appearently, doesn't exist after error.

Thanks.

lempiy commented 3 months ago

Full log:

... logging to /home/anton/.ros/log/b31ff276-def4-11ee-9aed-4338ecc5a3fa/roslaunch-anton-45029.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.
]2;/opt/ros/noetic/share/realsense2_camera/launch/rs_rtabmap_d455.launch
started roslaunch server http://anton:44159/

SUMMARY
========

CLEAR PARAMETERS
 * /points_xyzrgb/
 * /rtabmap/rgbd_odometry/
 * /rtabmap/rgbd_sync/
 * /rtabmap/rtabmap/
 * /rtabmap/rtabmap_viz/

PARAMETERS
 * /camera/realsense2_camera/accel_fps: -1
 * /camera/realsense2_camera/accel_frame_id: camera_accel_frame
 * /camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti...
 * /camera/realsense2_camera/align_depth: True
 * /camera/realsense2_camera/aligned_depth_to_color_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_fisheye1_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_fisheye2_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_fisheye_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_infra1_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_infra2_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/allow_no_texture_points: False
 * /camera/realsense2_camera/base_frame_id: camera_link
 * /camera/realsense2_camera/calib_odom_file: 
 * /camera/realsense2_camera/clip_distance: -2.0
 * /camera/realsense2_camera/color_fps: -1
 * /camera/realsense2_camera/color_frame_id: camera_color_frame
 * /camera/realsense2_camera/color_height: -1
 * /camera/realsense2_camera/color_optical_frame_id: camera_color_opti...
 * /camera/realsense2_camera/color_width: -1
 * /camera/realsense2_camera/confidence_fps: -1
 * /camera/realsense2_camera/confidence_height: -1
 * /camera/realsense2_camera/confidence_width: -1
 * /camera/realsense2_camera/depth_fps: -1
 * /camera/realsense2_camera/depth_frame_id: camera_depth_frame
 * /camera/realsense2_camera/depth_height: -1
 * /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti...
 * /camera/realsense2_camera/depth_width: -1
 * /camera/realsense2_camera/device_type: 
 * /camera/realsense2_camera/enable_accel: True
 * /camera/realsense2_camera/enable_color: True
 * /camera/realsense2_camera/enable_confidence: True
 * /camera/realsense2_camera/enable_depth: True
 * /camera/realsense2_camera/enable_fisheye1: False
 * /camera/realsense2_camera/enable_fisheye2: False
 * /camera/realsense2_camera/enable_fisheye: False
 * /camera/realsense2_camera/enable_gyro: True
 * /camera/realsense2_camera/enable_infra1: False
 * /camera/realsense2_camera/enable_infra2: False
 * /camera/realsense2_camera/enable_infra: True
 * /camera/realsense2_camera/enable_pointcloud: True
 * /camera/realsense2_camera/enable_pose: False
 * /camera/realsense2_camera/enable_sync: False
 * /camera/realsense2_camera/filters: 
 * /camera/realsense2_camera/fisheye1_frame_id: camera_fisheye1_f...
 * /camera/realsense2_camera/fisheye1_optical_frame_id: camera_fisheye1_o...
 * /camera/realsense2_camera/fisheye2_frame_id: camera_fisheye2_f...
 * /camera/realsense2_camera/fisheye2_optical_frame_id: camera_fisheye2_o...
 * /camera/realsense2_camera/fisheye_fps: -1
 * /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame
 * /camera/realsense2_camera/fisheye_height: -1
 * /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op...
 * /camera/realsense2_camera/fisheye_width: -1
 * /camera/realsense2_camera/gyro_fps: -1
 * /camera/realsense2_camera/gyro_frame_id: camera_gyro_frame
 * /camera/realsense2_camera/gyro_optical_frame_id: camera_gyro_optic...
 * /camera/realsense2_camera/imu_optical_frame_id: camera_imu_optica...
 * /camera/realsense2_camera/infra1_frame_id: camera_infra1_frame
 * /camera/realsense2_camera/infra1_optical_frame_id: camera_infra1_opt...
 * /camera/realsense2_camera/infra2_frame_id: camera_infra2_frame
 * /camera/realsense2_camera/infra2_optical_frame_id: camera_infra2_opt...
