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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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Zed2 Camera, No Map Received in Rviz (ROS2 Foxy) #1153

Open kw908 opened 1 month ago

kw908 commented 1 month ago

Hello,

I am using ZED2 camera to run rtabmap, under ros2 foxy, on a Jetson Orin Nano device. When I launch rtabmap, no map is published, and rviz shows "No map received" under the /rtabmap/map topic, as shown in the figure below: Screenshot from 2024-04-30 19-59-15

The rtabmap window does not show loop closure detection or graph view either: Screenshot from 2024-04-30 20-00-41

The Zed2 launch file is unmodified from the original ros2 driver, and it's launched using:

ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2

The command used to launch rtabmap is:

ros2 launch rtabmap_launch rtabmap.launch.py     
rtabmap_args:="--delete_db_on_start"   \
rgb_topic:=/zed/zed_node/rgb/image_rect_color \
depth:=true  \
depth_topic:=/zed/zed_node/depth/depth_registered  \
camera_info_topic:=/zed/zed_node/rgb/camera_info    \
frame_id:=zed_camera_link   \
approx_sync:=true  \
imu_topic:=/zed/zed_node/imu/data   \
qos:=2  \
rviz:=true depth:=true \
visual_odometry:=true

The TF tree looks like this: Screenshot from 2024-04-30 20-21-07

The full log during launching process printed in the terminal is:

