ch2000pro
commented
4 years ago same problem , how is it going?
Closed lamer-afk closed 4 years ago
ch2000pro
commented
4 years ago same problem , how is it going?
ooeygui
commented
4 years ago Looking at this during our April sprint.
lamer-afk
commented
4 years ago Looking at this during our April sprint.
Thanks, waiting for your good news
Doolly
commented
4 years ago still having same issues, any good news?
ooeygui
commented
4 years ago This work item got bumped from our April sprint due to changes in our developer conference and related announcements.
ooeygui
commented
4 years ago When the Kinect is generating frames, it timestamps the frame itself. the ROS node keep track of the delta between frame generation and publishing. If the latency between frame grab and publish is too high, rtabmap gets into this situtation.
I'm on a lower end system, which has trouble keeping up with the large frame size and frame rate. Dropping the frame size and FPS in the launch file, eliminates this error - as it isn't overtaxing the USB stack. (I have a high end system on order, but it was delayed due to covid)
I'm still investigating as it looks like rtabmap doesn't agree with the IMU.
helenol
commented
4 years ago Investigating on a slightly higher-end machine. :) Lenovo T490s, Ubuntu 18.04.
Works "out of the box" for me. All start-up output the same except what's noted below: Notes on potential causes:
melodic branch of this repo. libk4a1.3, not 1.4. Maybe this is a difference?ros-melodic-rtabmap package, not the latest from the repo.[ INFO] [1591869956.382742008]: RGB Version: 1.6.107
[ INFO] [1591869956.382776217]: Depth Version: 1.6.78
[ INFO] [1591869956.382790298]: Audio Version: 1.6.14
[ INFO] [1591869956.382807981]: Depth Sensor Version: 6109.7.0Yours:
[ INFO] [1584968956.831521478]: RGB Version: 1.6.102
[ INFO] [1584968956.831584452]: Depth Version: 1.6.75
[ INFO] [1584968956.831621226]: Audio Version: 1.6.14
[ INFO] [1584968956.831642600]: Depth Sensor Version: 6109.7.0But @ooeygui was able to repro.
So my guess is it's one of the following, in order of decreasing likelihood:
I'll update libk4a to 1.4 and see if it breaks.
helenol
commented
4 years ago libk4a1.4 made no difference.
But I was able to succesfully repro. Steps to repro: add line
<param name="imu_rate_target" value="100" />to line 49 in the slam_rtabmap.launch file.
This then gives me the same error you got:
[ WARN] [1591871608.967814553]: /rtabmap/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. Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called. /rtabmap/rtabmap/rgbd_odometry subscribed to (exact sync): /k4a/rgb_to_depth/image_rect, /k4a/depth/image_rect, /k4a/depth/camera_info
Which gives a hint of what the problem (and the solution) is. If you have too few IMU messages, OR you're dropping messages (which is I think what's happening for you, 1600 Hz is way above what ROS can handle), the IMU messages are no longer at the exact same timestamp as the images. So it ignores the IMU messages.
Fix: Change line 60 in the slam_rtabmap.launch file to be true:
<arg name="approx_sync" value="true" />Nothing wrong with the driver, just a misconfiguration of the launch file for rtabmap.
Making a PR. Going to change rate to 100 Hz anyway in this launch file because no one needs an IMU at 1600 Hz. rtabmap is running at like 1 hz at any rate.
ooeygui
commented
4 years ago @helenol in my local build I migrated to 1.4 and updated the firmware. I'll check that in after we migrate the CI builds to the new CI system. It didn't have any effect on the scenario.
I do believe this is related to systems on the low end of the Azure Kinect requirements.
Thanks for your IMU config change.
ooeygui
commented
4 years ago We have committed fixes which reduce the overhead of the Kinect. However, the Kinect requires a relatively high end system, so you may still encounter this problem.
hariharan382
commented
2 years ago You said the reason that it was due to time stamp in frames ,but how did you solve it
ooeygui
commented
2 years ago @hariharan382 The solution was to reduce the data overhead so it worked on a wider range of systems. If you are still encountering this, there are numerous reasons; including CPU overhead, USB Bus bandwidth, even driver versions.