 * /camera/realsense2_camera/infra_fps: 30
 * /camera/realsense2_camera/infra_height: 480
 * /camera/realsense2_camera/infra_rgb: False
 * /camera/realsense2_camera/infra_width: 848
 * /camera/realsense2_camera/initial_reset: False
 * /camera/realsense2_camera/json_file_path: 
 * /camera/realsense2_camera/linear_accel_cov: 0.01
 * /camera/realsense2_camera/odom_frame_id: camera_odom_frame
 * /camera/realsense2_camera/ordered_pc: False
 * /camera/realsense2_camera/pointcloud_texture_index: 0
 * /camera/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
 * /camera/realsense2_camera/pose_frame_id: camera_pose_frame
 * /camera/realsense2_camera/pose_optical_frame_id: camera_pose_optic...
 * /camera/realsense2_camera/publish_odom_tf: True
 * /camera/realsense2_camera/publish_tf: True
 * /camera/realsense2_camera/reconnect_timeout: 6.0
 * /camera/realsense2_camera/rosbag_filename: 
 * /camera/realsense2_camera/serial_no: 
 * /camera/realsense2_camera/stereo_module/exposure/1: 7500
 * /camera/realsense2_camera/stereo_module/exposure/2: 1
 * /camera/realsense2_camera/stereo_module/gain/1: 16
 * /camera/realsense2_camera/stereo_module/gain/2: 16
 * /camera/realsense2_camera/tf_publish_rate: 0.0
 * /camera/realsense2_camera/topic_odom_in: odom_in
 * /camera/realsense2_camera/unite_imu_method: copy
 * /camera/realsense2_camera/usb_port_id: 
 * /camera/realsense2_camera/wait_for_device_timeout: -1.0
 * /imu_filter/publish_tf: False
 * /imu_filter/use_mag: False
 * /imu_filter/world_frame: enu
 * /points_xyzrgb/approx_sync: True
 * /points_xyzrgb/approx_sync_max_interval: 0.0
 * /points_xyzrgb/decimation: 4.0
 * /points_xyzrgb/voxel_size: 0.0
 * /rosdistro: noetic
 * /rosversion: 1.16.0
 * /rtabmap/rgbd_odometry/approx_sync: True
 * /rtabmap/rgbd_odometry/approx_sync_max_interval: 0.0
 * /rtabmap/rgbd_odometry/config_path: /opt/ros/noetic/s...
 * /rtabmap/rgbd_odometry/expected_update_rate: 0.0
 * /rtabmap/rgbd_odometry/frame_id: camera_link
 * /rtabmap/rgbd_odometry/ground_truth_base_frame_id: 
 * /rtabmap/rgbd_odometry/ground_truth_frame_id: 
 * /rtabmap/rgbd_odometry/guess_frame_id: 
 * /rtabmap/rgbd_odometry/guess_min_rotation: 0.0
 * /rtabmap/rgbd_odometry/guess_min_translation: 0.0
 * /rtabmap/rgbd_odometry/keep_color: False
 * /rtabmap/rgbd_odometry/max_update_rate: 0.0
 * /rtabmap/rgbd_odometry/odom_frame_id: odom
 * /rtabmap/rgbd_odometry/publish_tf: True
 * /rtabmap/rgbd_odometry/queue_size: 200
 * /rtabmap/rgbd_odometry/subscribe_rgbd: False
 * /rtabmap/rgbd_odometry/wait_for_transform_duration: 0.2
 * /rtabmap/rgbd_odometry/wait_imu_to_init: True
 * /rtabmap/rgbd_sync/approx_sync: False
 * /rtabmap/rgbd_sync/approx_sync_max_interval: 0.0
 * /rtabmap/rgbd_sync/decimation: 1.0
 * /rtabmap/rgbd_sync/depth_scale: 1.0
 * /rtabmap/rgbd_sync/queue_size: 200
 * /rtabmap/rtabmap/Mem/IncrementalMemory: true
 * /rtabmap/rtabmap/Mem/InitWMWithAllNodes: false
 * /rtabmap/rtabmap/approx_sync: True
 * /rtabmap/rtabmap/config_path: /opt/ros/noetic/s...
 * /rtabmap/rtabmap/database_path: ~/.ros/rtabmap.db
 * /rtabmap/rtabmap/frame_id: camera_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/loc_thr: 0.0
 * /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: 200
 * /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
 * /rtabmap/rtabmap_viz/approx_sync: True
 * /rtabmap/rtabmap_viz/frame_id: camera_link
 * /rtabmap/rtabmap_viz/odom_frame_id: 
 * /rtabmap/rtabmap_viz/queue_size: 200
 * /rtabmap/rtabmap_viz/subscribe_depth: True
 * /rtabmap/rtabmap_viz/subscribe_odom_info: True
 * /rtabmap/rtabmap_viz/subscribe_rgb: True
 * /rtabmap/rtabmap_viz/subscribe_rgbd: False
 * /rtabmap/rtabmap_viz/subscribe_scan: False
 * /rtabmap/rtabmap_viz/subscribe_scan_cloud: False
 * /rtabmap/rtabmap_viz/subscribe_scan_descriptor: False
 * /rtabmap/rtabmap_viz/subscribe_stereo: False
 * /rtabmap/rtabmap_viz/wait_for_transform_duration: 0.2