[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [rgbd_odometry-1]: process started with pid [102913]
[INFO] [rtabmap-2]: process started with pid [102915]
[INFO] [rtabmap_viz-3]: process started with pid [102917]
[INFO] [rviz2-4]: process started with pid [102919]
[INFO] [point_cloud_xyzrgb-5]: process started with pid [102921]
[point_cloud_xyzrgb-5] [INFO] [1714522421.440954737] [point_cloud_xyzrgb]: Approximate time sync = true
[rgbd_odometry-1] [INFO] [1714522421.549689688] [rtabmap.rgbd_odometry]: Odometry: frame_id               = zed_camera_link
[rgbd_odometry-1] [INFO] [1714522421.551057878] [rtabmap.rgbd_odometry]: Odometry: odom_frame_id          = odom
[rgbd_odometry-1] [INFO] [1714522421.551109207] [rtabmap.rgbd_odometry]: Odometry: publish_tf             = true
[rgbd_odometry-1] [INFO] [1714522421.551126007] [rtabmap.rgbd_odometry]: Odometry: wait_for_transform     = 0.200000
[rgbd_odometry-1] [INFO] [1714522421.551150424] [rtabmap.rgbd_odometry]: Odometry: log_to_rosout_level    = 4
[rgbd_odometry-1] [INFO] [1714522421.551236538] [rtabmap.rgbd_odometry]: Odometry: initial_pose           = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000
[rgbd_odometry-1] [INFO] [1714522421.551258394] [rtabmap.rgbd_odometry]: Odometry: ground_truth_frame_id  = 
[rgbd_odometry-1] [INFO] [1714522421.551271642] [rtabmap.rgbd_odometry]: Odometry: ground_truth_base_frame_id = 
[rgbd_odometry-1] [INFO] [1714522421.551283579] [rtabmap.rgbd_odometry]: Odometry: config_path            = 
[rgbd_odometry-1] [INFO] [1714522421.551293883] [rtabmap.rgbd_odometry]: Odometry: publish_null_when_lost = true
[rgbd_odometry-1] [INFO] [1714522421.551303259] [rtabmap.rgbd_odometry]: Odometry: guess_frame_id         = 
[rgbd_odometry-1] [INFO] [1714522421.551312923] [rtabmap.rgbd_odometry]: Odometry: guess_min_translation  = 0.000000
[rgbd_odometry-1] [INFO] [1714522421.551324028] [rtabmap.rgbd_odometry]: Odometry: guess_min_rotation     = 0.000000
[rgbd_odometry-1] [INFO] [1714522421.551333756] [rtabmap.rgbd_odometry]: Odometry: guess_min_time         = 0.000000
[rgbd_odometry-1] [INFO] [1714522421.551349052] [rtabmap.rgbd_odometry]: Odometry: expected_update_rate   = 0.000000 Hz
[rgbd_odometry-1] [INFO] [1714522421.551359580] [rtabmap.rgbd_odometry]: Odometry: max_update_rate        = 0.000000 Hz
[rgbd_odometry-1] [INFO] [1714522421.551368573] [rtabmap.rgbd_odometry]: Odometry: min_update_rate        = 0.000000 Hz
[rgbd_odometry-1] [INFO] [1714522421.551377725] [rtabmap.rgbd_odometry]: Odometry: wait_imu_to_init       = false
[rgbd_odometry-1] [INFO] [1714522421.551421854] [rtabmap.rgbd_odometry]: Odometry: stereoParams_=0 visParams_=1 icpParams_=0
[rtabmap-2] [INFO] [1714522421.656170095] [rtabmap.rtabmap]: rtabmap(maps): map_filter_radius          = 0.000000
[rtabmap-2] [INFO] [1714522421.657868596] [rtabmap.rtabmap]: rtabmap(maps): map_filter_angle           = 30.000000
[rtabmap-2] [INFO] [1714522421.658471617] [rtabmap.rtabmap]: rtabmap(maps): map_cleanup                = true
[rtabmap-2] [INFO] [1714522421.658515329] [rtabmap.rtabmap]: rtabmap(maps): map_always_update          = false
[rtabmap-2] [INFO] [1714522421.658535362] [rtabmap.rtabmap]: rtabmap(maps): map_empty_ray_tracing      = true
[rtabmap-2] [INFO] [1714522421.658552226] [rtabmap.rtabmap]: rtabmap(maps): cloud_output_voxelized     = true
[rtabmap-2] [INFO] [1714522421.658567683] [rtabmap.rtabmap]: rtabmap(maps): cloud_subtract_filtering   = false
[rtabmap-2] [INFO] [1714522421.658583267] [rtabmap.rtabmap]: rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[rtabmap-2] [INFO] [1714522421.660118340] [rtabmap.rtabmap]: rtabmap(maps): octomap_tree_depth         = 16
