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Official ROS Driver for DepthAI Sensors.
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Unable to create 3D map with OAK-D #128

Open Adarsh-S-Bharadwaj opened 1 year ago

Adarsh-S-Bharadwaj commented 1 year ago

I am using ROS1 Ubuntu 18.04 ROS Melodic. Unable to create a 3D map with OAK D when launched with Rtabmap with all the arguments as mentioned in Rtabmap stereo handheld mapping, I am using MPU9150 imu. I am also having a transform link between oak_d-frame and base_footprint. I am using stereo_inertial_node.launch file of depthai-ros package for launching OAK D camera. Any help or solution regarding this problem is appreciated.

WhatsApp Image 2022-08-10 at 4 37 37 PM (1)

WhatsApp Image 2022-08-10 at 4 37 37 PM

Thank you

saching13 commented 1 year ago

Let me know if this helps.

Adarsh-S-Bharadwaj commented 1 year ago

Thank you for your response @saching13 but that is not working for me. I am using the same updated bringup and rtabmap launch for OAK-D stereo mapping which is mentioned on this website. http://wiki.ros.org/rtabmap_ros/Tutorials/StereoHandHeldMapping I tried two OAK-D cameras separately, one with IMU and one without IMU but still, it gives the same error in both cameras.

saching13 commented 1 year ago

Thanks. Will check on our side and get back to you.

Adarsh-S-Bharadwaj commented 1 year ago

Thank you

saching13 commented 1 year ago

Sorry was not able to get it to working. looks like there are internal issues on Rtabmap. Need more time to debug. I would be addressing adding other SLAM and VIO examples first and get back to this.

Adarsh-S-Bharadwaj commented 1 year ago

Sure. Thank you.

matlabbe commented 1 year ago

Tried example from http://wiki.ros.org/rtabmap_ros/Tutorials/StereoHandHeldMapping with my OAK-D, and worked with latest rtabmap_ros version and also the ros-noetic-rtabmap-ros binaries on noetic. I tested with ros-noetic-depthai-ros binaries.

If it still don't work, things to check, after doing:

roslaunch depthai_examples stereo_inertial_node.launch depth_aligned:=false

rosrun imu_filter_madgwick imu_filter_node    \
   imu/data_raw:=/stereo_inertial_publisher/imu    \
   imu/data:=/stereo_inertial_publisher/imu/data     \
   _use_mag:=false    \
   _publish_tf:=false

do:

rostopic hz /stereo_inertial_publisher/left/image_rect \
   /stereo_inertial_publisher/right/image_rect \
   /stereo_inertial_publisher/left/camera_info \
   /stereo_inertial_publisher/right/camera_info \
   /stereo_inertial_publisher/imu/data

subscribed to [/stereo_inertial_publisher/left/image_rect]
subscribed to [/stereo_inertial_publisher/right/image_rect]
subscribed to [/stereo_inertial_publisher/left/camera_info]
subscribed to [/stereo_inertial_publisher/right/camera_info]
subscribed to [/stereo_inertial_publisher/imu/data]
                   topic                        rate   min_delta   max_delta   std_dev    window
================================================================================================
/stereo_inertial_publisher/left/image_rect     15.02   0.06438     0.06924     0.001187   14    
/stereo_inertial_publisher/right/image_rect    14.95   0.06405     0.0708      0.002087   14    
/stereo_inertial_publisher/left/camera_info    15.01   0.06357     0.06982     0.001641   15    
/stereo_inertial_publisher/right/camera_info   14.98   0.06309     0.0711      0.002237   15    
/stereo_inertial_publisher/imu/data            389.0   3.338e-06   0.0299      0.005644   14

Make sure topics are published! and with a decent rate... though not sure why it is 15 Hz on my computer right now, but it still work.

saching13 commented 1 year ago

Thanks @matlabbe

ParsaKhaledi commented 1 year ago

After the latest update published 3 days ago I still have ["oak_imu_frame" doesn't exist ] problem with Rtabmap. I have OAK-D-Pro and used launch file configuration mentioned above with ros2. Also, there is no data on /tf topic. @matlabbe

ros2 run imu_filter_madgwick imu_filter_madgwick_node \
   --ros-args \
   -p use_mag:=false \
   -p publish_tf:=false \
   -p world_frame:="enu" \
   -r /imu/data_raw:=/imu \
   -r /imu/data:=/rtabmap/imu
ros2 launch rtabmap_ros  \
    args:="--delete_db_on_start" \
    stereo:=true \
    left_image_topic:=/left/image_rect \
    right_image_topic:=/right/image_rect \
    left_camera_info_topic:=/left/camera_info \
    right_camera_info_topic:=/right/camera_info \
    imu_topic:=/rtabmap/imu \
    frame_id:=oak-d_frame \
    approx_sync:=true \
    approx_sync_max_interval:=0.001 \
    wait_imu_to_init:=true \
    qos:=1

Terminal Output:

