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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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error with rgbd_odometry and rtabmap node #750

Open zzurc opened 2 years ago

zzurc commented 2 years ago

Hey everyone,

This is the issue I am having after resolving https://github.com/introlab/rtabmap_ros/issues/740

It seems that the node for rgbd_odometry and rtabmap aren't working correctly and get the following error when I launch rtabmap using the instructions here https://github.com/introlab/rtabmap_ros/tree/master/docker

On another note, I have experimented without using a container and get an error that the nodes are missing from the directory. I've checked my catkin workspace and verified that they exist in the directory.

I'm not too sure how to resolve this problem.

jetson@jetson-bot:~$ docker run -it --rm \
>   --privileged \
>   --env="DISPLAY=$DISPLAY" \
>   --env="QT_X11_NO_MITSHM=1" \
>   --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
>   --env="XAUTHORITY=$XAUTH" \
>   --volume="$XAUTH:$XAUTH" \
>   --runtime=nvidia \
>   --env ROS_MASTER_URI=http://localhost:11311 \
>   -v ~/.ros:/root  \
>   rtabmap_ros3d \
>   roslaunch rtabmap_ros rtabmap.launch database_path:=/root/rtabmap.db rtabmap_args:="--delete_db_on_start"
... logging to /root/.ros/log/983ce6be-bb6d-11ec-a04a-0242ac110002/roslaunch-c64a072178fd-1.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://c64a072178fd:38341/

SUMMARY
========

CLEAR PARAMETERS
 * /rtabmap/rgbd_odometry/
 * /rtabmap/rtabmap/
 * /rtabmap/rtabmapviz/

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.12
 * /rtabmap/rgbd_odometry/approx_sync: True
 * /rtabmap/rgbd_odometry/config_path: 
 * /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: 10
 * /rtabmap/rgbd_odometry/subscribe_rgbd: False
 * /rtabmap/rgbd_odometry/wait_for_transform_duration: 0.2
 * /rtabmap/rgbd_odometry/wait_imu_to_init: False
 * /rtabmap/rtabmap/Mem/IncrementalMemory: true
 * /rtabmap/rtabmap/Mem/InitWMWithAllNodes: false
 * /rtabmap/rtabmap/approx_sync: True
 * /rtabmap/rtabmap/config_path: 
 * /rtabmap/rtabmap/database_path: /root/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/landmark_angular_variance: 9999.0
 * /rtabmap/rtabmap/landmark_linear_variance: 0.0001. 
 * /rtabmap/rtabmap/map_frame_id: map
 * /rtabmap/rtabmap/odom_frame_id: 
 * /rtabmap/rtabmap/odom_frame_id_init: 
 * /rtabmap/rtabmap/odom_sensor_sync: False
 * /rtabmap/rtabmap/odom_tf_angular_variance: 0.001
 * /rtabmap/rtabmap/odom_tf_linear_variance: 0.001
 * /rtabmap/rtabmap/publish_tf: True
 * /rtabmap/rtabmap/queue_size: 10
 * /rtabmap/rtabmap/scan_cloud_max_points: 0
 * /rtabmap/rtabmap/subscribe_depth: 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/rtabmapviz/approx_sync: True
 * /rtabmap/rtabmapviz/frame_id: camera_link
 * /rtabmap/rtabmapviz/odom_frame_id: 
 * /rtabmap/rtabmapviz/queue_size: 10
 * /rtabmap/rtabmapviz/subscribe_depth: True
 * /rtabmap/rtabmapviz/subscribe_odom_info: True
 * /rtabmap/rtabmapviz/subscribe_rgb: True
 * /rtabmap/rtabmapviz/subscribe_rgbd: False
 * /rtabmap/rtabmapviz/subscribe_scan: False
 * /rtabmap/rtabmapviz/subscribe_scan_cloud: False
 * /rtabmap/rtabmapviz/subscribe_scan_descriptor: False
 * /rtabmap/rtabmapviz/subscribe_stereo: False
 * /rtabmap/rtabmapviz/wait_for_transform_duration: 0.2