[rgbd_odometry-1] [INFO] [1714522421.683461211] [rtabmap.rgbd_odometry]: RGBDOdometry: approx_sync    = true
[rgbd_odometry-1] [INFO] [1714522421.683559197] [rtabmap.rgbd_odometry]: RGBDOdometry: approx_sync_max_interval = 0.000000
[rgbd_odometry-1] [INFO] [1714522421.683585918] [rtabmap.rgbd_odometry]: RGBDOdometry: queue_size     = 10
[rgbd_odometry-1] [INFO] [1714522421.683599230] [rtabmap.rgbd_odometry]: RGBDOdometry: qos            = 2
[rgbd_odometry-1] [INFO] [1714522421.683608926] [rtabmap.rgbd_odometry]: RGBDOdometry: qos_camera_info = 2
[rgbd_odometry-1] [INFO] [1714522421.683618142] [rtabmap.rgbd_odometry]: RGBDOdometry: subscribe_rgbd = false
[rgbd_odometry-1] [INFO] [1714522421.683627551] [rtabmap.rgbd_odometry]: RGBDOdometry: rgbd_cameras   = 1
[rgbd_odometry-1] [INFO] [1714522421.683638367] [rtabmap.rgbd_odometry]: RGBDOdometry: keep_color     = false
[rgbd_odometry-1] [INFO] [1714522421.759280765] [rtabmap.rgbd_odometry]: 
[rgbd_odometry-1] rgbd_odometry subscribed to (approx sync):
[rgbd_odometry-1]    /zed/zed_node/rgb/image_rect_color,
[rgbd_odometry-1]    /zed/zed_node/depth/depth_registered,
[rgbd_odometry-1]    /zed/zed_node/rgb/camera_info
[rtabmap-2] [INFO] [1714522421.771744233] [rtabmap.rtabmap]: rtabmap: frame_id      = zed_camera_link
[rtabmap-2] [INFO] [1714522421.771855500] [rtabmap.rtabmap]: rtabmap: map_frame_id  = map
[rtabmap-2] [INFO] [1714522421.771873740] [rtabmap.rtabmap]: rtabmap: log_to_rosout_level  = 4
[rtabmap-2] [INFO] [1714522421.771886765] [rtabmap.rtabmap]: rtabmap: initial_pose  = 
[rtabmap-2] [INFO] [1714522421.771899309] [rtabmap.rtabmap]: rtabmap: use_action_for_goal  = false
[rtabmap-2] [INFO] [1714522421.771912237] [rtabmap.rtabmap]: rtabmap: tf_delay      = 0.050000
[rtabmap-2] [INFO] [1714522421.771936078] [rtabmap.rtabmap]: rtabmap: tf_tolerance  = 0.100000
[rtabmap-2] [INFO] [1714522421.771950190] [rtabmap.rtabmap]: rtabmap: odom_sensor_sync   = false
[rtabmap-2] [INFO] [1714522421.771962702] [rtabmap.rtabmap]: rtabmap: gen_scan  = false
[rtabmap-2] [INFO] [1714522421.771974990] [rtabmap.rtabmap]: rtabmap: gen_depth  = false
[rtabmap-2] [INFO] [1714522421.900446367] [rtabmap.rtabmap]: RTAB-Map detection rate = 1.000000 Hz
[rtabmap-2] [INFO] [1714522421.902769137] [rtabmap.rtabmap]: rtabmap: Deleted database "/home/kai/.ros/rtabmap.db" (--delete_db_on_start or -d are set).
[rtabmap-2] [INFO] [1714522421.903148761] [rtabmap.rtabmap]: rtabmap: Using database from "/home/kai/.ros/rtabmap.db" (0 MB).
[rgbd_odometry-1] [INFO] [1714522422.268500047] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.092086s
[rtabmap-2] [INFO] [1714522422.426060652] [rtabmap.rtabmap]: rtabmap: Database version = "0.21.1".
[rtabmap-2] [INFO] [1714522422.426180430] [rtabmap.rtabmap]: rtabmap: SLAM mode (Mem/IncrementalMemory=true)
[rtabmap-2] [INFO] [1714522422.578941764] [rtabmap.rtabmap]: Setup callbacks
[rtabmap-2] [INFO] [1714522422.579798582] [rtabmap.rtabmap]: rtabmap: subscribe_depth = true
[rtabmap-2] [INFO] [1714522422.579853303] [rtabmap.rtabmap]: rtabmap: subscribe_rgb = true
[rtabmap-2] [INFO] [1714522422.579871800] [rtabmap.rtabmap]: rtabmap: subscribe_stereo = false
[rtabmap-2] [INFO] [1714522422.579887800] [rtabmap.rtabmap]: rtabmap: subscribe_rgbd = false (rgbd_cameras=1)
[rtabmap-2] [INFO] [1714522422.579903864] [rtabmap.rtabmap]: rtabmap: subscribe_odom_info = true
[rtabmap-2] [INFO] [1714522422.579918201] [rtabmap.rtabmap]: rtabmap: subscribe_user_data = false
[rtabmap-2] [INFO] [1714522422.579931833] [rtabmap.rtabmap]: rtabmap: subscribe_scan = false
