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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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Kinect 1 ros kinetic Did not receive data since 5 seconds #255

Open din1369 opened 6 years ago

din1369 commented 6 years ago

Hi , My system is ros kinetic with kinect 1. I only change one thing in turtlebot_bringup. i changed 3dsensor.launch add kinect to default I'm having this issues

roslaunch rtabmap_ros demo_turtlebot_mapping.launch ... logging to /home/nimby/.ros/log/03f5c07a-78f5-11e8-9d29-a0c589afac49/roslaunch-nimby-NUC-26165.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://nimby-NUC:36397/

SUMMARY

PARAMETERS

NODES /camera/ camera_nodelet_manager (nodelet/nodelet) depth_metric (nodelet/nodelet) depth_metric_rect (nodelet/nodelet) depth_points (nodelet/nodelet) depth_rectify_depth (nodelet/nodelet) depth_registered_hw_metric_rect (nodelet/nodelet) depth_registered_metric (nodelet/nodelet) depth_registered_rectify_depth (nodelet/nodelet) depth_registered_sw_metric_rect (nodelet/nodelet) disparity_depth (nodelet/nodelet) disparity_registered_hw (nodelet/nodelet) disparity_registered_sw (nodelet/nodelet) driver (nodelet/nodelet) ir_rectify_ir (nodelet/nodelet) points_xyzrgb_hw_registered (nodelet/nodelet) points_xyzrgb_sw_registered (nodelet/nodelet) register_depth_rgb (nodelet/nodelet) rgb_debayer (nodelet/nodelet) rgb_rectify_color (nodelet/nodelet) rgb_rectify_mono (nodelet/nodelet) /rtabmap/ rtabmap (rtabmap_ros/rtabmap) / depthimage_to_laserscan (nodelet/nodelet) kobuki_safety_controller (nodelet/nodelet) move_base (move_base/move_base) navigation_velocity_smoother (nodelet/nodelet)

ROS_MASTER_URI=http://localhost:11311

process[camera/camera_nodelet_manager-1]: started with pid [26182] process[camera/driver-2]: started with pid [26183] process[camera/rgb_debayer-3]: started with pid [26184] process[camera/rgb_rectify_mono-4]: started with pid [26185] process[camera/rgb_rectify_color-5]: started with pid [26186] process[camera/ir_rectify_ir-6]: started with pid [26187] process[camera/depth_rectify_depth-7]: started with pid [26196] process[camera/depth_metric_rect-8]: started with pid [26213] process[camera/depth_metric-9]: started with pid [26226] process[camera/depth_points-10]: started with pid [26240] process[camera/register_depth_rgb-11]: started with pid [26256] process[camera/points_xyzrgb_sw_registered-12]: started with pid [26264] process[camera/depth_registered_sw_metric_rect-13]: started with pid [26279] process[camera/depth_registered_rectify_depth-14]: started with pid [26293] process[camera/points_xyzrgb_hw_registered-15]: started with pid [26300] process[camera/depth_registered_hw_metric_rect-16]: started with pid [26320] process[camera/depth_registered_metric-17]: started with pid [26343] process[camera/disparity_depth-18]: started with pid [26346] [ INFO] [1529990510.315474467]: Initializing nodelet with 4 worker threads. process[camera/disparity_registered_sw-19]: started with pid [26386] process[camera/disparity_registered_hw-20]: started with pid [26396] process[depthimage_to_laserscan-21]: started with pid [26402] process[navigation_velocity_smoother-22]: started with pid [26413] process[kobuki_safety_controller-23]: started with pid [26424] process[move_base-24]: started with pid [26429] process[rtabmap/rtabmap-25]: started with pid [26446] [ INFO] [1529990510.643618605]: Starting node... [ INFO] [1529990510.703949366]: Initializing nodelet with 4 worker threads. [ INFO] [1529990510.808062420]: Number devices connected: 1 [ INFO] [1529990510.808271350]: 1. device on bus 000:00 is a Xbox NUI Camera (2ae) from Microsoft (45e) with serial id 'A00363902833040A' [ INFO] [1529990510.810044242]: Searching for device with index = 1 [ INFO] [1529990511.073090049]: Starting a 3s RGB and Depth stream flush.