~/ros2_ws$ ros2 launch rtabmap_ros rtabmap.launch.py     args:="--delete_db_on_start"     stereo:=true     left_image_topic:=/left/image_rect     right_image_topic:=/right/image_rect     left_camera_info_topic:=/left/camera_info     right_camera_info_topic:=/right/camera_info     imu_topic:=/rtabmap/imu     frame_id:=oak-d-base-frame     approx_sync:=true     approx_sync_max_interval:=0.001     wait_imu_to_init:=true     qos:=1
[INFO] [launch]: All log files can be found below /home/droneai/.ros/log/2022-10-04-13-58-13-626687-asus-13024
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [stereo_odometry-1]: process started with pid [13026]
[INFO] [rtabmap-2]: process started with pid [13028]
[INFO] [rtabmapviz-3]: process started with pid [13030]
[stereo_odometry-1] [INFO] [1664879293.885076717] [rtabmap.stereo_odometry]: Odometry: frame_id               = oak-d-base-frame
[stereo_odometry-1] [INFO] [1664879293.885194067] [rtabmap.stereo_odometry]: Odometry: odom_frame_id          = odom
[stereo_odometry-1] [INFO] [1664879293.885201672] [rtabmap.stereo_odometry]: Odometry: publish_tf             = true
[stereo_odometry-1] [INFO] [1664879293.885207106] [rtabmap.stereo_odometry]: Odometry: wait_for_transform     = 0.200000
[stereo_odometry-1] [INFO] [1664879293.885235770] [rtabmap.stereo_odometry]: Odometry: initial_pose           = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000
[stereo_odometry-1] [INFO] [1664879293.885244131] [rtabmap.stereo_odometry]: Odometry: ground_truth_frame_id  = 
[stereo_odometry-1] [INFO] [1664879293.885249428] [rtabmap.stereo_odometry]: Odometry: ground_truth_base_frame_id = 
[stereo_odometry-1] [INFO] [1664879293.885254742] [rtabmap.stereo_odometry]: Odometry: config_path            = 
[stereo_odometry-1] [INFO] [1664879293.885259748] [rtabmap.stereo_odometry]: Odometry: publish_null_when_lost = true
[stereo_odometry-1] [INFO] [1664879293.885265408] [rtabmap.stereo_odometry]: Odometry: guess_frame_id         = 
[stereo_odometry-1] [INFO] [1664879293.885270662] [rtabmap.stereo_odometry]: Odometry: guess_min_translation  = 0.000000
[stereo_odometry-1] [INFO] [1664879293.885276711] [rtabmap.stereo_odometry]: Odometry: guess_min_rotation     = 0.000000
[stereo_odometry-1] [INFO] [1664879293.885282624] [rtabmap.stereo_odometry]: Odometry: guess_min_time         = 0.000000
[stereo_odometry-1] [INFO] [1664879293.885288358] [rtabmap.stereo_odometry]: Odometry: expected_update_rate   = 0.000000 Hz
[stereo_odometry-1] [INFO] [1664879293.885293994] [rtabmap.stereo_odometry]: Odometry: max_update_rate        = 0.000000 Hz
[stereo_odometry-1] [INFO] [1664879293.885299670] [rtabmap.stereo_odometry]: Odometry: wait_imu_to_init       = true
[stereo_odometry-1] [INFO] [1664879293.885362525] [rtabmap.stereo_odometry]: Odometry: stereoParams_=1 visParams_=1 icpParams_=0
[stereo_odometry-1] [INFO] [1664879293.937196272] [rtabmap.stereo_odometry]: odometry: Subscribing to IMU topic /rtabmap/imu
[stereo_odometry-1] [INFO] [1664879293.937228380] [rtabmap.stereo_odometry]: odometry: qos_imu = 1
[stereo_odometry-1] [INFO] [1664879293.937541830] [rtabmap.stereo_odometry]: StereoOdometry: approx_sync = true
[stereo_odometry-1] [INFO] [1664879293.937552094] [rtabmap.stereo_odometry]: StereoOdometry: approx_sync_max_interval = 0.001000
[stereo_odometry-1] [INFO] [1664879293.937561837] [rtabmap.stereo_odometry]: StereoOdometry: queue_size  = 10
[stereo_odometry-1] [INFO] [1664879293.937567412] [rtabmap.stereo_odometry]: RGBDOdometry: qos            = 1
[stereo_odometry-1] [INFO] [1664879293.937572840] [rtabmap.stereo_odometry]: RGBDOdometry: qos_camera_info = 1
[stereo_odometry-1] [INFO] [1664879293.937578047] [rtabmap.stereo_odometry]: StereoOdometry: subscribe_rgbd = false
[stereo_odometry-1] [INFO] [1664879293.937583320] [rtabmap.stereo_odometry]: StereoOdometry: keep_color     = false
[rtabmap-2] [INFO] [1664879293.941477349] [rtabmap.rtabmap]: rtabmap(maps): map_filter_radius          = 0.000000
[rtabmap-2] [INFO] [1664879293.941625047] [rtabmap.rtabmap]: rtabmap(maps): map_filter_angle           = 30.000000
[rtabmap-2] [INFO] [1664879293.941635578] [rtabmap.rtabmap]: rtabmap(maps): map_cleanup                = true
[rtabmap-2] [INFO] [1664879293.941641730] [rtabmap.rtabmap]: rtabmap(maps): map_always_update          = false
[rtabmap-2] [INFO] [1664879293.941646570] [rtabmap.rtabmap]: rtabmap(maps): map_empty_ray_tracing      = true
[rtabmap-2] [INFO] [1664879293.941651735] [rtabmap.rtabmap]: rtabmap(maps): cloud_output_voxelized     = true
[rtabmap-2] [INFO] [1664879293.941656551] [rtabmap.rtabmap]: rtabmap(maps): cloud_subtract_filtering   = false
[rtabmap-2] [INFO] [1664879293.941661537] [rtabmap.rtabmap]: rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[rtabmap-2] [INFO] [1664879293.941679390] [rtabmap.rtabmap]: rtabmap(maps): octomap_tree_depth         = 16
[stereo_odometry-1] [INFO] [1664879293.943443322] [rtabmap.stereo_odometry]: 