NODES
  /
    imu_filter (imu_filter_madgwick/imu_filter_node)
    points_xyzrgb (nodelet/nodelet)
    rviz (rviz/rviz)
  /camera/
    realsense2_camera (nodelet/nodelet)
    realsense2_camera_manager (nodelet/nodelet)
  /rtabmap/
    rgbd_odometry (rtabmap_odom/rgbd_odometry)
    rgbd_sync (nodelet/nodelet)
    rtabmap (rtabmap_slam/rtabmap)
    rtabmap_viz (rtabmap_viz/rtabmap_viz)
[ INFO] [1710085306.329369394]: Initializing nodelet with 4 worker threads.
[ INFO] [1710085306.750707652]: RealSense ROS v2.3.2
[ INFO] [1710085306.752588816]: Built with LibRealSense v2.50.0
[ INFO] [1710085306.752824842]: Running with LibRealSense v2.50.0
[ INFO] [1710085306.850955545]:  
 10/03 17:41:46,951 WARNING [140463160260352] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Success, number: 0
 10/03 17:41:47,003 WARNING [140463160260352] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Success, number: 0
[ INFO] [1710085307.154778373]: Device with serial number 151422252931 was found.

[ INFO] [1710085307.155092993]: Device with physical ID 1-3-7 was found.
[ INFO] [1710085307.155287444]: Device with name Intel RealSense D455 was found.
[ INFO] [1710085307.156101910]: Device with port number 1-3 was found.
[ INFO] [1710085307.156374692]: Device USB type: 2.1
[ INFO] [1710085307.160889145]: getParameters...
[ INFO] [1710085307.343078624]: setupDevice...
[ INFO] [1710085307.343256409]: JSON file is not provided
[ INFO] [1710085307.343384908]: ROS Node Namespace: camera
[ INFO] [1710085307.343509857]: Device Name: Intel RealSense D455
[ INFO] [1710085307.343628970]: Device Serial No: 151422252931
[ INFO] [1710085307.343747673]: Device physical port: 1-3-7
[ INFO] [1710085307.343868324]: Device FW version: 05.15.01.00
[ INFO] [1710085307.343987718]: Device Product ID: 0x0B5C
[ INFO] [1710085307.344106777]: Enable PointCloud: On
[ INFO] [1710085307.344223760]: Align Depth: On
[ INFO] [1710085307.344337125]: Sync Mode: On
[ INFO] [1710085307.344506194]: Device Sensors: 
[ INFO] [1710085307.565158034]: Stereo Module was found.
[ INFO] [1710085307.585575987]: RGB Camera was found.
[ INFO] [1710085307.586028973]: Motion Module was found.
[ INFO] [1710085307.586214300]: (Confidence, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1710085307.587011333]: Add Filter: pointcloud
[ INFO] [1710085307.587979920]: num_filters: 2
[ INFO] [1710085307.588209757]: Setting Dynamic reconfig parameters.
 10/03 17:41:50,253 WARNING [140463160260352] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Resource temporarily unavailable, number: b
[ INFO] [1710085311.162456143]: Done Setting Dynamic reconfig parameters.
[ INFO] [1710085311.163595256]: depth stream is enabled - width: 640, height: 480, fps: 15, Format: Z16
[ INFO] [1710085311.164977218]: color stream is enabled - width: 640, height: 480, fps: 15, Format: RGB8
[ INFO] [1710085311.167598488]: gyro stream is enabled - fps: 200
[ INFO] [1710085311.167656526]: accel stream is enabled - fps: 100
[ INFO] [1710085311.167708806]: setupPublishers...
[ INFO] [1710085311.173100281]: Expected frequency for depth = 15.00000
[ INFO] [1710085311.240184234]: Expected frequency for color = 15.00000
[ INFO] [1710085311.307764200]: Expected frequency for aligned_depth_to_color = 15.00000
[ INFO] [1710085311.367375567]: Start publisher IMU
[ INFO] [1710085311.371521482]: setupStreams...
 10/03 17:41:51,724 WARNING [140463185438464] (ds5-motion.cpp:473) IMU Calibration is not available, default intrinsic and extrinsic will be used.
 10/03 17:41:51,881 WARNING [140463160260352] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 10/03 17:41:51,931 WARNING [140463160260352] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 10/03 17:41:51,983 WARNING [140463160260352] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1710085312.033967349]: SELECTED BASE:Depth, 0
[ INFO] [1710085312.076069502]: RealSense Node Is Up!