[ INFO] [1529990511.119304077]: /rtabmap/rtabmap(maps): map_filter_radius = 0.000000 [ INFO] [1529990511.119346512]: /rtabmap/rtabmap(maps): map_filter_angle = 30.000000 [ INFO] [1529990511.119364656]: /rtabmap/rtabmap(maps): map_cleanup = true [ INFO] [1529990511.119407009]: /rtabmap/rtabmap(maps): map_negative_poses_ignored = true [ INFO] [1529990511.119423820]: /rtabmap/rtabmap(maps): map_negative_scan_ray_tracing = true [ INFO] [1529990511.119437884]: /rtabmap/rtabmap(maps): cloud_output_voxelized = true [ INFO] [1529990511.119451329]: /rtabmap/rtabmap(maps): cloud_subtract_filtering = false [ INFO] [1529990511.119466383]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2 [ INFO] [1529990511.136247702]: /rtabmap/rtabmap(maps): octomap_tree_depth = 16 [ INFO] [1529990511.206897842]: rtabmap: frame_id = base_footprint [ INFO] [1529990511.206957687]: rtabmap: map_frame_id = map [ INFO] [1529990511.206998861]: rtabmap: tf_delay = 0.050000 [ INFO] [1529990511.207022004]: rtabmap: tf_tolerance = 0.100000 [ INFO] [1529990511.207039004]: rtabmap: odom_sensor_sync = false [ WARN] [1529990511.273186151]: Could not find any compatible depth output mode for 1. Falling back to default depth output mode 1. [ INFO] [1529990511.312517801]: rgb_frame_id = 'camera_rgb_optical_frame' [ INFO] [1529990511.312726397]: depth_frame_id = 'camera_depth_optical_frame' [ WARN] [1529990511.356405962]: Camera calibration file /home/nimby/.ros/camera_info/rgb_A00363902833040A.yaml not found. [ WARN] [1529990511.356483626]: Using default parameters for RGB camera calibration. [ WARN] [1529990511.356548117]: Camera calibration file /home/nimby/.ros/camera_info/depth_A00363902833040A.yaml not found. [ WARN] [1529990511.356605285]: Using default parameters for IR camera calibration. [ INFO] [1529990511.616868583]: Setting RTAB-Map parameter "GridGlobal/MinSize"="20" [ INFO] [1529990511.629553457]: Setting RTAB-Map parameter "Icp/CorrespondenceRatio"="0.3" [ INFO] [1529990511.732438906]: Setting RTAB-Map parameter "Kp/MaxDepth"="4.0" [ INFO] [1529990511.783243509]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true" [ INFO] [1529990511.783926890]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false" [ INFO] [1529990511.815049359]: Setting RTAB-Map parameter "Mem/RehearsalSimilarity"="0.30" [ INFO] [1529990512.033667647]: Setting RTAB-Map parameter "RGBD/AngularUpdate"="0.1" [ INFO] [1529990512.045569050]: Setting RTAB-Map parameter "RGBD/LinearUpdate"="0.1" [ INFO] [1529990512.062235944]: Setting RTAB-Map parameter "RGBD/OptimizeFromGraphEnd"="false" [ INFO] [1529990512.063355921]: Setting RTAB-Map parameter "RGBD/OptimizeMaxError"="0.1" [ INFO] [1529990512.078808708]: Setting RTAB-Map parameter "RGBD/ProximityBySpace"="true" [ INFO] [1529990512.088247426]: Setting RTAB-Map parameter "RGBD/ProximityPathMaxNeighbors"="0" [ INFO] [1529990512.101399065]: Setting RTAB-Map parameter "Reg/Force3DoF"="true" [ INFO] [1529990512.106011968]: Setting RTAB-Map parameter "Reg/Strategy"="0" [ INFO] [1529990512.156484822]: Setting RTAB-Map parameter "Rtabmap/TimeThr"="700" [ INFO] [1529990512.277539628]: Setting RTAB-Map parameter "Vis/InlierDistance"="0.1" [ INFO] [1529990512.287891808]: Setting RTAB-Map parameter "Vis/MinInliers"="15" [ WARN] [1529990512.508904518]: Rtabmap: Parameter name changed: "Optimizer/Slam2D" -> "Reg/Force3DoF". Please update your launch file accordingly. Value "true" is still set to the new parameter name. [ WARN] [1529990512.598448314]: Setting "Grid/FromDepth" parameter to false (default true) as "subscribe_scan" or "subscribe_scan_cloud" is true. The occupancy grid map will be constructed from laser scans. To get occupancy grid map from cloud projection, set "Grid/FromDepth" to true. To suppress this warning, add [ INFO] [1529990512.598594056]: Setting "Grid/RangeMax" parameter to 0 (default 5.000000) as "subscribe_scan" or "subscribe_scan_cloud" is true. [ INFO] [1529990512.863723017]: RTAB-Map detection rate = 1.000000 Hz [ INFO] [1529990512.863985000]: rtabmap: Deleted database "/home/nimby/.ros/rtabmap.db" (--delete_db_on_start or -d are set). [ INFO] [1529990512.864029653]: rtabmap: Using database from "/home/nimby/.ros/rtabmap.db" (0 MB). [ INFO] [1529990514.074368418]: Stopping device RGB and Depth stream flush. [ WARN] [1529990515.679678297]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist. canTransform: source_frame base_footprint does not exist.. canTransform returned after 0.101304 timeout was 0.1. [ INFO] [1529990515.885891920]: rtabmap: Database version = "0.17.1". [ INFO] [1529990515.941079042]: /rtabmap/rtabmap: queue_size = 10 [ INFO] [1529990515.941123837]: /rtabmap/rtabmap: rgbd_cameras = 1 [ INFO] [1529990515.941144133]: /rtabmap/rtabmap: approx_sync = true [ INFO] [1529990515.941245269]: Setup depth callback [ INFO] [1529990515.975562435]: /rtabmap/rtabmap subscribed to (approx sync): /odom, /camera/rgb/image_rect_color, /camera/depth_registered/image_raw, /camera/rgb/camera_info, /scan, /rtabmap/odom_info [ INFO] [1529990515.982290488]: rtabmap 0.17.1 started... [ WARN] [1529990520.730223282]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist. canTransform: source_frame base_footprint does not exist.. canTransform returned after 0.100869 timeout was 0.1. [ WARN] [1529990520.975756612]: /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): /odom, /camera/rgb/image_rect_color, /camera/depth_registered/image_raw, /camera/rgb/camera_info, /scan, /rtabmap/odom_info

my tf frames said no data received frames.pdf

matlabbe commented 6 years ago

Did you bring up turtlebot ($roslaunch turtlebot_bringup minimal.launch)? At least basic TF from base_footprint should be published. See this tutorial for more info: http://wiki.ros.org/rtabmap_ros/Tutorials/MappingAndNavigationOnTurtlebot