[stereo_odometry-1] stereo_odometry subscribed to (approx sync, max interval=0.001000s):
[stereo_odometry-1]    /left/image_rect \
[stereo_odometry-1]    /right/image_rect \
[stereo_odometry-1]    left/camera_info \
[stereo_odometry-1]    right/camera_info
[rtabmap-2] [INFO] [1664879293.961076189] [rtabmap.rtabmap]: rtabmap: frame_id      = oak-d-base-frame
[rtabmap-2] [INFO] [1664879293.961105877] [rtabmap.rtabmap]: rtabmap: map_frame_id  = map
[rtabmap-2] [INFO] [1664879293.961111742] [rtabmap.rtabmap]: rtabmap: use_action_for_goal  = false
[rtabmap-2] [INFO] [1664879293.961117417] [rtabmap.rtabmap]: rtabmap: tf_delay      = 0.050000
[rtabmap-2] [INFO] [1664879293.961128813] [rtabmap.rtabmap]: rtabmap: tf_tolerance  = 0.100000
[rtabmap-2] [INFO] [1664879293.961134541] [rtabmap.rtabmap]: rtabmap: odom_sensor_sync   = false
[rtabmap-2] [INFO] [1664879293.961140546] [rtabmap.rtabmap]: rtabmap: stereo_to_depth = false
[rtabmap-2] [INFO] [1664879293.961145390] [rtabmap.rtabmap]: rtabmap: gen_scan  = false
[rtabmap-2] [INFO] [1664879293.961150275] [rtabmap.rtabmap]: rtabmap: gen_depth  = false
[stereo_odometry-1] Warning: Invalid frame ID "oak_imu_frame" passed to canTransform argument source_frame - frame does not exist
[stereo_odometry-1]          at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
[rtabmapviz-3] [INFO] [1664879294.010665668] [rtabmap.rtabmapviz]: rtabmapviz: Using configuration from "/home/droneai/.ros/rtabmapGUI.ini"
[stereo_odometry-1] Warning: Invalid frame ID "oak_imu_frame" passed to canTransform argument source_frame - frame does not exist
[stereo_odometry-1]          at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
[stereo_odometry-1] Warning: Invalid frame ID "oak_imu_frame" passed to canTransform argument source_frame - frame does not exist
[stereo_odometry-1]          at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
[stereo_odometry-1] Warning: Invalid frame ID "oak_imu_frame" passed to canTransform argument source_frame - frame does not exist
[stereo_odometry-1]          at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
[stereo_odometry-1] Warning: Invalid frame ID "oak_imu_frame" passed to canTransform argument source_frame - frame does not exist
[stereo_odometry-1]          at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
[stereo_odometry-1] Warning: Invalid frame ID "oak_imu_frame" passed to canTransform argument source_frame - frame does not exist
[stereo_odometry-1]          at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
[stereo_odometry-1] Warning: Invalid frame ID "oak_imu_frame" passed to canTransform argument source_frame - frame does not exist
[stereo_odometry-1]          at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
[stereo_odometry-1] Warning: Invalid frame ID "oak_imu_frame" passed to canTransform argument source_frame - frame does not exist
[stereo_odometry-1]          at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
[stereo_odometry-1] Warning: Invalid frame ID "oak_imu_frame" passed to canTransform argument source_frame - frame does not exist
[stereo_odometry-1]          at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
[rtabmap-2] [INFO] [1664879294.087304821] [rtabmap.rtabmap]: RTAB-Map detection rate = 1.000000 Hz
[rtabmap-2] [INFO] [1664879294.087456582] [rtabmap.rtabmap]: rtabmap: Deleted database "/home/droneai/.ros/rtabmap.db" (--delete_db_on_start or -d are set).
[rtabmap-2] [INFO] [1664879294.087472717] [rtabmap.rtabmap]: rtabmap: Using database from "/home/droneai/.ros/rtabmap.db" (0 MB).
[stereo_odometry-1] Warning: Invalid frame ID "oak_imu_frame" passed to canTransform argument source_frame - frame does not exist
[stereo_odometry-1]          at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
[stereo_odometry-1] Warning: Invalid frame ID "oak_imu_frame" passed to canTransform argument source_frame - frame does not exist
[stereo_odometry-1]          at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
[stereo_odometry-1] Warning: Invalid frame ID "oak_imu_frame" passed to canTransform argument source_frame - frame does not exist
[stereo_odometry-1]          at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
[stereo_odometry-1] Warning: Invalid frame ID "oak_imu_frame" passed to canTransform argument source_frame - frame does not exist
[stereo_odometry-1]          at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
[stereo_odometry-1] Warning: Invalid frame ID "oak_imu_frame" passed to canTransform argument source_frame - frame does not exist
[stereo_odometry-1]          at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
[stereo_odometry-1] Warning: Invalid frame ID "oak_imu_frame" passed to canTransform argument source_frame - frame does not exist
[stereo_odometry-1]          at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
[rtabmap-2] [INFO] [1664879294.144278104] [rtabmap.rtabmap]: rtabmap: Database version = "0.20.21".
matlabbe commented 1 year ago

