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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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Save a 3dpointcloud taken from Kinect 360 camera with rtabamp_ros #601

Open karishmathumu opened 3 years ago

karishmathumu commented 3 years ago

I need to save a entire 3d pointcloud and have a format or way to be able to export it onto Cloudcompare or Meshlab. I am using rtabmap_ros and a turtlebot2 with a Kinect camera.

I have a rosbag file which is saved version of the 3d mapping with the rtabmap_ros. I could visualise the pointcloud on RVIZ and RTABVIZ, but I am not sure how to save this pointcloud as a whole and be able to view and export it on to cloudcompare or meshlab applications.

A. On RTABMAPVIZ (does not work for me) " The option in RTABMAPVIZ with File->Export 3D Cloud" doesnot work for me, because all the options on RTABMAPVIZ seem to be disabled, though I have first selected "download all the clouds" option under Edit menu on thr RTabmapviz application.

And

B. I am saving a rosbag file and playing it with the goal to save the pointcloud with pcl_ros package. But all I could save is a set of multiple pcd files (kind of image files), which when viewed with pcl_viewer, looks like an image outline ( made of red dots) of a map , where as the actual pointcloud saving and viewing is the goal. Kindly please help me.

--On terminal (also does not work) rosrun pcl_ros pointcloud_to_pcd input:=/rtabmap/cloud_map and changing the boolean value to true --All i could get are a red dotted outline on the ground view.

Kindly please help me out. I am on the verge of completing my project. This is one last thing to be done.

Enclosed are the screenshots for your reference.

Thank you very much,

Karishma.

MicrosoftTeams-image (10) MicrosoftTeams-image (9) MicrosoftTeams-image (8) MicrosoftTeams-image (7) MicrosoftTeams-image (5)

karishmathumu commented 3 years ago

I think I might identified the where the issue is, but not sure how to rectify it. Any kind of help is greatly appreciated. I have realised the difference when a demo_mapping.bag file from http://wiki.ros.org/rtabmap_ros, and my own ros bag file is the these lines : [ INFO] [1625733351.613866953, 1368730028.617908510]: rtabmap (19): Rate=1.00s, Limit=0.000s, Conversion=0.0006s, RTAB-Map=0.0652s, Maps update=0.0088s pub=0.0008s (local map=17, WM=17)

Trial with demo bag file: **1. rosbag play --clock demo_mapping.bag

  1. roslaunch rtabmap_ros demo_robot_mapping.launch rviz:=true rtabmapviz:=true** ... logging to /home/tester/.ros/log/8810ab28-dfc1-11eb-ab04-34c93dbedb6f/roslaunch-tester-XMG-CORE-15-M20-GTX-1650xx-20424.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt WARNING: disk usage in log directory [/home/tester/.ros/log] is over 1GB. It's recommended that you use the 'rosclean' command.

started roslaunch server http://tester-XMG-CORE-15-M20-GTX-1650xx:38989/

SUMMARY

PARAMETERS

NODES / points_xyzrgb (nodelet/nodelet) rviz (rviz/rviz) /rtabmap/ rtabmap (rtabmap_ros/rtabmap) rtabmapviz (rtabmap_ros/rtabmapviz)