 10/03 17:41:52,242 WARNING [140463160260352] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 10/03 17:41:52,294 WARNING [140463160260352] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 10/03 17:41:52,345 WARNING [140463160260352] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 10/03 17:41:52,402 WARNING [140463160260352] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 10/03 17:41:52,452 WARNING [140463160260352] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Resource temporarily unavailable, number: b
[ INFO] [1710085307.652367597]: Initializing nodelet with 4 worker threads.
[ INFO] [1710085308.002416930]: Odometry: frame_id               = camera_link
[ INFO] [1710085308.002536097]: Odometry: odom_frame_id          = odom
[ INFO] [1710085308.002617587]: Odometry: publish_tf             = true
[ INFO] [1710085308.002683485]: Odometry: wait_for_transform     = true
[ INFO] [1710085308.002761877]: Odometry: wait_for_transform_duration  = 0.200000
[ INFO] [1710085308.002834885]: Odometry: log_to_rosout_level    = 4
[ INFO] [1710085308.002929446]: Odometry: initial_pose           = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000
[ INFO] [1710085308.002998391]: Odometry: ground_truth_frame_id  = 
[ INFO] [1710085308.003067688]: Odometry: ground_truth_base_frame_id = 
[ INFO] [1710085308.003134319]: Odometry: config_path            = /opt/ros/noetic/share/realsense2_camera/launch/rtabmap.ini
[ INFO] [1710085308.003199542]: Odometry: publish_null_when_lost = true
[ INFO] [1710085308.003264204]: Odometry: publish_compressed_sensor_data = false
[ INFO] [1710085308.003327867]: Odometry: guess_frame_id         = 
[ INFO] [1710085308.003394401]: Odometry: guess_min_translation  = 0.000000
[ INFO] [1710085308.003463627]: Odometry: guess_min_rotation     = 0.000000
[ INFO] [1710085308.003528884]: Odometry: guess_min_time         = 0.000000
[ INFO] [1710085308.003593853]: Odometry: expected_update_rate   = 0.000000 Hz
[ INFO] [1710085308.003659571]: Odometry: max_update_rate        = 0.000000 Hz
[ INFO] [1710085308.003728452]: Odometry: min_update_rate        = 0.000000 Hz
[ INFO] [1710085308.003792930]: Odometry: wait_imu_to_init       = true
[ INFO] [1710085308.003857103]: Odometry: sensor_data_compression_format   = .jpg
[ INFO] [1710085308.003921194]: Odometry: sensor_data_parallel_compression = true
[ INFO] [1710085308.004015829]: Odometry: stereoParams_=0 visParams_=1 icpParams_=0
[ INFO] [1710085308.006359832]: Odometry: Loading parameters from /opt/ros/noetic/share/realsense2_camera/launch/rtabmap.ini
[ INFO] [1710085310.364604630]: odometry: Subscribing to IMU topic /rtabmap/imu
[ INFO] [1710085310.384439237]: RGBDOdometry: approx_sync    = true
[ INFO] [1710085310.384635462]: RGBDOdometry: approx_sync_max_interval = 0.000000
[ INFO] [1710085310.384777074]: RGBDOdometry: queue_size     = 200
[ INFO] [1710085310.384900090]: RGBDOdometry: subscribe_rgbd = false
[ INFO] [1710085310.385013463]: RGBDOdometry: rgbd_cameras   = 1
[ INFO] [1710085310.385135606]: RGBDOdometry: keep_color     = false
[ INFO] [1710085310.449368412]: 
/rtabmap/rgbd_odometry subscribed to (approx sync):
   /camera/color/image_raw \
   /camera/aligned_depth_to_color/image_raw \
   /camera/color/camera_info
[ WARN] (2024-03-10 17:41:52.518) Odometry.cpp:322::process() Updated initial pose from xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 to xyz=0.000000,0.000000,0.000000 rpy=1.436758,-1.531815,1.838973 with IMU orientation
[ INFO] [1710085312.540303981]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.017334s
[ WARN] (2024-03-10 17:41:52.543) OdometryORBSLAM3.cpp:119::init() Loading ORB Vocabulary: "/home/anton/Projects/ORB_SLAM3/Vocabulary/ORBvoc.txt". This could take a while...
[ WARN] (2024-03-10 17:41:52.544) OdometryORBSLAM3.cpp:199::init() Camera FPS estimated at 15 Hz. If this doesn't look good, set explicitly parameter OdomORBSLAM/Fps to expected frequency.

ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
This program comes with ABSOLUTELY NO WARRANTY;
This is free software, and you are welcome to redistribute it
under certain conditions. See LICENSE.txt.

Input sensor was set to: RGB-D
Loading settings from ./rtabmap_orbslam.yaml
    -Loaded camera 1
    -Loaded image info
    -Loaded RGB-D calibration
    -Loaded ORB settings
    -Loaded viewer settings
    -Loaded Atlas settings
    -Loaded misc parameters
----------------------------------
SLAM settings: 
    -Camera 1 parameters (Pinhole): [ 386.677 386.224 326.055 240.465 ]
    -Camera 1 distortion parameters: [  0 0 0 0 0 ]
    -Original image size: [ 640 , 480 ]
    -Current image size: [ 640 , 480 ]
    -Sequence FPS: 15
    -RGB-D depth map factor: 1
    -Features per image: 1000
    -ORB scale factor: 2
    -ORB number of scales: 3
    -Initial FAST threshold: 20
    -Min FAST threshold: 7

Loading ORB Vocabulary. This could take a while...
[ INFO] [1710085307.563456111]: Starting node...
[ INFO] [1710085307.687472704]: Initializing nodelet with 4 worker threads.
[ INFO] [1710085308.266048791]: /rtabmap/rtabmap(maps): map_filter_radius          = 0.000000
[ INFO] [1710085308.266093038]: /rtabmap/rtabmap(maps): map_filter_angle           = 30.000000
[ INFO] [1710085308.266108356]: /rtabmap/rtabmap(maps): map_cleanup                = true
[ INFO] [1710085308.266121134]: /rtabmap/rtabmap(maps): map_always_update          = false
[ INFO] [1710085308.266132959]: /rtabmap/rtabmap(maps): map_empty_ray_tracing      = true
[ INFO] [1710085308.266145265]: /rtabmap/rtabmap(maps): cloud_output_voxelized     = true
[ INFO] [1710085308.266157193]: /rtabmap/rtabmap(maps): cloud_subtract_filtering   = false
[ INFO] [1710085308.266170416]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1710085308.266844851]: /rtabmap/rtabmap(maps): octomap_tree_depth         = 16
[ INFO] [1710085308.386219514]: rtabmap: frame_id      = camera_link
[ INFO] [1710085308.386264986]: rtabmap: map_frame_id  = map
[ INFO] [1710085308.386291204]: rtabmap: log_to_rosout_level = 4
[ INFO] [1710085308.386314437]: rtabmap: initial_pose  = 
[ INFO] [1710085308.386331176]: rtabmap: use_action_for_goal  = false
[ INFO] [1710085308.386356244]: rtabmap: tf_delay      = 0.050000
[ INFO] [1710085308.386373360]: rtabmap: tf_tolerance  = 0.100000
[ INFO] [1710085308.386393585]: rtabmap: odom_sensor_sync   = false
[ INFO] [1710085308.386409076]: rtabmap: pub_loc_pose_only_when_localizing = false
[ INFO] [1710085308.388762440]: rtabmap: gen_scan  = false
[ INFO] [1710085308.388806562]: rtabmap: gen_depth  = false
[ INFO] [1710085308.458479242]: Loading parameters from /opt/ros/noetic/share/realsense2_camera/launch/rtabmap.ini