I guess you are referring to this example: https://github.com/introlab/rtabmap/issues/742#issuecomment-1259965385

Got an issue (not the one you have) explained in the following post but it is now fixed in latest master branch rtabmap_ros 0.20.20 (will soon be released as binaries). Overall, I didn't see your issue. Can you tell us the exact version of depthai-ros used?

ParsaKhaledi commented 1 year ago

I'm using the latest version of depthai-ros and i have just reinstalled pkg to ensure that the latest version was installed. The problem is when I'm using the configuration i wrote in later comment, Rtabmap starts but not initiated. The warnings printed on my terminal and i mentioned above are the same when there is a problem with frame or topic mapping in launch files. These are the only warnings i've got and i think the problem came from here:

Invalid frame ID "oak_imu_frame" passed to canTransform argument source_frame - frame does not exist
[stereo_odometry-1]          at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
[rtabmap-2] [INFO] [1664879294.144278104] [rtabmap.rtabmap]: rtabmap: Database version = "0.20.21".

I get the tf child and parent relations with the example of ROS2 and there was no IMU frame there either. Is there anything i do wrong or misunderstood about running Ratbmap with ROS2 and depthai-ros ?

matlabbe commented 1 year ago

You could launch with wait_imu_to_init:=false to ignore imu. I don't have an Oak-D Pro, but if there is an imu topic, maybe the corresponding TF is not correctly published by depthai node. What is the TF tree?

ros2 run tf2_tools view_frames

Here is mine with normal Oak-D: Screenshot from 2022-10-05 11-56-40

ParsaKhaledi commented 1 year ago

Actually, I believe this is the problem. I don't have oak_imu_frame. I also think this is why I cannot run Rtabmap. Also, I asked a friend to test OAK-D-S2; the result was the same as the picture below. I have data on /imu but there is no _imu_frame. Screenshot from 2022-10-06 21-54-46

And thanks for your reply.

ParsaKhaledi commented 1 year ago

Update: I use camera_model:=OAK-D instead of camera_model:=OAK-D-PRO and then I have oak_imu_frame. ros2 launch depthai_examples stereo_inertial_node.launch.py camera_model:=OAK-D. I used the main, 2.5.2, and 2.5.3 branches of depthai-ros

Screenshot from 2022-10-06 22-23-07

an99990 commented 1 year ago

I am still having some issues in ros1 with the oak-d camera. This happened after i decided to build rtabmap with DEPTHAI_CORE=ON, i also have two opencv version 4.0 and 3.4.9. I had to install 4.0 becaue depth core ai needed it. is the issue related to the opencv versions ? ros : melodic please help @matlabbe 

roslaunch rtabmap_ros rtabmap.launch args:="--delete_db_on_start" \
> rgb_topic:=/stereo_inertial_publisher/color/image \
> camera_info_topic:=/stereo_inertial_publisher/color/camera_info \
> depth_topic:=/stereo_inertial_publisher/stereo/depth \
> imu_topic:=/stereo_inertial_publisher/imu \
> frame_id:=oak-d_frame \
> approx_sync:=true \
> approx_sync_max_interval:=0.001 \
> wait_imu_to_init:=true

... logging to /home/ubuntu/.ros/log/d8584b62-48e9-11ed-a7ff-bf1d1f317710/roslaunch-ubuntu-3271.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://192.168.1.154:33355/

SUMMARY
========

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

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.13
 * /rtabmap/rgbd_odometry/approx_sync: True
 * /rtabmap/rgbd_odometry/approx_sync_max_interval: 0.001
 * /rtabmap/rgbd_odometry/config_path: 
 * /rtabmap/rgbd_odometry/expected_update_rate: 0.0
 * /rtabmap/rgbd_odometry/frame_id: oak-d_frame
 * /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: True
 * /rtabmap/rtabmap/Mem/IncrementalMemory: true
 * /rtabmap/rtabmap/Mem/InitWMWithAllNodes: false
 * /rtabmap/rtabmap/approx_sync: True
 * /rtabmap/rtabmap/config_path: 
 * /rtabmap/rtabmap/database_path: ~/.ros/rtabmap.db
 * /rtabmap/rtabmap/frame_id: oak-d_frame
 * /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: oak-d_frame
 * /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)