ROS_MASTER_URI=http://localhost:11311

process[rtabmap/rtabmap-1]: started with pid [20440] process[rtabmap/rtabmapviz-2]: started with pid [20441] process[rviz-3]: started with pid [20442] process[points_xyzrgb-4]: started with pid [20443] [ INFO] [1625733330.345030896]: rviz version 1.13.17 [ INFO] [1625733330.345104510]: compiled against Qt version 5.9.5 [ INFO] [1625733330.345123438]: compiled against OGRE version 1.9.0 (Ghadamon) [ INFO] [1625733330.351893407]: Forcing OpenGl version 0. [ INFO] [1625733330.497746158]: Starting node... [ INFO] [1625733330.556063750]: Initializing nodelet with 12 worker threads. [ INFO] [1625733330.574886278]: Stereo is NOT SUPPORTED [ INFO] [1625733330.574957309]: OpenGL device: llvmpipe (LLVM 10.0.0, 128 bits) [ INFO] [1625733330.574982173]: OpenGl version: 3,1 (GLSL 1,4). [ INFO] [1625733330.625722198]: Starting node... [ WARN] [1625733330.702112830]: Parameter "map_negative_poses_ignored" has been removed. Use "map_always_update" instead. [ INFO] [1625733330.709516277]: /rtabmap/rtabmap(maps): map_filter_radius = 0.000000 [ INFO] [1625733330.709558532]: /rtabmap/rtabmap(maps): map_filter_angle = 30.000000 [ INFO] [1625733330.709607632]: /rtabmap/rtabmap(maps): map_cleanup = true [ INFO] [1625733330.709631030]: /rtabmap/rtabmap(maps): map_always_update = false [ INFO] [1625733330.709651005]: /rtabmap/rtabmap(maps): map_empty_ray_tracing = true [ INFO] [1625733330.709672447]: /rtabmap/rtabmap(maps): cloud_output_voxelized = true [ INFO] [1625733330.709691653]: /rtabmap/rtabmap(maps): cloud_subtract_filtering = false [ INFO] [1625733330.709712048]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2 [ INFO] [1625733330.710111481]: /rtabmap/rtabmap(maps): octomap_tree_depth = 16 [ INFO] [1625733330.748261923]: rtabmap: frame_id = base_footprint [ INFO] [1625733330.748321708]: rtabmap: odom_frame_id = odom [ INFO] [1625733330.748346293]: rtabmap: map_frame_id = map [ INFO] [1625733330.748376326]: rtabmap: use_action_for_goal = true [ INFO] [1625733330.748410270]: rtabmap: tf_delay = 0.050000 [ INFO] [1625733330.748466912]: rtabmap: tf_tolerance = 0.100000 [ INFO] [1625733330.748499809]: rtabmap: odom_sensor_sync = false [ INFO] [1625733330.749026985]: rtabmap: gen_scan = false [ INFO] [1625733330.749077132]: rtabmap: gen_depth = false [ INFO] [1625733330.798400458]: rtabmapviz: Using configuration from "/home/tester/tk_ws/src/rtabmap_ros/launch/config/rgbd_gui.ini" [ INFO] [1625733330.843698931, 1368730007.850569486]: Setting RTAB-Map parameter "Grid/FromDepth"="true" [ INFO] [1625733330.876590251, 1368730007.880773520]: Setting RTAB-Map parameter "GridGlobal/MinSize"="20" [ INFO] [1625733330.889044548, 1368730007.900920065]: Setting RTAB-Map parameter "Icp/CorrespondenceRatio"="0.2" [ INFO] [1625733330.895181528, 1368730007.900920065]: Setting RTAB-Map parameter "Icp/MaxCorrespondenceDistance"="0.05" [ INFO] [1625733330.907822376, 1368730007.921064865]: Setting RTAB-Map parameter "Icp/PointToPlane"="false" [ INFO] [1625733330.917469326, 1368730007.921064865]: Setting RTAB-Map parameter "Icp/VoxelSize"="0.05" [ INFO] [1625733330.945223261, 1368730007.951286150]: Setting RTAB-Map parameter "Kp/MaxDepth"="4.0" [ INFO] [1625733330.985202547, 1368730007.991562129]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true" [ INFO] [1625733330.985482618, 1368730007.991562129]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false" [ INFO] [1625733330.997819788, 1368730008.001630583]: Setting RTAB-Map parameter "Mem/RehearsalSimilarity"="0.30" [ INFO] [1625733330.999260094, 1368730008.011703087]: Setting RTAB-Map parameter "Mem/STMSize"="30" [ INFO] [1625733331.039165415, 1368730008.051996597]: Setting RTAB-Map parameter "RGBD/AngularUpdate"="0.1" [ INFO] [1625733331.044976019, 1368730008.051996597]: Setting RTAB-Map parameter "RGBD/LinearUpdate"="0.1" [ INFO] [1625733331.047000773, 1368730008.051996597]: Setting RTAB-Map parameter "RGBD/LocalRadius"="5" [ INFO] [1625733331.054043131, 1368730008.062064143]: Setting RTAB-Map parameter "RGBD/NeighborLinkRefining"="true" [ INFO] [1625733331.056093378, 1368730008.062064143]: Setting RTAB-Map parameter "RGBD/OptimizeFromGraphEnd"="false" [ INFO] [1625733331.056523751, 1368730008.062064143]: Setting RTAB-Map parameter "RGBD/OptimizeMaxError"="4" [ INFO] [1625733331.062522582, 1368730008.072135809]: Setting RTAB-Map parameter "RGBD/ProximityBySpace"="true" [ INFO] [1625733331.062964759, 1368730008.072135809]: Setting RTAB-Map parameter "RGBD/ProximityByTime"="false" [ INFO] [1625733331.068207748, 1368730008.072135809]: Setting RTAB-Map parameter "RGBD/ProximityPathMaxNeighbors"="10" [ INFO] [1625733331.073024762, 1368730008.082212085]: Setting RTAB-Map parameter "Reg/Force3DoF"="true" [ INFO] [1625733331.074759457, 1368730008.082212085]: Setting RTAB-Map parameter "Reg/Strategy"="1" [ INFO] [1625733331.104855304, 1368730008.112423522]: Setting RTAB-Map parameter "Rtabmap/TimeThr"="0" [ INFO] [1625733331.194189903, 1368730008.203086819]: Setting RTAB-Map parameter "Vis/InlierDistance"="0.1" [ INFO] [1625733331.199508532, 1368730008.203086819]: Setting RTAB-Map parameter "Vis/MinInliers"="12" [ WARN] [1625733331.234271649, 1368730008.243385986]: Rtabmap: Parameter name changed: "Icp/PM" -> "Icp/Strategy". Please update your launch file accordingly. Value "false" is still set to the new parameter name. [ INFO] [1625733331.427166438, 1368730008.434747927]: RTAB-Map detection rate = 1.000000 Hz [ INFO] [1625733331.427509298, 1368730008.434747927]: rtabmap: Deleted database "/home/tester/.ros/rtabmap.db" (--delete_db_on_start or -d are set). [ INFO] [1625733331.427572297, 1368730008.434747927]: rtabmap: Using database from "/home/tester/.ros/rtabmap.db" (0 MB). [ INFO] [1625733331.527081302, 1368730008.535517741]: rtabmap: Database version = "0.20.9". [ INFO] [1625733331.527183971, 1368730008.535517741]: rtabmap: SLAM mode (Mem/IncrementalMemory=true) [ INFO] [1625733331.570021100, 1368730008.575823194]: /rtabmap/rtabmap: subscribe_depth = true [ INFO] [1625733331.570078372, 1368730008.575823194]: /rtabmap/rtabmap: subscribe_rgb = true [ INFO] [1625733331.570095204, 1368730008.575823194]: /rtabmap/rtabmap: subscribe_stereo = false [ INFO] [1625733331.570125237, 1368730008.575823194]: /rtabmap/rtabmap: subscribe_rgbd = false (rgbd_cameras=1) [ INFO] [1625733331.570161555, 1368730008.575823194]: /rtabmap/rtabmap: subscribe_odom_info = false [ INFO] [1625733331.570183625, 1368730008.575823194]: /rtabmap/rtabmap: subscribe_user_data = false [ INFO] [1625733331.570214356, 1368730008.575823194]: /rtabmap/rtabmap: subscribe_scan = true [ INFO] [1625733331.570240687, 1368730008.575823194]: /rtabmap/rtabmap: subscribe_scan_cloud = false [ INFO] [1625733331.570265971, 1368730008.575823194]: /rtabmap/rtabmap: subscribe_scan_descriptor = false [ INFO] [1625733331.570294117, 1368730008.575823194]: /rtabmap/rtabmap: queue_size = 10 [ INFO] [1625733331.570321356, 1368730008.575823194]: /rtabmap/rtabmap: approx_sync = true [ INFO] [1625733331.570437925, 1368730008.575823194]: Setup depth callback [ INFO] [1625733331.620332707, 1368730008.626192422]: /rtabmap/rtabmap subscribed to (approx sync): /data_throttled_image/compressed \ /data_throttled_image_depth/compressedDepth \ /data_throttled_camera_info \ /jn0/base_scan [ INFO] [1625733331.814511493, 1368730008.827654595]: rtabmap 0.20.11 started... libpng warning: iCCP: known incorrect sRGB profile libpng warning: iCCP: known incorrect sRGB profile libpng warning: iCCP: known incorrect sRGB profile [ INFO] [1625733332.045008734, 1368730009.049400555]: rtabmap (1): Rate=1.00s, Limit=0.000s, Conversion=0.0038s, RTAB-Map=0.0727s, Maps update=0.0125s pub=0.0022s (local map=1, WM=1) [ INFO] [1625733332.085554169, 1368730009.089695182]: Creating 1 swatches [ INFO] [1625733332.219014574, 1368730009.222819712]: rtabmapviz: Reading parameters from the ROS server... [ INFO] [1625733332.554975790, 1368730009.565725296]: rtabmapviz: Parameters read = 349 [ INFO] [1625733332.555036414, 1368730009.565725296]: rtabmapviz: Parameters successfully read. [ INFO] [1625733332.910417736, 1368730009.918258273]: /rtabmap/rtabmapviz: subscribe_depth = true [ INFO] [1625733332.910472004, 1368730009.918258273]: /rtabmap/rtabmapviz: subscribe_rgb = false [ INFO] [1625733332.910494005, 1368730009.918258273]: /rtabmap/rtabmapviz: subscribe_stereo = false [ INFO] [1625733332.910517472, 1368730009.918258273]: /rtabmap/rtabmapviz: subscribe_rgbd = false (rgbd_cameras=1) [ INFO] [1625733332.910540590, 1368730009.918258273]: /rtabmap/rtabmapviz: subscribe_odom_info = false [ INFO] [1625733332.910561892, 1368730009.918258273]: /rtabmap/rtabmapviz: subscribe_user_data = false [ INFO] [1625733332.910598979, 1368730009.918258273]: /rtabmap/rtabmapviz: subscribe_scan = true [ INFO] [1625733332.910631875, 1368730009.918258273]: /rtabmap/rtabmapviz: subscribe_scan_cloud = false [ INFO] [1625733332.910663863, 1368730009.918258273]: /rtabmap/rtabmapviz: subscribe_scan_descriptor = false [ INFO] [1625733332.910694385, 1368730009.918258273]: /rtabmap/rtabmapviz: queue_size = 10 [ INFO] [1625733332.910725395, 1368730009.918258273]: /rtabmap/rtabmapviz: approx_sync = true [ INFO] [1625733332.910758711, 1368730009.918258273]: Setup depth callback [ INFO] [1625733332.995143803, 1368730009.998827763]: /rtabmap/rtabmapviz subscribed to (approx sync): /az3/base_controller/odom \ /data_throttled_image/compressed \ /data_throttled_image_depth/compressedDepth \ /data_throttled_camera_info \ /jn0/base_scan [ INFO] [1625733332.995459564, 1368730009.998827763]: rtabmapviz started. **[ INFO] [1625733333.127498451, 1368730010.140050051]: rtabmap (2): Rate=1.00s, Limit=0.000s, Conversion=0.0013s, RTAB-Map=0.0898s, Maps update=0.0120s pub=0.0010s (local map=2, WM=2)