[ INFO] [1710085309.174343607]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1710085309.175359634]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[ INFO] [1710085310.882508484]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1710085310.883756330]: rtabmap: Deleted database "/home/anton/.ros/rtabmap.db" (--delete_db_on_start or -d are set).
[ INFO] [1710085310.883945791]: rtabmap: Using database from "/home/anton/.ros/rtabmap.db" (0 MB).
[ INFO] [1710085311.223257665]: rtabmap: Database version = "0.21.4".
[ INFO] [1710085311.223435797]: rtabmap: SLAM mode (Mem/IncrementalMemory=true)
[ INFO] [1710085311.332898361]: /rtabmap/rtabmap: subscribe_depth = true
[ INFO] [1710085311.333075734]: /rtabmap/rtabmap: subscribe_rgb = true
[ INFO] [1710085311.333243320]: /rtabmap/rtabmap: subscribe_stereo = false
[ INFO] [1710085311.333370205]: /rtabmap/rtabmap: subscribe_rgbd = false (rgbd_cameras=1)
[ INFO] [1710085311.333495025]: /rtabmap/rtabmap: subscribe_sensor_data = false
[ INFO] [1710085311.333617096]: /rtabmap/rtabmap: subscribe_odom_info = true
[ INFO] [1710085311.333740548]: /rtabmap/rtabmap: subscribe_user_data = false
[ INFO] [1710085311.333863538]: /rtabmap/rtabmap: subscribe_scan = false
[ INFO] [1710085311.333984290]: /rtabmap/rtabmap: subscribe_scan_cloud = false
[ INFO] [1710085311.334105429]: /rtabmap/rtabmap: subscribe_scan_descriptor = false
[ INFO] [1710085311.334228152]: /rtabmap/rtabmap: queue_size    = 200
[ INFO] [1710085311.334349148]: /rtabmap/rtabmap: approx_sync   = true
[ INFO] [1710085311.334747768]: Setup depth callback
[ INFO] [1710085311.394681373]: 
/rtabmap/rtabmap subscribed to (approx sync):
   /rtabmap/odom \
   /camera/color/image_raw \
   /camera/aligned_depth_to_color/image_raw \
   /camera/color/camera_info \
   /rtabmap/odom_info
[ INFO] [1710085311.798630807]: rtabmap 0.21.4 started...
[ERROR] (2024-03-10 17:41:52.578) Rtabmap.cpp:1348::p 10/03 17:41:52,620 WARNING [140463160260352] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 10/03 17:41:52,777 WARNING [140463160260352] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 10/03 17:41:52,827 WARNING [140463160260352] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 10/03 17:41:52,981 WARNING [140463160260352] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 10/03 17:41:53,162 WARNING [140463160260352] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 10/03 17:41:53,220 WARNING [140463160260352] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 10/03 17:41:53,783 WARNING [140463160260352] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 10/03 17:41:53,834 WARNING [140463160260352] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
Vocabulary loaded!