[rtabmap-2] [INFO] [1714522422.579945689] [rtabmap.rtabmap]: rtabmap: subscribe_scan_cloud = false
[rtabmap-2] [INFO] [1714522422.579959354] [rtabmap.rtabmap]: rtabmap: subscribe_scan_descriptor = false
[rtabmap-2] [INFO] [1714522422.579972890] [rtabmap.rtabmap]: rtabmap: queue_size      = 10
[rtabmap-2] [INFO] [1714522422.579987706] [rtabmap.rtabmap]: rtabmap: qos_image       = 2
[rtabmap-2] [INFO] [1714522422.580001722] [rtabmap.rtabmap]: rtabmap: qos_camera_info = 2
[rtabmap-2] [INFO] [1714522422.580015611] [rtabmap.rtabmap]: rtabmap: qos_scan        = 2
[rtabmap-2] [INFO] [1714522422.580029179] [rtabmap.rtabmap]: rtabmap: qos_odom        = 2
[rtabmap-2] [INFO] [1714522422.580043035] [rtabmap.rtabmap]: rtabmap: qos_user_data   = 2
[rtabmap-2] [INFO] [1714522422.580056732] [rtabmap.rtabmap]: rtabmap: approx_sync     = true
[rtabmap-2] [INFO] [1714522422.580096732] [rtabmap.rtabmap]: Setup depth callback
[rtabmap-2] [INFO] [1714522422.643160265] [rtabmap.rtabmap]: 
[rtabmap-2] rtabmap subscribed to (approx sync):
[rtabmap-2]    /rtabmap/odom \
[rtabmap-2]    /zed/zed_node/rgb/image_rect_color \
[rtabmap-2]    /zed/zed_node/depth/depth_registered \
[rtabmap-2]    /zed/zed_node/rgb/camera_info \
[rtabmap-2]    /rtabmap/odom_info
[rviz2-4] [INFO] [1714522423.116644939] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-4] [INFO] [1714522423.116963186] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rtabmap_viz-3] [INFO] [1714522423.235846890] [rtabmap.rtabmap_viz]: rtabmap_viz: Using configuration from "/home/kai/.ros/rtabmapGUI.ini"
[rviz2-4] [INFO] [1714522423.504636340] [rviz2]: Stereo is NOT SUPPORTED
[rgbd_odometry-1] [INFO] [1714522423.983502747] [rtabmap.rgbd_odometry]: Odom: quality=85, std dev=0.003624m|0.028213rad, update time=0.836726s
[rgbd_odometry-1] [WARN] [1714522424.690668074] [rtabmap.rgbd_odometry]: The time difference between rgb and depth frames is high (diff=0.132755s, rgb=1714522423.898859s, depth=1714522423.766104s). You may want to set approx_sync_max_interval lower than 0.02s to reject spurious bad synchronizations or use approx_sync=false if streams have all the exact same timestamp.
[rtabmap-2] [WARN] [1714522425.116982611] [rtabmap.rtabmap]: We are receiving imu data (buffer=314), but cannot interpolate imu transform at time 1714522423.365481. IMU won't be added to graph.
[rgbd_odometry-1] [INFO] [1714522425.125620939] [rtabmap.rgbd_odometry]: Odom: quality=74, std dev=0.003433m|0.030935rad, update time=0.431989s
[rtabmap-2] [INFO] [1714522425.413511063] [rtabmap.rtabmap]: rtabmap (1): Rate=1.00s, Limit=0.000s, Conversion=0.0129s, RTAB-Map=0.2950s, Maps update=0.0002s pub=0.0001s (local map=1, WM=1)
[rgbd_odometry-1] [INFO] [1714522425.650532227] [rtabmap.rgbd_odometry]: Odom: quality=95, std dev=0.001772m|0.026135rad, update time=0.512494s
[rtabmap_viz-3] libpng warning: iCCP: known incorrect sRGB profile
[rtabmap_viz-3] libpng warning: iCCP: known incorrect sRGB profile
[rtabmap_viz-3] libpng warning: iCCP: known incorrect sRGB profile
[rgbd_odometry-1] [INFO] [1714522427.350315481] [rtabmap.rgbd_odometry]: Odom: quality=95, std dev=0.002040m|0.032843rad, update time=0.508210s
[rtabmap_viz-3] [WARN] [1714522427.415878862] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[rtabmap_viz-3] [INFO] [1714522427.470247156] [rtabmap.rtabmap_viz]: Reading parameters from the ROS server...
[rtabmap-2] [INFO] [1714522427.764786646] [rtabmap.rtabmap]: rtabmap (2): Rate=1.00s, Limit=0.000s, Conversion=0.0034s, RTAB-Map=0.4088s, Maps update=0.0002s pub=0.0001s (local map=1, WM=1)
[rgbd_odometry-1] [INFO] [1714522427.798397762] [rtabmap.rgbd_odometry]: Odom: quality=108, std dev=0.003983m|0.030639rad, update time=0.427874s