[ INFO] [1625733365.820304111, 1368730042.831626121]: rtabmap (32): Rate=1.00s, Limit=0.000s, Conversion=0.0007s, RTAB-Map=0.0709s, Maps update=0.0137s pub=0.0006s (local map=29, WM=29) ^C[points_xyzrgb-4] killing on exit [rviz-3] killing on exit [rtabmap/rtabmapviz-2] killing on exit [rtabmap/rtabmap-1] killing on exit [ INFO] [1625733366.034700821, 1368730043.046635985]: rtabmapviz: ctrl-c catched! Exiting Qt app... rtabmap: Saving database/long-term memory... (located at /home/tester/.ros/rtabmap.db) rtabmap: 2D occupancy grid map saved. rtabmap: Saving database/long-term memory...done! (located at /home/tester/.ros/rtabmap.db, 14 MB) shutting down processing monitor...** ... shutting down processing monitor complete done

Trial with my bag file

  1. rosbag play rtabmap2.bag
  2. roslaunch rtabmap_ros demo_robot_mapping.launch rviz:=true rtabmapviz:=true The result is roslaunch rtabmap_ros demo_robot_mapping.launch rviz:=true rtabmapviz:=true ... logging to /home/tester/.ros/log/8810ab28-dfc1-11eb-ab04-34c93dbedb6f/roslaunch-tester-XMG-CORE-15-M20-GTX-1650xx-21793.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt WARNING: disk usage in log directory [/home/tester/.ros/log] is over 1GB. It's recommended that you use the 'rosclean' command.

started roslaunch server http://tester-XMG-CORE-15-M20-GTX-1650xx:33729/

SUMMARY

PARAMETERS

NODES / points_xyzrgb (nodelet/nodelet) rviz (rviz/rviz) /rtabmap/ rtabmap (rtabmap_ros/rtabmap) rtabmapviz (rtabmap_ros/rtabmapviz)