ROS_MASTER_URI=http://192.168.1.154:11311

process[rtabmap/rgbd_odometry-1]: started with pid [3287]
process[rtabmap/rtabmap-2]: started with pid [3288]
process[rtabmap/rtabmapviz-3]: started with pid [3289]
[ INFO] [1665440550.962715920]: Starting node...
[ INFO] [1665440551.022443516]: Initializing nodelet with 4 worker threads.
[ INFO] [1665440551.286785917]: Initializing nodelet with 4 worker threads.
[ INFO] [1665440551.525815216]: Odometry: frame_id               = oak-d_frame
[ INFO] [1665440551.526057612]: Odometry: odom_frame_id          = odom
[ INFO] [1665440551.526202369]: Odometry: publish_tf             = true
[ INFO] [1665440551.526310385]: Odometry: wait_for_transform     = true
[ INFO] [1665440551.526419753]: Odometry: wait_for_transform_duration  = 0.200000
[ INFO] [1665440551.526664447]: Odometry: initial_pose           = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000
[ INFO] [1665440551.526806146]: Odometry: ground_truth_frame_id  = 
[ INFO] [1665440551.526919035]: Odometry: ground_truth_base_frame_id = 
[ INFO] [1665440551.526998815]: Odometry: config_path            = 
[ INFO] [1665440551.527105812]: Odometry: publish_null_when_lost = true
[ INFO] [1665440551.527191261]: Odometry: guess_frame_id         = 
[ INFO] [1665440551.527285770]: Odometry: guess_min_translation  = 0.000000
[ INFO] [1665440551.527414222]: Odometry: guess_min_rotation     = 0.000000
[ INFO] [1665440551.527520589]: Odometry: guess_min_time         = 0.000000
[ INFO] [1665440551.527618804]: Odometry: expected_update_rate   = 0.000000 Hz
[ INFO] [1665440551.527706588]: Odometry: max_update_rate        = 0.000000 Hz
[ INFO] [1665440551.527812047]: Odometry: wait_imu_to_init       = true
[ INFO] [1665440551.527977258]: Odometry: stereoParams_=0 visParams_=1 icpParams_=0
[ INFO] [1665440551.750051312]: Starting node...
libEGL warning: DRI2: failed to authenticate
[ INFO] [1665440552.330830975]: /rtabmap/rtabmap(maps): map_filter_radius          = 0.000000
[ INFO] [1665440552.331943525]: /rtabmap/rtabmap(maps): map_filter_angle           = 30.000000
[ INFO] [1665440552.332767807]: /rtabmap/rtabmap(maps): map_cleanup                = true
[ INFO] [1665440552.333706199]: /rtabmap/rtabmap(maps): map_always_update          = false
[ INFO] [1665440552.334363884]: /rtabmap/rtabmap(maps): map_empty_ray_tracing      = true
[ INFO] [1665440552.334853099]: /rtabmap/rtabmap(maps): cloud_output_voxelized     = true
[ INFO] [1665440552.335283878]: /rtabmap/rtabmap(maps): cloud_subtract_filtering   = false
[ INFO] [1665440552.335678808]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1665440552.662171186]: rtabmap: frame_id      = oak-d_frame
[ INFO] [1665440552.662400777]: rtabmap: map_frame_id  = map
[ INFO] [1665440552.664508801]: rtabmap: use_action_for_goal  = false
[ INFO] [1665440552.666329893]: rtabmap: tf_delay      = 0.050000
[ INFO] [1665440552.669632932]: rtabmap: tf_tolerance  = 0.100000
[ INFO] [1665440552.671023892]: rtabmap: odom_sensor_sync   = false
[ INFO] [1665440552.679360334]: rtabmap: gen_scan  = false
[ INFO] [1665440552.679728510]: rtabmap: gen_depth  = false
[ INFO] [1665440553.240082000]: rtabmapviz: Using configuration from "/home/ubuntu/.ros/rtabmap_gui.ini"
[ INFO] [1665440554.479714673]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1665440554.483003418]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
[ INFO] [1665440555.961264972]: odometry: Subscribing to IMU topic /stereo_inertial_publisher/imu
[ INFO] [1665440556.024469508]: RGBDOdometry: approx_sync    = true
[ INFO] [1665440556.024677505]: RGBDOdometry: approx_sync_max_interval = 0.001000
[ INFO] [1665440556.025314741]: RGBDOdometry: queue_size     = 10
[ INFO] [1665440556.025997236]: RGBDOdometry: subscribe_rgbd = false
[ INFO] [1665440556.026490225]: RGBDOdometry: rgbd_cameras   = 1
[ INFO] [1665440556.026895084]: RGBDOdometry: keep_color     = false
[ INFO] [1665440556.165364522]: 
/rtabmap/rgbd_odometry subscribed to (approx sync, max interval=0.001000s):
   /stereo_inertial_publisher/color/image \
   /stereo_inertial_publisher/stereo/depth \
   /stereo_inertial_publisher/color/camera_info
[ INFO] [1665440557.401614014]: rtabmapviz: Reading parameters from the ROS server...
[ INFO] [1665440557.405905006]: rtabmapviz: Cannot get rtabmap's parameters, waiting max 5 seconds in case the node has just been launched.
[ERROR] [1665440557.513437536]: Overwriting previous data! Make sure IMU is published faster than data rate. (last image stamp buffered=1665440555.854913 and new one is 1665440556.054833, last imu stamp received=1665440555.195768)
[ERROR] [1665440557.604228812]: Overwriting previous data! Make sure IMU is published faster than data rate. (last image stamp buffered=1665440556.054833 and new one is 1665440556.121438, last imu stamp received=1665440555.251172)
[ERROR] [1665440557.790638673]: Overwriting previous data! Make sure IMU is published faster than data rate. (last image stamp buffered=1665440556.121438 and new one is 1665440556.321357, last imu stamp received=1665440555.391233)
[ERROR] [1665440557.896704555]: Overwriting previous data! Make sure IMU is published faster than data rate. (last image stamp buffered=1665440556.321357 and new one is 1665440556.454618, last imu stamp received=1665440555.566531)
[ERROR] [1665440558.050272526]: Overwriting previous data! Make sure IMU is published faster than data rate. (last image stamp buffered=1665440556.454618 and new one is 1665440556.587881, last imu stamp received=1665440555.752129)
[ERROR] [1665440558.103347188]: Overwriting previous data! Make sure IMU is published faster than data rate. (last image stamp buffered=1665440556.587881 and new one is 1665440556.721142, last imu stamp received=1665440555.846802)
[ERROR] [1665440558.200140474]: Overwriting previous data! Make sure IMU is published faster than data rate. (last image stamp buffered=1665440556.721142 and new one is 1665440556.787751, last imu stamp received=1665440555.902015)
[ERROR] [1665440558.280270704]: Overwriting previous data! Make sure IMU is published faster than data rate. (last image stamp buffered=1665440556.787751 and new one is 1665440556.920994, last imu stamp received=1665440555.949122)
[ERROR] [1665440558.559173389]: Overwriting previous data! Make sure IMU is published faster than data rate. (last image stamp buffered=1665440556.920994 and new one is 1665440557.187518, last imu stamp received=1665440556.272772)