[rgbd_odometry-1] [INFO] [1714522428.307444913] [rtabmap.rgbd_odometry]: Odom: quality=87, std dev=0.003076m|0.034073rad, update time=0.499225s
[rtabmap_viz-3] [INFO] [1714522428.441901180] [rtabmap.rtabmap_viz]: Parameters read = 360
[rtabmap_viz-3] [INFO] [1714522428.442075456] [rtabmap.rtabmap_viz]: Parameters successfully read.
[rgbd_odometry-1] [INFO] [1714522428.972285737] [rtabmap.rgbd_odometry]: Odom: quality=117, std dev=0.001785m|0.032172rad, update time=0.420635s
[rgbd_odometry-1] [WARN] [1714522429.154245568] [rtabmap.rgbd_odometry]: The time difference between rgb and depth frames is high (diff=0.099873s, rgb=1714522428.765957s, depth=1714522428.865830s). You may want to set approx_sync_max_interval lower than 0.02s to reject spurious bad synchronizations or use approx_sync=false if streams have all the exact same timestamp.
[rtabmap-2] [INFO] [1714522429.303458174] [rtabmap.rtabmap]: rtabmap (3): Rate=1.00s, Limit=0.000s, Conversion=0.0035s, RTAB-Map=0.2694s, Maps update=0.0001s pub=0.0000s (local map=1, WM=1)
[rgbd_odometry-1] [INFO] [1714522429.480272391] [rtabmap.rgbd_odometry]: Odom: quality=103, std dev=0.001565m|0.029071rad, update time=0.323477s
[rgbd_odometry-1] [WARN] [1714522429.481746182] [rtabmap.rgbd_odometry]: The time difference between rgb and depth frames is high (diff=0.133280s, rgb=1714522429.065867s, depth=1714522428.932587s). You may want to set approx_sync_max_interval lower than 0.02s to reject spurious bad synchronizations or use approx_sync=false if streams have all the exact same timestamp.
[rtabmap_viz-3] [INFO] [1714522429.535937636] [rtabmap.rtabmap_viz]: rtabmap_viz: subscribe_depth = true
[rtabmap_viz-3] [INFO] [1714522429.536017158] [rtabmap.rtabmap_viz]: rtabmap_viz: subscribe_rgb = true
[rtabmap_viz-3] [INFO] [1714522429.536025734] [rtabmap.rtabmap_viz]: rtabmap_viz: subscribe_stereo = false
[rtabmap_viz-3] [INFO] [1714522429.536032262] [rtabmap.rtabmap_viz]: rtabmap_viz: subscribe_rgbd = false (rgbd_cameras=1)
[rtabmap_viz-3] [INFO] [1714522429.536038566] [rtabmap.rtabmap_viz]: rtabmap_viz: subscribe_odom_info = true
[rtabmap_viz-3] [INFO] [1714522429.536044134] [rtabmap.rtabmap_viz]: rtabmap_viz: subscribe_user_data = false
[rtabmap_viz-3] [INFO] [1714522429.536049382] [rtabmap.rtabmap_viz]: rtabmap_viz: subscribe_scan = false
[rtabmap_viz-3] [INFO] [1714522429.536054663] [rtabmap.rtabmap_viz]: rtabmap_viz: subscribe_scan_cloud = false
[rtabmap_viz-3] [INFO] [1714522429.536059879] [rtabmap.rtabmap_viz]: rtabmap_viz: subscribe_scan_descriptor = false
[rtabmap_viz-3] [INFO] [1714522429.536663475] [rtabmap.rtabmap_viz]: rtabmap_viz: queue_size      = 10
[rtabmap_viz-3] [INFO] [1714522429.536679732] [rtabmap.rtabmap_viz]: rtabmap_viz: qos_image       = 2
[rtabmap_viz-3] [INFO] [1714522429.536687668] [rtabmap.rtabmap_viz]: rtabmap_viz: qos_camera_info = 2
[rtabmap_viz-3] [INFO] [1714522429.536694228] [rtabmap.rtabmap_viz]: rtabmap_viz: qos_scan        = 2
[rtabmap_viz-3] [INFO] [1714522429.536699636] [rtabmap.rtabmap_viz]: rtabmap_viz: qos_odom        = 2
[rtabmap_viz-3] [INFO] [1714522429.536704788] [rtabmap.rtabmap_viz]: rtabmap_viz: qos_user_data   = 2
[rtabmap_viz-3] [INFO] [1714522429.536710388] [rtabmap.rtabmap_viz]: rtabmap_viz: approx_sync     = true
[rtabmap_viz-3] [INFO] [1714522429.536748757] [rtabmap.rtabmap_viz]: Setup depth callback
[rtabmap_viz-3] [INFO] [1714522429.596507689] [rtabmap.rtabmap_viz]: 
[rtabmap_viz-3] rtabmap_viz subscribed to (approx sync):
[rtabmap_viz-3]    /rtabmap/odom \
[rtabmap_viz-3]    /zed/zed_node/rgb/image_rect_color \