ROS_MASTER_URI=http://localhost:11311

process[rtabmap/rtabmap-1]: started with pid [21808] process[rtabmap/rtabmapviz-2]: started with pid [21809] process[rviz-3]: started with pid [21810] process[points_xyzrgb-4]: started with pid [21811] [ INFO] [1625733537.487395706]: rviz version 1.13.17 [ INFO] [1625733537.487468053]: compiled against Qt version 5.9.5 [ INFO] [1625733537.487492286]: compiled against OGRE version 1.9.0 (Ghadamon) [ INFO] [1625733537.495796401]: Forcing OpenGl version 0. [ INFO] [1625733537.607801012]: Starting node... [ INFO] [1625733537.666462230]: Initializing nodelet with 12 worker threads. [ INFO] [1625733537.690588180]: Stereo is NOT SUPPORTED [ INFO] [1625733537.690671003]: OpenGL device: llvmpipe (LLVM 10.0.0, 128 bits) [ INFO] [1625733537.690704663]: OpenGl version: 3,1 (GLSL 1,4). [ INFO] [1625733537.754269661]: Starting node... [ WARN] [1625733537.828731135]: Parameter "map_negative_poses_ignored" has been removed. Use "map_always_update" instead. [ INFO] [1625733537.832828967]: /rtabmap/rtabmap(maps): map_filter_radius = 0.000000 [ INFO] [1625733537.832874359]: /rtabmap/rtabmap(maps): map_filter_angle = 30.000000 [ INFO] [1625733537.832893423]: /rtabmap/rtabmap(maps): map_cleanup = true [ INFO] [1625733537.832928270]: /rtabmap/rtabmap(maps): map_always_update = false [ INFO] [1625733537.832947125]: /rtabmap/rtabmap(maps): map_empty_ray_tracing = true [ INFO] [1625733537.832970450]: /rtabmap/rtabmap(maps): cloud_output_voxelized = true [ INFO] [1625733537.832994123]: /rtabmap/rtabmap(maps): cloud_subtract_filtering = false [ INFO] [1625733537.833017378]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2 [ INFO] [1625733537.833470877]: /rtabmap/rtabmap(maps): octomap_tree_depth = 16 [ INFO] [1625733537.870594035]: rtabmap: frame_id = base_footprint [ INFO] [1625733537.870634888]: rtabmap: odom_frame_id = odom [ INFO] [1625733537.870651229]: rtabmap: map_frame_id = map [ INFO] [1625733537.870667779]: rtabmap: use_action_for_goal = true [ INFO] [1625733537.870689428]: rtabmap: tf_delay = 0.050000 [ INFO] [1625733537.870705839]: rtabmap: tf_tolerance = 0.100000 [ INFO] [1625733537.870723995]: rtabmap: odom_sensor_sync = false [ INFO] [1625733537.871046487]: rtabmap: gen_scan = false [ INFO] [1625733537.871078401]: rtabmap: gen_depth = false [ INFO] [1625733537.949444128]: rtabmapviz: Using configuration from "/home/tester/tk_ws/src/rtabmap_ros/launch/config/rgbd_gui.ini" [ INFO] [1625733537.973735584]: Setting RTAB-Map parameter "Grid/FromDepth"="true" [ INFO] [1625733537.999963733]: Setting RTAB-Map parameter "GridGlobal/MinSize"="20" [ INFO] [1625733538.011670355]: Setting RTAB-Map parameter "Icp/CorrespondenceRatio"="0.2" [ INFO] [1625733538.016824985]: Setting RTAB-Map parameter "Icp/MaxCorrespondenceDistance"="0.05" [ INFO] [1625733538.023928601]: Setting RTAB-Map parameter "Icp/PointToPlane"="false" [ INFO] [1625733538.032824637]: Setting RTAB-Map parameter "Icp/VoxelSize"="0.05" [ INFO] [1625733538.058670271]: Setting RTAB-Map parameter "Kp/MaxDepth"="4.0" [ INFO] [1625733538.095087110]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true" [ INFO] [1625733538.095659676]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false" [ INFO] [1625733538.110250924]: Setting RTAB-Map parameter "Mem/RehearsalSimilarity"="0.30" [ INFO] [1625733538.111741592]: Setting RTAB-Map parameter "Mem/STMSize"="30" [ INFO] [1625733538.152912076]: Setting RTAB-Map parameter "RGBD/AngularUpdate"="0.1" [ INFO] [1625733538.160631415]: Setting RTAB-Map parameter "RGBD/LinearUpdate"="0.1" [ INFO] [1625733538.163667362]: Setting RTAB-Map parameter "RGBD/LocalRadius"="5" [ INFO] [1625733538.171174547]: Setting RTAB-Map parameter "RGBD/NeighborLinkRefining"="true" [ INFO] [1625733538.172398661]: Setting RTAB-Map parameter "RGBD/OptimizeFromGraphEnd"="false" [ INFO] [1625733538.172698666]: Setting RTAB-Map parameter "RGBD/OptimizeMaxError"="4" [ INFO] [1625733538.176973182]: Setting RTAB-Map parameter "RGBD/ProximityBySpace"="true" [ INFO] [1625733538.177573751]: Setting RTAB-Map parameter "RGBD/ProximityByTime"="false" [ INFO] [1625733538.185628990]: Setting RTAB-Map parameter "RGBD/ProximityPathMaxNeighbors"="10" [ INFO] [1625733538.192544125]: Setting RTAB-Map parameter "Reg/Force3DoF"="true" [ INFO] [1625733538.195373784]: Setting RTAB-Map parameter "Reg/Strategy"="1" [ INFO] [1625733538.226337245]: Setting RTAB-Map parameter "Rtabmap/TimeThr"="0" [ INFO] [1625733538.317557489]: Setting RTAB-Map parameter "Vis/InlierDistance"="0.1" [ INFO] [1625733538.326495844]: Setting RTAB-Map parameter "Vis/MinInliers"="12" [ WARN] [1625733538.368948264]: Rtabmap: Parameter name changed: "Icp/PM" -> "Icp/Strategy". Please update your launch file accordingly. Value "false" is still set to the new parameter name. [ INFO] [1625733538.566171622]: RTAB-Map detection rate = 1.000000 Hz [ INFO] [1625733538.568129407]: rtabmap: Deleted database "/home/tester/.ros/rtabmap.db" (--delete_db_on_start or -d are set). [ INFO] [1625733538.568210973]: rtabmap: Using database from "/home/tester/.ros/rtabmap.db" (0 MB). [ INFO] [1625733538.670319326]: rtabmap: Database version = "0.20.9". [ INFO] [1625733538.670475754]: rtabmap: SLAM mode (Mem/IncrementalMemory=true) Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 0.1 according to authority unknown_publisher Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained at line 277 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/src/buffer_core.cpp [ WARN] [1625733538.702382598]: TF_OLD_DATA ignoring data from the past for frame odom at time 0,1 according to authority unknown_publisher Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained Warning: TF_OLD_DATA ignoring data from the past for frame odom at time 0,1 according to authority unknown_publisher Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained at line 277 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/src/buffer_core.cpp [ INFO] [1625733538.712015448]: /rtabmap/rtabmap: subscribe_depth = true [ INFO] [1625733538.712090240]: /rtabmap/rtabmap: subscribe_rgb = true [ INFO] [1625733538.712116916]: /rtabmap/rtabmap: subscribe_stereo = false [ INFO] [1625733538.712140311]: /rtabmap/rtabmap: subscribe_rgbd = false (rgbd_cameras=1) [ INFO] [1625733538.712161400]: /rtabmap/rtabmap: subscribe_odom_info = false [ INFO] [1625733538.712181792]: /rtabmap/rtabmap: subscribe_user_data = false [ INFO] [1625733538.712204697]: /rtabmap/rtabmap: subscribe_scan = true [ INFO] [1625733538.712237030]: /rtabmap/rtabmap: subscribe_scan_cloud = false [ INFO] [1625733538.712269922]: /rtabmap/rtabmap: subscribe_scan_descriptor = false [ INFO] [1625733538.712299461]: /rtabmap/rtabmap: queue_size = 10 [ INFO] [1625733538.712323344]: /rtabmap/rtabmap: approx_sync = true [ INFO] [1625733538.712405748]: Setup depth callback [ INFO] [1625733538.755152517]: /rtabmap/rtabmap subscribed to (approx sync): /data_throttled_image/compressed \ /data_throttled_image_depth/compressedDepth \ /data_throttled_camera_info \ /jn0/base_scan [ INFO] [1625733538.935792274]: rtabmap 0.20.11 started... libpng warning: iCCP: known incorrect sRGB profile libpng warning: iCCP: known incorrect sRGB profile libpng warning: iCCP: known incorrect sRGB profile [ INFO] [1625733539.301733419]: rtabmapviz: Reading parameters from the ROS server... [ INFO] [1625733539.607237763]: rtabmapviz: Parameters read = 349 [ INFO] [1625733539.607290139]: rtabmapviz: Parameters successfully read. [ INFO] [1625733539.947156581]: /rtabmap/rtabmapviz: subscribe_depth = true [ INFO] [1625733539.947224878]: /rtabmap/rtabmapviz: subscribe_rgb = false [ INFO] [1625733539.947251974]: /rtabmap/rtabmapviz: subscribe_stereo = false [ INFO] [1625733539.947277742]: /rtabmap/rtabmapviz: subscribe_rgbd = false (rgbd_cameras=1) [ INFO] [1625733539.947305326]: /rtabmap/rtabmapviz: subscribe_odom_info = false [ INFO] [1625733539.947327464]: /rtabmap/rtabmapviz: subscribe_user_data = false [ INFO] [1625733539.947349531]: /rtabmap/rtabmapviz: subscribe_scan = true [ INFO] [1625733539.947371319]: /rtabmap/rtabmapviz: subscribe_scan_cloud = false [ INFO] [1625733539.947393317]: /rtabmap/rtabmapviz: subscribe_scan_descriptor = false [ INFO] [1625733539.947418038]: /rtabmap/rtabmapviz: queue_size = 10 [ INFO] [1625733539.947438499]: /rtabmap/rtabmapviz: approx_sync = true [ INFO] [1625733539.947464827]: Setup depth callback [ INFO] [1625733540.029959284]: /rtabmap/rtabmapviz subscribed to (approx sync): /az3/base_controller/odom \ /data_throttled_image/compressed \ /data_throttled_image_depth/compressedDepth \ /data_throttled_camera_info \ /jn0/base_scan [ INFO] [1625733540.030208451]: rtabmapviz started. [rviz-3] process has finished cleanly log file: /home/tester/.ros/log/8810ab28-dfc1-11eb-ab04-34c93dbedb6f/rviz-3*.log [ INFO] [1625734366.862885764]: rtabmap: Getting map (global=true optimized=true graphOnly=false)... [ INFO] [1625734373.729446020]: rtabmap: Getting map (global=true optimized=true graphOnly=false)... [ INFO] [1625734377.521129803]: rtabmapviz stopping spinner... [ INFO] [1625734377.527014276]: rtabmapviz deleting qt stuff... ^C[points_xyzrgb-4] killing on exit [rtabmap/rtabmapviz-2] killing on exit [ INFO] [1625736022.656519729]: rtabmapviz: ctrl-c catched! Exiting Qt app... [rtabmap/rtabmap-1] killing on exit rtabmap: Saving database/long-term memory... (located at /home/tester/.ros/rtabmap.db) rtabmap: Saving database/long-term memory...done! (located at /home/tester/.ros/rtabmap.db, 0 MB) shutting down processing monitor... ... shutting down processing monitor done