NODES
  /rtabmap/
    rgbd_odometry (rtabmap_ros/rgbd_odometry)
    rtabmap (rtabmap_ros/rtabmap)
    rtabmapviz (rtabmap_ros/rtabmapviz)

auto-starting new master
process[master]: started with pid [40]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 983ce6be-bb6d-11ec-a04a-0242ac110002
process[rosout-1]: started with pid [53]
started core service [/rosout]
process[rtabmap/rgbd_odometry-2]: started with pid [65]
process[rtabmap/rtabmap-3]: started with pid [74]
process[rtabmap/rtabmapviz-4]: started with pid [75]
[ INFO] [1649884006.400195803]: Starting node...
[ INFO] [1649884006.654494157]: Starting node...
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
libEGL warning: DRI2: failed to authenticate
[ INFO] [1649884008.018468334]: Initializing nodelet with 4 worker threads.
[ INFO] [1649884008.022024674]: Initializing nodelet with 4 worker threads.
[ INFO] [1649884009.345742666]: Odometry: frame_id               = camera_link
[ INFO] [1649884009.347200099]: Odometry: odom_frame_id          = odom
[ INFO] [1649884009.347839542]: Odometry: publish_tf             = true
[ INFO] [1649884009.349158274]: Odometry: wait_for_transform     = true
[ INFO] [1649884009.350334345]: Odometry: wait_for_transform_duration  = 0.200000
[ INFO] [1649884009.351567345]: Odometry: initial_pose           = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000
[ INFO] [1649884009.352981704]: Odometry: ground_truth_frame_id  = 
[ INFO] [1649884009.353709900]: Odometry: ground_truth_base_frame_id = 
[ INFO] [1649884009.354763573]: Odometry: config_path            = 
[ INFO] [1649884009.355806255]: Odometry: publish_null_when_lost = true
[ INFO] [1649884009.355881986]: Odometry: guess_frame_id         = 
[ INFO] [1649884009.356743727]: Odometry: guess_min_translation  = 0.000000
[ INFO] [1649884009.356805239]: Odometry: guess_min_rotation     = 0.000000
[ INFO] [1649884009.356852063]: Odometry: guess_min_time         = 0.000000
[ INFO] [1649884009.356897742]: Odometry: expected_update_rate   = 0.000000 Hz
[ INFO] [1649884009.356941441]: Odometry: max_update_rate        = 0.000000 Hz
[ INFO] [1649884009.356983890]: Odometry: wait_imu_to_init       = false
[ INFO] [1649884009.357097122]: Odometry: stereoParams_=0 visParams_=1 icpParams_=0
[ INFO] [1649884009.357640729]: /rtabmap/rtabmap(maps): map_filter_radius          = 0.000000
[ INFO] [1649884009.357734065]: /rtabmap/rtabmap(maps): map_filter_angle           = 30.000000
[ INFO] [1649884009.357786775]: /rtabmap/rtabmap(maps): map_cleanup                = true
[ INFO] [1649884009.357832765]: /rtabmap/rtabmap(maps): map_always_update          = false
[ INFO] [1649884009.357875683]: /rtabmap/rtabmap(maps): map_empty_ray_tracing      = true
[ INFO] [1649884009.357927351]: /rtabmap/rtabmap(maps): cloud_output_voxelized     = true
[ INFO] [1649884009.357971311]: /rtabmap/rtabmap(maps): cloud_subtract_filtering   = false
[ INFO] [1649884009.358013916]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1649884009.360636795]: /rtabmap/rtabmap(maps): octomap_tree_depth         = 16
[ INFO] [1649884009.805549118]: rtabmapviz: Using configuration from "/root/.ros/rtabmap_gui.ini"
[ INFO] [1649884010.581307211]: rtabmap: frame_id      = camera_link
[ INFO] [1649884010.581956706]: rtabmap: map_frame_id  = map
[ INFO] [1649884010.582951107]: rtabmap: use_action_for_goal  = false
[ INFO] [1649884010.583950090]: rtabmap: tf_delay      = 0.050000
[ INFO] [1649884010.585015482]: rtabmap: tf_tolerance  = 0.100000
[ INFO] [1649884010.585092724]: rtabmap: odom_sensor_sync   = false
[ INFO] [1649884010.593337205]: rtabmap: gen_scan  = false
[ INFO] [1649884010.594876983]: rtabmap: gen_depth  = false
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