[ INFO] [1665440558.569212295]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1665440558.572651264]: rtabmap: Deleted database "/home/ubuntu/.ros/rtabmap.db" (--delete_db_on_start or -d are set).
[ INFO] [1665440558.573409628]: rtabmap: Using database from "/home/ubuntu/.ros/rtabmap.db" (0 MB).
[ERROR] [1665440558.661990990]: Overwriting previous data! Make sure IMU is published faster than data rate. (last image stamp buffered=1665440557.187518 and new one is 1665440557.254175, last imu stamp received=1665440556.408976)
[ERROR] [1665440558.745007558]: Overwriting previous data! Make sure IMU is published faster than data rate. (last image stamp buffered=1665440557.254175 and new one is 1665440557.387439, last imu stamp received=1665440556.459840)
[ERROR] [1665440558.963828201]: Overwriting previous data! Make sure IMU is published faster than data rate. (last image stamp buffered=1665440557.387439 and new one is 1665440557.587303, last imu stamp received=1665440556.791345)
[ERROR] [1665440559.061845932]: Overwriting previous data! Make sure IMU is published faster than data rate. (last image stamp buffered=1665440557.587303 and new one is 1665440557.653961, last imu stamp received=1665440556.842659)
[ INFO] [1665440559.079750542]: rtabmap: Database version = "0.20.21".
[ INFO] [1665440559.079922276]: rtabmap: SLAM mode (Mem/IncrementalMemory=true)
[ERROR] [1665440559.234142642]: Overwriting previous data! Make sure IMU is published faster than data rate. (last image stamp buffered=1665440557.653961 and new one is 1665440557.853844, last imu stamp received=1665440557.065539)
[ INFO] [1665440559.307269252]: /rtabmap/rtabmap: subscribe_depth = true
[ INFO] [1665440559.307526390]: /rtabmap/rtabmap: subscribe_rgb = true
[ INFO] [1665440559.307626838]: /rtabmap/rtabmap: subscribe_stereo = false
[ INFO] [1665440559.307713409]: /rtabmap/rtabmap: subscribe_rgbd = false (rgbd_cameras=1)
[ INFO] [1665440559.307823026]: /rtabmap/rtabmap: subscribe_odom_info = true
[ INFO] [1665440559.307907819]: /rtabmap/rtabmap: subscribe_user_data = false
[ INFO] [1665440559.307987702]: /rtabmap/rtabmap: subscribe_scan = false
[ INFO] [1665440559.308072088]: /rtabmap/rtabmap: subscribe_scan_cloud = false
[ INFO] [1665440559.308147321]: /rtabmap/rtabmap: subscribe_scan_descriptor = false
[ INFO] [1665440559.308240080]: /rtabmap/rtabmap: queue_size    = 10
[ INFO] [1665440559.308324687]: /rtabmap/rtabmap: approx_sync   = true
[ INFO] [1665440559.308761063]: Setup depth callback
[ERROR] [1665440559.438515265]: Overwriting previous data! Make sure IMU is published faster than data rate. (last image stamp buffered=1665440557.853844 and new one is 1665440557.987097, last imu stamp received=1665440557.306073)
[ INFO] [1665440559.478649545]: 
/rtabmap/rtabmap subscribed to (approx sync):
   /rtabmap/odom \
   /stereo_inertial_publisher/color/image \
   /stereo_inertial_publisher/stereo/depth \
   /stereo_inertial_publisher/color/camera_info \
   /rtabmap/odom_info
[ERROR] [1665440559.613444367]: Overwriting previous data! Make sure IMU is published faster than data rate. (last image stamp buffered=1665440557.987097 and new one is 1665440558.253607, last imu stamp received=1665440557.558669)
[ERROR] [1665440559.926143022]: Overwriting previous data! Make sure IMU is published faster than data rate. (last image stamp buffered=1665440558.253607 and new one is 1665440558.453525, last imu stamp received=1665440557.678922)
[ERROR] [1665440559.983743739]: Overwriting previous data! Make sure IMU is published faster than data rate. (last image stamp buffered=1665440558.453525 and new one is 1665440558.520129, last imu stamp received=1665440557.795286)
[ERROR] [1665440560.114339660]: Overwriting previous data! Make sure IMU is published faster than data rate. (last image stamp buffered=1665440558.520129 and new one is 1665440558.720049, last imu stamp received=1665440557.984522)
[ERROR] [1665440560.321532368]: Overwriting previous data! Make sure IMU is published faster than data rate. (last image stamp buffered=1665440558.720049 and new one is 1665440558.919915, last imu stamp received=1665440558.130447)
[ERROR] [1665440560.411310350]: Overwriting previous data! Make sure IMU is published faster than data rate. (last image stamp buffered=1665440558.919915 and new one is 1665440559.053177, last imu stamp received=1665440558.227239)
[ERROR] [1665440560.471533018]: Overwriting previous data! Make sure IMU is published faster than data rate. (last image stamp buffered=1665440559.053177 and new one is 1665440559.119834, last imu stamp received=1665440558.376880)
[ERROR] [1665440560.671133119]: Overwriting previous data! Make sure IMU is published faster than data rate. (last image stamp buffered=1665440559.119834 and new one is 1665440559.253098, last imu stamp received=1665440558.615530)
[ERROR] [1665440560.733913290]: Overwriting previous data! Make sure IMU is published faster than data rate. (last image stamp buffered=1665440559.253098 and new one is 1665440559.319701, last imu stamp received=1665440558.712334)
[ERROR] [1665440560.840897965]: Overwriting previous data! Make sure IMU is published faster than data rate. (last image stamp buffered=1665440559.319701 and new one is 1665440559.446397, last imu stamp received=1665440558.915528)
[ERROR] [1665440560.895689118]: Overwriting previous data! Make sure IMU is published faster than data rate. (last image stamp buffered=1665440559.446397 and new one is 1665440559.513054, last imu stamp received=1665440559.013941)
[ERROR] [1665440561.100798583]: Overwriting previous data! Make sure IMU is published faster than data rate. (last image stamp buffered=1665440559.513054 and new one is 1665440559.646316, last imu stamp received=1665440559.369120)
[ERROR] [1665440561.143372202]: Overwriting previous data! Make sure IMU is published faster than data rate. (last image stamp buffered=1665440559.646316 and new one is 1665440559.779593, last imu stamp received=1665440559.411828)
[ERROR] [1665440561.263514534]: Overwriting previous data! Make sure IMU is published faster than data rate. (last image stamp buffered=1665440559.779593 and new one is 1665440559.846198, last imu stamp received=1665440559.555639)
[ERROR] [1665440561.348412660]: Overwriting previous data! Make sure IMU is published faster than data rate. (last image stamp buffered=1665440559.846198 and new one is 1665440559.979453, last imu stamp received=1665440559.604931)
[ERROR] [1665440561.488486071]: Overwriting previous data! Make sure IMU is published faster than data rate. (last image stamp buffered=1665440559.979453 and new one is 1665440560.046109, last imu stamp received=1665440559.742971)