karishmathumu commented 3 years ago

$ rosbag info demo_mapping.bag path: demo_mapping.bag version: 2.0 duration: 4:05s (245s) start: May 16 2013 20:46:43.35 (1368730003.35) end: May 16 2013 20:50:49.28 (1368730249.28) size: 295.0 MB messages: 84745 compression: none [382/382 chunks] types: nav_msgs/Odometry [cd5e73d190d741a2f92e81eda573aca7] sensor_msgs/CameraInfo [c9a58c1b0b154e0e6da7578cb991d214] sensor_msgs/CompressedImage [8f7a12909da2c9d3332d540a0977563f] sensor_msgs/LaserScan [90c7ef2dc6895d81024acba2ac42f369] tf/tfMessage [94810edda583a504dfda3829e70d7eec] topics: /az3/base_controller/odom 11936 msgs : nav_msgs/Odometry
/jn0/base_scan 9843 msgs : sensor_msgs/LaserScan
/tf 56909 msgs : tf/tfMessage
data_throttled_camera_info 2019 msgs : sensor_msgs/CameraInfo
data_throttled_image/compressed 2019 msgs : sensor_msgs/CompressedImage data_throttled_image_depth/compressedDepth 2019 msgs : sensor_msgs/CompressedImage

whereas for my bagfile,

rosbag info rtabmap2.bag path: rtabmap2.bag version: 2.0 duration: 5:47s (347s) start: Jun 28 2021 12:52:37.24 (1624877557.24) end: Jun 28 2021 12:58:24.77 (1624877904.77) size: 21.6 GB messages: 414449 compression: none [19805/19805 chunks] types: actionlib_msgs/GoalStatusArray [8b2b82f13216d0a8ea88bd3af735e619] bond/Status [eacc84bf5d65b6777d4c50f463dfb9c8] diagnostic_msgs/DiagnosticArray [60810da900de1dd6ddd437c3503511da] diagnostic_msgs/DiagnosticStatus [d0ce08bc6e5ba34c7754f563a9cabaf1] dynamic_reconfigure/Config [958f16a05573709014982821e6822580] dynamic_reconfigure/ConfigDescription [757ce9d44ba8ddd801bb30bc456f946f] geometry_msgs/PolygonStamped [c6be8f7dc3bee7fe9e8d296070f53340] geometry_msgs/PoseWithCovarianceStamped [953b798c0f514ff060a53a3498ce6246] geometry_msgs/Twist [9f195f881246fdfa2798d1d3eebca84a] kobuki_msgs/DockInfraRed [a3d77f7d15e50579473dcc24e9b97b34] kobuki_msgs/RobotStateEvent [c6eccd4cb1f95df95635b56d6226ea32] kobuki_msgs/SensorState [430a4bfd78449c8740bfef32b26613a6] kobuki_msgs/VersionInfo [3dc0ce6edd49be1fc86730f4a4a21861] map_msgs/OccupancyGridUpdate [b295be292b335c34718bd939deebe1c9] nav_msgs/OccupancyGrid [3381f2d731d4076ec5c71b0759edbe4e] nav_msgs/Odometry [cd5e73d190d741a2f92e81eda573aca7] nav_msgs/Path [6227e2b7e9cce15051f669a5e197bbf7] octomap_msgs/Octomap [9a45536b45c5e409cd49f04bb2d9999f] rosgraph_msgs/Log [acffd30cd6b6de30f120938c17c593fb] rtabmap_ros/Info [1348655e70ba2e47fa77d7c83e936d33] rtabmap_ros/MapData [c08cdd9bd760e475724e80eaeb71af47] rtabmap_ros/MapGraph [903c2e44ed7e275e08ef323188cb38ee] sensor_msgs/BatteryState [476f837fa6771f6e16e3bf4ef96f8770] sensor_msgs/CameraInfo [c9a58c1b0b154e0e6da7578cb991d214] sensor_msgs/CompressedImage [8f7a12909da2c9d3332d540a0977563f] sensor_msgs/Image [060021388200f6f0f447d0fcd9c64743] sensor_msgs/Imu [6a62c6daae103f4ff57a132d6f95cec2] sensor_msgs/JointState [3066dcd76a6cfaef579bd0f34173e9fd] sensor_msgs/LaserScan [90c7ef2dc6895d81024acba2ac42f369] sensor_msgs/PointCloud [d8e9c3f5afbdd8a130fd1d2763945fca] sensor_msgs/PointCloud2 [1158d486dd51d683ce2f1be655c3c181] std_msgs/Int16MultiArray [d9338d7f523fcb692fae9d0a0e9f067c] std_msgs/String [992ce8a1687cec8c8bd883ec73ca41d1] stereo_msgs/DisparityImage [04a177815f75271039fa21f16acad8c9] tf2_msgs/TFMessage [94810edda583a504dfda3829e70d7eec] theora_image_transport/Packet [33ac4e14a7cff32e7e0d65f18bb410f3] visualization_msgs/MarkerArray [d155b9ce5188fbaf89745847fd5882d7] topics: /camera/camera_nodelet_manager/bond 696 msgs : bond/Status (2 connections) /camera/depth/image/compressed/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/depth/image/compressed/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/depth/image/compressedDepth/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/depth/image/compressedDepth/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/depth/image/theora/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/depth/image/theora/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/depth/image_raw/compressed/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/depth/image_raw/compressed/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/depth/image_raw/compressedDepth/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/depth/image_raw/compressedDepth/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/depth/image_raw/theora/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/depth/image_raw/theora/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/depth/image_rect/compressed/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/depth/image_rect/compressed/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/depth/image_rect/compressedDepth/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/depth/image_rect/compressedDepth/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/depth/image_rect/theora/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/depth/image_rect/theora/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/depth/image_rect_raw/compressed/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/depth/image_rect_raw/compressed/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/depth/image_rect_raw/compressedDepth/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/depth/image_rect_raw/compressedDepth/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/depth/image_rect_raw/theora/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/depth/image_rect_raw/theora/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/depth_rectify_depth/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/depth_rectify_depth/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/depth_registered/camera_info 1093 msgs : sensor_msgs/CameraInfo
/camera/depth_registered/disparity 825 msgs : stereo_msgs/DisparityImage
/camera/depth_registered/hw_registered/image_rect 1028 msgs : sensor_msgs/Image
/camera/depth_registered/hw_registered/image_rect/compressed/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/depth_registered/hw_registered/image_rect/compressed/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/depth_registered/hw_registered/image_rect/compressedDepth 1017 msgs : sensor_msgs/CompressedImage
/camera/depth_registered/hw_registered/image_rect/compressedDepth/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/depth_registered/hw_registered/image_rect/compressedDepth/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/depth_registered/hw_registered/image_rect/theora 6 msgs : theora_image_transport/Packet
/camera/depth_registered/hw_registered/image_rect/theora/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/depth_registered/hw_registered/image_rect/theora/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/depth_registered/hw_registered/image_rect_raw 1097 msgs : sensor_msgs/Image
/camera/depth_registered/hw_registered/image_rect_raw/compressed 1104 msgs : sensor_msgs/CompressedImage
/camera/depth_registered/hw_registered/image_rect_raw/compressed/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/depth_registered/hw_registered/image_rect_raw/compressed/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/depth_registered/hw_registered/image_rect_raw/compressedDepth 1094 msgs : sensor_msgs/CompressedImage