[ WARN] [1710085314.467696708]: /rtabmap/rgbd_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 set. 
/rtabmap/rgbd_odometry subscribed to (approx sync):
   /camera/color/image_raw \
   /camera/aligned_depth_to_color/image_raw \
   /camera/color/camera_info
Initialization of Atlas from scratch 
Creation of new map with id: 0
Creation of new map with last KF id: 0
Seq. Name: 
[rtabmap/rgbd_odometry-6] process has died [pid 45072, exit code -11, cmd /home/anton/Projects/rtabmap_ros/devel/lib/rtabmap_odom/rgbd_odometry --delete_db_on_start rgb/image:=/camera/color/image_raw depth/image:=/camera/aligned_depth_to_color/image_raw rgb/camera_info:=/camera/color/camera_info rgbd_image:=rgbd_image odom:=odom imu:=/rtabmap/imu __name:=rgbd_odometry __log:=/home/anton/.ros/log/b31ff276-def4-11ee-9aed-4338ecc5a3fa/rtabmap-rgbd_odometry-6.log].
log file: /home/anton/.ros/log/b31ff276-def4-11ee-9aed-4338ecc5a3fa/rtabmap-rgbd_odometry-6*.log

 10/03 17:42:12,932 WARNING [140463160260352] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
matlabbe commented 3 months ago

Which version of ORB_SLAM3 are you using? Make sure you built ORB_SLAM3 without -march=native (removed from these, these and these lines)

You can also add

<arg name="gdb"         value="true"/>

under rtabmap.launch include in your launch file to launch rtabmap nodes with gdb. When odometry node crashes, do bt (backtrace) to see where it crashed.

EDIT: You may also try building ORB_SLAM3 in Debug mode (and all its built dependencies), it seems to fix some crashing issues.

lempiy commented 3 months ago

Which version of ORB_SLAM3

1.0 release built with 4.4 opencv. Same version used in my rtabmap and rtabmap_ros.

I didn't remove the -march=native param. Now I finally managed to make it work. Thank you. I checked this patch at the bottom https://gist.githubusercontent.com/matlabbe/f5cb281304a1305b2824a6ce19792e13/raw/f8bbc796edc29b9f815cbf3c99a0c3e13e23663d/orbslam3_v4_rtabmap_fix.patch realizing that the main code troubes were fixed in ORB_SLAMs v1, but didn't pay attention to march gcc param.