[ERROR] [1665440561.567953033]: Overwriting previous data! Make sure IMU is published faster than data rate. (last image stamp buffered=1665440560.046109 and new one is 1665440560.179364, last imu stamp received=1665440559.938503)
[ERROR] [1665440561.638914752]: Overwriting previous data! Make sure IMU is published faster than data rate. (last image stamp buffered=1665440560.179364 and new one is 1665440560.245961, last imu stamp received=1665440560.015115)
[ERROR] [1665440561.854034486]: Overwriting previous data! Make sure IMU is published faster than data rate. (last image stamp buffered=1665440560.245961 and new one is 1665440560.445884, last imu stamp received=1665440560.192806)
[ERROR] [1665440562.058368477]: Overwriting previous data! Make sure IMU is published faster than data rate. (last image stamp buffered=1665440560.445884 and new one is 1665440560.645747, last imu stamp received=1665440560.439069)
[ WARN] [1665440562.477007709]: rtabmapviz: rtabmap's parameters seem not all there yet! continuing with those there if some...
[ INFO] [1665440562.747541363]: rtabmap 0.20.21 started...
[rtabmap/rgbd_odometry-1] process has died [pid 3287, exit code -7, cmd /home/ubuntu/catkin_ws/devel/lib/rtabmap_ros/rgbd_odometry --delete_db_on_start rgb/image:=/stereo_inertial_publisher/color/image depth/image:=/stereo_inertial_publisher/stereo/depth rgb/camera_info:=/stereo_inertial_publisher/color/camera_info rgbd_image:=rgbd_image_relay odom:=odom imu:=/stereo_inertial_publisher/imu __name:=rgbd_odometry __log:=/home/ubuntu/.ros/log/d8584b62-48e9-11ed-a7ff-bf1d1f317710/rtabmap-rgbd_odometry-1.log].
log file: /home/ubuntu/.ros/log/d8584b62-48e9-11ed-a7ff-bf1d1f317710/rtabmap-rgbd_odometry-1*.log
[ INFO] [1665440564.109295783]: rtabmapviz: Parameters read = 358
[ INFO] [1665440564.109452559]: rtabmapviz: Parameters successfully read.
[ WARN] [1665440564.481725301]: /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 \
   /stereo_inertial_publisher/color/image \
   /stereo_inertial_publisher/stereo/depth \
   /stereo_inertial_publisher/color/camera_info \
   /rtabmap/odom_info
[ INFO] [1665440565.654747166]: /rtabmap/rtabmapviz: subscribe_depth = true
[ INFO] [1665440565.654875506]: /rtabmap/rtabmapviz: subscribe_rgb = true
[ INFO] [1665440565.654941176]: /rtabmap/rtabmapviz: subscribe_stereo = false
[ INFO] [1665440565.655008569]: /rtabmap/rtabmapviz: subscribe_rgbd = false (rgbd_cameras=1)
[ INFO] [1665440565.655092690]: /rtabmap/rtabmapviz: subscribe_odom_info = true
[ INFO] [1665440565.655149913]: /rtabmap/rtabmapviz: subscribe_user_data = false
[ INFO] [1665440565.655201875]: /rtabmap/rtabmapviz: subscribe_scan = false
[ INFO] [1665440565.655250781]: /rtabmap/rtabmapviz: subscribe_scan_cloud = false
[ INFO] [1665440565.655299760]: /rtabmap/rtabmapviz: subscribe_scan_descriptor = false
[ INFO] [1665440565.655348666]: /rtabmap/rtabmapviz: queue_size    = 10
[ INFO] [1665440565.655399849]: /rtabmap/rtabmapviz: approx_sync   = true
[ INFO] [1665440565.655480303]: Setup depth callback
[ INFO] [1665440565.982640529]: 
/rtabmap/rtabmapviz subscribed to (approx sync):
   /rtabmap/odom \
   /stereo_inertial_publisher/color/image \
   /stereo_inertial_publisher/stereo/depth \
   /stereo_inertial_publisher/color/camera_info \
   /rtabmap/odom_info
[ INFO] [1665440565.983081233]: rtabmapviz started.
[ WARN] [1665440569.482108982]: /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 \
   /stereo_inertial_publisher/color/image \
   /stereo_inertial_publisher/stereo/depth \
   /stereo_inertial_publisher/color/camera_info \
   /rtabmap/odom_info
[ WARN] [1665440570.983203588]: /rtabmap/rtabmapviz: 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/rtabmapviz subscribed to (approx sync):
   /rtabmap/odom \
   /stereo_inertial_publisher/color/image \
   /stereo_inertial_publisher/stereo/depth \
   /stereo_inertial_publisher/color/camera_info \
   /rtabmap/odom_info
[ WARN] [1665440574.482546037]: /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 \
   /stereo_inertial_publisher/color/image \
   /stereo_inertial_publisher/stereo/depth \
   /stereo_inertial_publisher/color/camera_info \
   /rtabmap/odom_info
[ WARN] [1665440575.984063855]: /rtabmap/rtabmapviz: 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/rtabmapviz subscribed to (approx sync):
   /rtabmap/odom \
   /stereo_inertial_publisher/color/image \
   /stereo_inertial_publisher/stereo/depth \
   /stereo_inertial_publisher/color/camera_info \
   /rtabmap/odom_info
[ WARN] [1665440579.483918138]: /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 \
   /stereo_inertial_publisher/color/image \
   /stereo_inertial_publisher/stereo/depth \
   /stereo_inertial_publisher/color/camera_info \
   /rtabmap/odom_info
[ WARN] [1665440580.985067224]: /rtabmap/rtabmapviz: 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/rtabmapviz subscribed to (approx sync):
   /rtabmap/odom \
   /stereo_inertial_publisher/color/image \
   /stereo_inertial_publisher/stereo/depth \
   /stereo_inertial_publisher/color/camera_info \
   /rtabmap/odom_info
roslaunch rtabmap_ros rtabmap.launch args:="--delete_db_on_start" \
rgb_topic:=/stereo_inertial_publisher/color/image \
camera_info_topic:=/stereo_inertial_publisher/color/camera_info \
depth_topic:=/stereo_inertial_publisher/stereo/depth \
imu_topic:=/stereo_inertial_publisher/imu \
frame_id:=oak-d_frame \
approx_sync:=true \
approx_sync_max_interval:=0.001 \
wait_imu_to_init:=true
[ WARN] [1665440584.484688980]: /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 \
   /stereo_inertial_publisher/color/image \
   /stereo_inertial_publisher/stereo/depth \
   /stereo_inertial_publisher/color/camera_info \
   /rtabmap/odom_info
[ WARN] [1665440585.985665026]: /rtabmap/rtabmapviz: 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/rtabmapviz subscribed to (approx sync):
   /rtabmap/odom \
   /stereo_inertial_publisher/color/image \
   /stereo_inertial_publisher/stereo/depth \
   /stereo_inertial_publisher/color/camera_info \
   /rtabmap/odom_info
^C[rtabmap/rtabmapviz-3] killing on exit
[ INFO] [1665440587.865340018]: rtabmapviz: ctrl-c catched! Exiting Qt app...
[rtabmap/rtabmap-2] killing on exit
rtabmap: Saving database/long-term memory... (located at /home/ubuntu/.ros/rtabmap.db)
rtabmap: Saving database/long-term memory...done! (located at /home/ubuntu/.ros/rtabmap.db, 0 MB)
an99990 commented 1 year ago