[rtabmap_viz-3]    /zed/zed_node/depth/depth_registered \
[rtabmap_viz-3]    /zed/zed_node/rgb/camera_info \
[rtabmap_viz-3]    /rtabmap/odom_info
[rtabmap_viz-3] [INFO] [1714522429.596798928] [rtabmap.rtabmap_viz]: rtabmap_viz started.
[rgbd_odometry-1] [INFO] [1714522429.600988329] [rtabmap.rgbd_odometry]: Odom: quality=74, std dev=0.002981m|0.035346rad, update time=0.118299s
[rgbd_odometry-1] [INFO] [1714522429.714133962] [rtabmap.rgbd_odometry]: Odom: quality=93, std dev=0.002515m|0.028590rad, update time=0.111537s
[rgbd_odometry-1] [INFO] [1714522429.895825434] [rtabmap.rgbd_odometry]: Odom: quality=95, std dev=0.002481m|0.026295rad, update time=0.179373s
[rgbd_odometry-1] [INFO] [1714522430.338201816] [rtabmap.rgbd_odometry]: Odom: quality=89, std dev=0.003325m|0.030282rad, update time=0.167488s
[rgbd_odometry-1] [WARN] [1714522430.435835661] [rtabmap.rgbd_odometry]: The time difference between rgb and depth frames is high (diff=0.066516s, rgb=1714522430.199249s, depth=1714522430.132733s). You may want to set approx_sync_max_interval lower than 0.02s to reject spurious bad synchronizations or use approx_sync=false if streams have all the exact same timestamp.
[rgbd_odometry-1] [INFO] [1714522430.554520831] [rtabmap.rgbd_odometry]: Odom: quality=65, std dev=0.001844m|0.022178rad, update time=0.117150s
[rgbd_odometry-1] [WARN] [1714522430.559587818] [rtabmap.rgbd_odometry]: The time difference between rgb and depth frames is high (diff=0.066628s, rgb=1714522430.266108s, depth=1714522430.332736s). You may want to set approx_sync_max_interval lower than 0.02s to reject spurious bad synchronizations or use approx_sync=false if streams have all the exact same timestamp.
[rgbd_odometry-1] [INFO] [1714522430.659598640] [rtabmap.rgbd_odometry]: Odom: quality=58, std dev=0.004047m|0.023937rad, update time=0.098758s
[rgbd_odometry-1] [WARN] [1714522430.707434278] [rtabmap.rgbd_odometry]: The time difference between rgb and depth frames is high (diff=0.066641s, rgb=1714522430.466121s, depth=1714522430.532762s). You may want to set approx_sync_max_interval lower than 0.02s to reject spurious bad synchronizations or use approx_sync=false if streams have all the exact same timestamp.
[rgbd_odometry-1] [INFO] [1714522430.878063556] [rtabmap.rgbd_odometry]: Odom: quality=110, std dev=0.003578m|0.027820rad, update time=0.169590s
[rviz2-4] [INFO] [1714522430.973243204] [rviz2]: Trying to create a map of size 56 x 68 using 1 swatches
[rgbd_odometry-1] [INFO] [1714522431.108087592] [rtabmap.rgbd_odometry]: Odom: quality=77, std dev=0.004386m|0.030178rad, update time=0.220016s
[rgbd_odometry-1] [INFO] [1714522431.396147155] [rtabmap.rgbd_odometry]: Odom: quality=91, std dev=0.001890m|0.038052rad, update time=0.278832s

Thanks so much for your help! Will provide more info if needed!

matlabbe commented 1 month ago

could you try with approx_sync:=false instead (I think zed topics are using exact same time between images taken at same time)?

ros2 launch rtabmap_launch rtabmap.launch.py     
rtabmap_args:="--delete_db_on_start"   \
rgb_topic:=/zed/zed_node/rgb/image_rect_color \
depth:=true  \
depth_topic:=/zed/zed_node/depth/depth_registered  \
camera_info_topic:=/zed/zed_node/rgb/camera_info    \
frame_id:=zed_camera_link   \
approx_sync:=false  \
imu_topic:=/zed/zed_node/imu/data   \
qos:=2  \
rviz:=true \
depth:=true \
visual_odometry:=true

based on the log, rtabmap updated at least 3 times:

[rtabmap-2] [INFO] [1714522429.303458174] [rtabmap.rtabmap]: rtabmap (3): Rate=1.00s, Limit=0.000s, Conversion=0.0035s, RTAB-Map=0.2694s, Maps update=0.0001s pub=0.0000s (local map=1, WM=1)