/camera/depth_registered/hw_registered/image_rect_raw/compressedDepth/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/depth_registered/hw_registered/image_rect_raw/compressedDepth/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/depth_registered/hw_registered/image_rect_raw/theora 3 msgs : theora_image_transport/Packet
/camera/depth_registered/hw_registered/image_rect_raw/theora/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/depth_registered/hw_registered/image_rect_raw/theora/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/depth_registered/image 1004 msgs : sensor_msgs/Image
/camera/depth_registered/image/compressed/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/depth_registered/image/compressed/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/depth_registered/image/compressedDepth 993 msgs : sensor_msgs/CompressedImage
/camera/depth_registered/image/compressedDepth/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/depth_registered/image/compressedDepth/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/depth_registered/image/theora 3 msgs : theora_image_transport/Packet
/camera/depth_registered/image/theora/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/depth_registered/image/theora/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/depth_registered/image_raw 1093 msgs : sensor_msgs/Image
/camera/depth_registered/image_raw/compressed 1100 msgs : sensor_msgs/CompressedImage
/camera/depth_registered/image_raw/compressed/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/depth_registered/image_raw/compressed/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/depth_registered/image_raw/compressedDepth 1093 msgs : sensor_msgs/CompressedImage
/camera/depth_registered/image_raw/compressedDepth/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/depth_registered/image_raw/compressedDepth/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/depth_registered/image_raw/theora 3 msgs : theora_image_transport/Packet
/camera/depth_registered/image_raw/theora/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/depth_registered/image_raw/theora/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/depth_registered/points 177 msgs : sensor_msgs/PointCloud2
/camera/depth_registered/sw_registered/image_rect/compressed/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/depth_registered/sw_registered/image_rect/compressed/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/depth_registered/sw_registered/image_rect/compressedDepth/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/depth_registered/sw_registered/image_rect/compressedDepth/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/depth_registered/sw_registered/image_rect/theora/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/depth_registered/sw_registered/image_rect/theora/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/depth_registered/sw_registered/image_rect_raw/compressed/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/depth_registered/sw_registered/image_rect_raw/compressed/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/depth_registered/sw_registered/image_rect_raw/compressedDepth/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/depth_registered/sw_registered/image_rect_raw/compressedDepth/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/depth_registered/sw_registered/image_rect_raw/theora/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/depth_registered/sw_registered/image_rect_raw/theora/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/depth_registered_rectify_depth/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/depth_registered_rectify_depth/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/driver/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/driver/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/ir/image_raw/compressed/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/ir/image_raw/compressed/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/ir/image_raw/compressedDepth/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/ir/image_raw/compressedDepth/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/ir/image_raw/theora/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/ir/image_raw/theora/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/ir/image_rect_ir/compressed/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/ir/image_rect_ir/compressed/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/ir/image_rect_ir/compressedDepth/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/ir/image_rect_ir/compressedDepth/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/ir/image_rect_ir/theora/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/ir/image_rect_ir/theora/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/ir_rectify_ir/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/ir_rectify_ir/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/projector/camera_info 1100 msgs : sensor_msgs/CameraInfo
/camera/rgb/camera_info 10281 msgs : sensor_msgs/CameraInfo
/camera/rgb/image_color 5531 msgs : sensor_msgs/Image
/camera/rgb/image_color/compressed 5540 msgs : sensor_msgs/CompressedImage
/camera/rgb/image_color/compressed/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/rgb/image_color/compressed/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/rgb/image_color/compressedDepth/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/rgb/image_color/compressedDepth/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/rgb/image_color/theora 5522 msgs : theora_image_transport/Packet
/camera/rgb/image_color/theora/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/rgb/image_color/theora/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/rgb/image_mono 5529 msgs : sensor_msgs/Image
/camera/rgb/image_mono/compressed 5529 msgs : sensor_msgs/CompressedImage
/camera/rgb/image_mono/compressed/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/rgb/image_mono/compressed/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/rgb/image_mono/compressedDepth/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/rgb/image_mono/compressedDepth/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/rgb/image_mono/theora 5523 msgs : theora_image_transport/Packet
/camera/rgb/image_mono/theora/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/rgb/image_mono/theora/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/rgb/image_raw 10271 msgs : sensor_msgs/Image
/camera/rgb/image_raw/compressed 10274 msgs : sensor_msgs/CompressedImage
/camera/rgb/image_raw/compressed/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/rgb/image_raw/compressed/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/rgb/image_raw/compressedDepth/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/rgb/image_raw/compressedDepth/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/rgb/image_raw/theora 10279 msgs : theora_image_transport/Packet
/camera/rgb/image_raw/theora/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/rgb/image_raw/theora/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/rgb/image_rect_color 3245 msgs : sensor_msgs/Image
/camera/rgb/image_rect_color/compressed 3245 msgs : sensor_msgs/CompressedImage