i rebuilt rtbamap without depthai_core and still got the error mentioned above. Does rtabmap support opencv version higher than 3.2.I did get warnings of potential conflicts of version @matlabbe Following this issue, rgb node doesnt crash on its own, it only when i launch the command below that i see process died.

roslaunch rtabmap_ros rtabmap.launch args:="--delete_db_on_start" \
stereo:=true \
left_image_topic:=/stereo_publisher/left/image \
right_image_topic:=/stereo_publisher/right/image \
left_camera_info_topic:=/stereo_publisher/left/camera_info \
right_camera_info_topic:=/stereo_publisher/right/camera_info \
frame_id:=oak-d_frame \
approx_sync:=true \
approx_sync_max_interval:=0.1

these work fine

roslaunch rtabmap_ros rgbd_mapping.launch
rosrun rtabmap_ros stereo_odometry
rosrun rtabmap_ros rgbd_odometry

thank you for your help

matlabbe commented 1 year ago

@an99990 If you mix up many opencv versions on your computer, it is likely that it may cause some crashes in libraries/apps using opencv. To use latest OpenCV version, you will have to unsintall opencv binaries from your computer. This will uninstall cv_bridge package and all packages depending on it, so you would have to rebuild all those packages from source so that they all link on that opencv version. To use opencv modules that are not installed with the binaries, a workaround is to rebuild the same opencv version than the binaries on your platform (see comment here about rebuilding opencv).