[ INFO] [1649884013.611372921]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1649884013.615626571]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[ INFO] [1649884016.459425074]: RGBDOdometry: approx_sync    = true
[ INFO] [1649884016.461320696]: RGBDOdometry: queue_size     = 10
[ INFO] [1649884016.461428563]: RGBDOdometry: subscribe_rgbd = false
[ INFO] [1649884016.461487471]: RGBDOdometry: rgbd_cameras   = 1
[ INFO] [1649884016.461541587]: RGBDOdometry: keep_color     = false
[ INFO] [1649884016.863412704]: 
/rtabmap/rgbd_odometry subscribed to (approx sync):
   /camera/rgb/image_rect_color \
   /camera/depth_registered/image_raw \
   /camera/rgb/camera_info
[rtabmap/rtabmapviz-4] process has died [pid 75, exit code -11, cmd /opt/ros/melodic/lib/rtabmap_ros/rtabmapviz -d ~/.ros/rtabmap_gui.ini rgb/image:=/camera/rgb/image_rect_color depth/image:=/camera/depth_registered/image_raw rgb/camera_info:=/camera/rgb/camera_info rgbd_image:=rgbd_image_relay left/image_rect:=/stereo_camera/left/image_rect_color right/image_rect:=/stereo_camera/right/image_rect left/camera_info:=/stereo_camera/left/camera_info right/camera_info:=/stereo_camera/right/camera_info scan:=/scan scan_cloud:=/scan_cloud scan_descriptor:=/scan_descriptor odom:=odom __name:=rtabmapviz __log:=/root/.ros/log/983ce6be-bb6d-11ec-a04a-0242ac110002/rtabmap-rtabmapviz-4.log].
log file: /root/.ros/log/983ce6be-bb6d-11ec-a04a-0242ac110002/rtabmap-rtabmapviz-4*.log
[ INFO] [1649884018.231924522]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1649884018.242862040]: rtabmap: Deleted database "/root/rtabmap.db" (--delete_db_on_start or -d are set).
[ INFO] [1649884018.243042200]: rtabmap: Using database from "/root/rtabmap.db" (0 MB).
[ INFO] [1649884018.929466080]: rtabmap: Database version = "0.20.16".
[ INFO] [1649884018.929587333]: rtabmap: SLAM mode (Mem/IncrementalMemory=true)
[ INFO] [1649884019.101420822]: /rtabmap/rtabmap: subscribe_depth = true
[ INFO] [1649884019.101544835]: /rtabmap/rtabmap: subscribe_rgb = true
[ INFO] [1649884019.101606035]: /rtabmap/rtabmap: subscribe_stereo = false
[ INFO] [1649884019.101677339]: /rtabmap/rtabmap: subscribe_rgbd = false (rgbd_cameras=1)
[ INFO] [1649884019.101745309]: /rtabmap/rtabmap: subscribe_odom_info = true
[ INFO] [1649884019.101809269]: /rtabmap/rtabmap: subscribe_user_data = false
[ INFO] [1649884019.101877865]: /rtabmap/rtabmap: subscribe_scan = false
[ INFO] [1649884019.101939272]: /rtabmap/rtabmap: subscribe_scan_cloud = false
[ INFO] [1649884019.101999066]: /rtabmap/rtabmap: subscribe_scan_descriptor = false
[ INFO] [1649884019.102056098]: /rtabmap/rtabmap: queue_size    = 10
[ INFO] [1649884019.102111985]: /rtabmap/rtabmap: approx_sync   = true
[ INFO] [1649884019.102448921]: Setup depth callback
[ INFO] [1649884019.211898634]: 
/rtabmap/rtabmap subscribed to (approx sync):
   /rtabmap/odom \
   /camera/rgb/image_rect_color \
   /camera/depth_registered/image_raw \
   /camera/rgb/camera_info \
   /rtabmap/odom_info
[ INFO] [1649884020.290905942]: rtabmap 0.20.16 started...
[ WARN] [1649884021.865383462]: /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/rgb/image_rect_color \
   /camera/depth_registered/image_raw \
   /camera/rgb/camera_info
[ WARN] [1649884024.212076148]: /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):
   /rtabmap/odom \
   /camera/rgb/image_rect_color \
   /camera/depth_registered/image_raw \
   /camera/rgb/camera_info \
   /rtabmap/odom_info
matlabbe commented 2 years ago

For the missing nodes, did you sourced ~/catkin_ws/devel/setup.bash? You can verify your ROS_PACKAGE_PATH env variable.

For those warnings, it means that rtabmap is not receiving one or all topics. Verify if those topics are published:

rostopic hz    /camera/rgb/image_rect_color \
   /camera/depth_registered/image_raw \
   /camera/rgb/camera_info