/camera/rgb/image_rect_color/compressed/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/rgb/image_rect_color/compressed/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/rgb/image_rect_color/compressedDepth/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/rgb/image_rect_color/compressedDepth/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/rgb/image_rect_color/theora 3231 msgs : theora_image_transport/Packet
/camera/rgb/image_rect_color/theora/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/rgb/image_rect_color/theora/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/rgb/image_rect_mono 3100 msgs : sensor_msgs/Image
/camera/rgb/image_rect_mono/compressed 3100 msgs : sensor_msgs/CompressedImage
/camera/rgb/image_rect_mono/compressed/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/rgb/image_rect_mono/compressed/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/rgb/image_rect_mono/compressedDepth/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/rgb/image_rect_mono/compressedDepth/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/rgb/image_rect_mono/theora 3118 msgs : theora_image_transport/Packet
/camera/rgb/image_rect_mono/theora/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/rgb/image_rect_mono/theora/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/rgb_debayer/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/rgb_debayer/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/rgb_rectify_color/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/rgb_rectify_color/parameter_updates 1 msg : dynamic_reconfigure/Config
/camera/rgb_rectify_mono/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/camera/rgb_rectify_mono/parameter_updates 1 msg : dynamic_reconfigure/Config
/cmd_vel_mux/active 1 msg : std_msgs/String
/cmd_vel_mux/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/cmd_vel_mux/parameter_updates 1 msg : dynamic_reconfigure/Config
/depthimage_to_laserscan/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/depthimage_to_laserscan/parameter_updates 1 msg : dynamic_reconfigure/Config
/diagnostics 668 msgs : diagnostic_msgs/DiagnosticArray (2 connections) /diagnostics_agg 347 msgs : diagnostic_msgs/DiagnosticArray
/diagnostics_toplevel_state 348 msgs : diagnostic_msgs/DiagnosticStatus
/joint_states 17405 msgs : sensor_msgs/JointState
/laptop_charge 349 msgs : sensor_msgs/BatteryState
/map 69 msgs : nav_msgs/OccupancyGrid
/mobile_base/commands/velocity 3249 msgs : geometry_msgs/Twist
/mobile_base/debug/raw_control_command 17417 msgs : std_msgs/Int16MultiArray
/mobile_base/debug/raw_data_command 34858 msgs : std_msgs/String
/mobile_base/debug/raw_data_stream 17411 msgs : std_msgs/String
/mobile_base/events/robot_state 1 msg : kobuki_msgs/RobotStateEvent
/mobile_base/sensors/core 17431 msgs : kobuki_msgs/SensorState
/mobile_base/sensors/dock_ir 17390 msgs : kobuki_msgs/DockInfraRed
/mobile_base/sensors/imu_data 17411 msgs : sensor_msgs/Imu
/mobile_base/sensors/imu_data_raw 36371 msgs : sensor_msgs/Imu
/mobile_base/version_info 1 msg : kobuki_msgs/VersionInfo
/mobile_base_nodelet_manager/bond 3480 msgs : bond/Status (6 connections) /move_base/DWAPlannerROS/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/move_base/DWAPlannerROS/parameter_updates 1 msg : dynamic_reconfigure/Config
/move_base/global_costmap/costmap 1 msg : nav_msgs/OccupancyGrid
/move_base/global_costmap/costmap_updates 135 msgs : map_msgs/OccupancyGridUpdate
/move_base/global_costmap/footprint 348 msgs : geometry_msgs/PolygonStamped
/move_base/global_costmap/inflation_layer/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/move_base/global_costmap/inflation_layer/parameter_updates 1 msg : dynamic_reconfigure/Config
/move_base/global_costmap/obstacle_layer/clearing_endpoints 348 msgs : sensor_msgs/PointCloud
/move_base/global_costmap/obstacle_layer/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/move_base/global_costmap/obstacle_layer/parameter_updates 1 msg : dynamic_reconfigure/Config
/move_base/global_costmap/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/move_base/global_costmap/parameter_updates 1 msg : dynamic_reconfigure/Config
/move_base/global_costmap/static_layer/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/move_base/global_costmap/static_layer/parameter_updates 1 msg : dynamic_reconfigure/Config
/move_base/local_costmap/costmap 190 msgs : nav_msgs/OccupancyGrid
/move_base/local_costmap/costmap_updates 391 msgs : map_msgs/OccupancyGridUpdate
/move_base/local_costmap/footprint 1740 msgs : geometry_msgs/PolygonStamped
/move_base/local_costmap/inflation_layer/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/move_base/local_costmap/inflation_layer/parameter_updates 1 msg : dynamic_reconfigure/Config
/move_base/local_costmap/obstacle_layer/clearing_endpoints 1738 msgs : sensor_msgs/PointCloud
/move_base/local_costmap/obstacle_layer/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/move_base/local_costmap/obstacle_layer/parameter_updates 1 msg : dynamic_reconfigure/Config
/move_base/local_costmap/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/move_base/local_costmap/parameter_updates 1 msg : dynamic_reconfigure/Config
/move_base/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/move_base/parameter_updates 1 msg : dynamic_reconfigure/Config
/move_base/status 1742 msgs : actionlib_msgs/GoalStatusArray
/navigation_velocity_smoother/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/navigation_velocity_smoother/parameter_updates 1 msg : dynamic_reconfigure/Config
/odom 17397 msgs : nav_msgs/Odometry
/rosout 34624 msgs : rosgraph_msgs/Log (32 connections) /rosout_agg 34522 msgs : rosgraph_msgs/Log
/rtabmap/cloud_ground 69 msgs : sensor_msgs/PointCloud2
/rtabmap/cloud_map 69 msgs : sensor_msgs/PointCloud2
/rtabmap/cloud_obstacles 69 msgs : sensor_msgs/PointCloud2
/rtabmap/grid_prob_map 69 msgs : nav_msgs/OccupancyGrid
/rtabmap/info 103 msgs : rtabmap_ros/Info
/rtabmap/labels 103 msgs : visualization_msgs/MarkerArray
/rtabmap/local_grid_empty 103 msgs : sensor_msgs/PointCloud2
/rtabmap/local_grid_obstacle 103 msgs : sensor_msgs/PointCloud2
/rtabmap/localization_pose 15 msgs : geometry_msgs/PoseWithCovarianceStamped /rtabmap/mapData 103 msgs : rtabmap_ros/MapData
/rtabmap/mapGraph 103 msgs : rtabmap_ros/MapGraph
/rtabmap/mapPath 103 msgs : nav_msgs/Path
/rtabmap/octomap_binary 103 msgs : octomap_msgs/Octomap
/rtabmap/octomap_empty_space 103 msgs : sensor_msgs/PointCloud2
/rtabmap/octomap_full 103 msgs : octomap_msgs/Octomap
/rtabmap/octomap_global_frontier_space 103 msgs : sensor_msgs/PointCloud2
/rtabmap/octomap_grid 103 msgs : nav_msgs/OccupancyGrid
/rtabmap/octomap_ground 103 msgs : sensor_msgs/PointCloud2
/rtabmap/octomap_obstacles 103 msgs : sensor_msgs/PointCloud2
/rtabmap/octomap_occupied_space 103 msgs : sensor_msgs/PointCloud2
/rtabmap/proj_map 68 msgs : nav_msgs/OccupancyGrid
/rtabmap/scan_map 68 msgs : sensor_msgs/PointCloud2
/scan 1099 msgs : sensor_msgs/LaserScan
/tf 26007 msgs : tf2_msgs/TFMessage (3 connections) /tf_static 1 msg : tf2_msgs/TFMessage

matlabbe commented 3 years ago

Hi,

To export with rtabmapviz, you should click on "Pause" to enable Export Clouds menu option.

Your cloud_map seems created from 2d laser scan instead of RGB-D clouds. Set Grid/FromDepth=true explicitly if you want to create the map from RGB-D.