hariharan382
commented
2 years ago How can I reduce it , I am getting Odom at 30hz rgbd at 5hz, scan at 5hz then which parameters I should adjust to correct overhead
Device: kinect v4 (v4a) Command: roslaunch azure_kinect_ros_driver slam_rtabmap.launch
launch file : launch
source code:
rtabmap_ros branch[melodic-devel]
roslaunch azure_kinect_ros_driver slam_rtabmap.launch ... logging to /home/lamer/.ros/log/7f2a2fbc-6d07-11ea-acfa-50eb7167c20d/roslaunch-lamer-Mi-Gaming-Laptop-15-6-6633.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://lamer-Mi-Gaming-Laptop-15-6:40323/
SUMMARY
PARAMETERS
NODES /k4a/ k4a_ros_bridge (nodelet/nodelet) manager (nodelet/nodelet) rectify_depth (nodelet/nodelet) rectify_rgb (nodelet/nodelet) /rtabmap/rtabmap/ rgbd_odometry (rtabmap_ros/rgbd_odometry) rtabmap (rtabmap_ros/rtabmap) rtabmapviz (rtabmap_ros/rtabmapviz) / joint_state_publisher (joint_state_publisher/joint_state_publisher) robot_state_publisher (robot_state_publisher/state_publisher)
auto-starting new master process[master]: started with pid [6649] ROS_MASTER_URI=http://localhost:11311
setting /run_id to 7f2a2fbc-6d07-11ea-acfa-50eb7167c20d process[rosout-1]: started with pid [6660] started core service [/rosout] process[joint_state_publisher-2]: started with pid [6666] process[robot_state_publisher-3]: started with pid [6668] process[k4a/manager-4]: started with pid [6669] process[k4a/rectify_rgb-5]: started with pid [6670] process[k4a/rectify_depth-6]: started with pid [6671] [ WARN] [1584968956.287509098]: The 'state_publisher' executable is deprecated. Please use 'robot_state_publisher' instead process[k4a/k4a_ros_bridge-7]: started with pid [6688] process[rtabmap/rtabmap/rgbd_odometry-8]: started with pid [6702] [ INFO] [1584968956.309220335]: Initializing nodelet with 16 worker threads. process[rtabmap/rtabmap/rtabmap-9]: started with pid [6726] process[rtabmap/rtabmap/rtabmapviz-10]: started with pid [6727] [ INFO] [1584968956.490122973]: K4A ROS Nodelet Start [ INFO] [1584968956.497118811]: K4A Parameters: [ INFO] [1584968956.497199184]: sensor_sn - std::string : [ INFO] [1584968956.497265345]: depth_enabled - bool : 1 [ INFO] [1584968956.497285706]: depth_mode - std::string : NFOV_UNBINNED [ INFO] [1584968956.497304277]: color_enabled - bool : 1 [ INFO] [1584968956.497324028]: color_format - std::string : bgra [ INFO] [1584968956.497342842]: color_resolution - std::string : 1536P [ INFO] [1584968956.497362794]: fps - int : 30 [ INFO] [1584968956.497384288]: point_cloud - bool : 0 [ INFO] [1584968956.497404458]: rgb_point_cloud - bool : 0 [ INFO] [1584968956.497425033]: point_cloud_in_depth_frame - bool : 1 [ INFO] [1584968956.497444976]: tf_prefix - std::string : [ INFO] [1584968956.497463196]: recording_file - std::string : [ INFO] [1584968956.497480899]: recording_loop_enabled - bool : 0 [ INFO] [1584968956.497498873]: body_tracking_enabled - bool : 0 [ INFO] [1584968956.497526204]: body_tracking_smoothing_factor - float : 0 [ INFO] [1584968956.497547397]: imu_rate_target - int : 0 [ INFO] [1584968956.497566016]: rescale_ir_to_mono8 - bool : 0 [ INFO] [1584968956.497584730]: ir_mono8_scaling_factor - float : 1 [ INFO] [1584968956.497602135]: wired_sync_mode - int : 0 [ INFO] [1584968956.497620079]: subordinate_delay_off_master_usec - int : 0 [ INFO] [1584968956.506439626]: Found 1 sensors [ INFO] [1584968956.506481637]: No serial number provided: picking first sensor [ INFO] [1584968956.717057150]: Starting node... [ INFO] [1584968956.741735548]: Initializing nodelet with 12 worker threads. [ INFO] [1584968956.770939116]: Initializing nodelet with 12 worker threads. [ INFO] [1584968956.771451145]: Starting node... [ INFO] [1584968956.775518897]: K4A[0] : 000686195012 [ INFO] [1584968956.826064264]: K4A Serial Number: 000686195012 [ INFO] [1584968956.831521478]: RGB Version: 1.6.102 [ INFO] [1584968956.831584452]: Depth Version: 1.6.75 [ INFO] [1584968956.831621226]: Audio Version: 1.6.14 [ INFO] [1584968956.831642600]: Depth Sensor Version: 6109.7.0 [ INFO] [1584968956.897330930]: Setting wired sync mode: 0 [ INFO] [1584968956.897391020]: Setting subordinate delay: 0 [ INFO] [1584968956.897409805]: Setting RGB Camera Format: bgra [ INFO] [1584968956.897430877]: Setting RGB Camera Resolution: 1536P [ INFO] [1584968956.897455909]: Setting Depth Camera Mode: NFOV_UNBINNED [ INFO] [1584968956.897478076]: Setting Camera FPS: 30 [ INFO] [1584968956.897500931]: Using default IMU rate. Setting to maximum: 1600 Hz. [ INFO] [1584968956.897523002]: Setting Target IMU rate to 1600 (desired: 1600) [ INFO] [1584968956.967526884]: rtabmapviz: Using configuration from "/home/lamer/.ros/rtabmap_gui.ini" [ INFO] [1584968956.970899844]: /rtabmap/rtabmap/rtabmap(maps): map_filter_radius = 0.000000 [ INFO] [1584968956.970929746]: /rtabmap/rtabmap/rtabmap(maps): map_filter_angle = 30.000000 [ INFO] [1584968956.970945902]: /rtabmap/rtabmap/rtabmap(maps): map_cleanup = true [ INFO] [1584968956.970959363]: /rtabmap/rtabmap/rtabmap(maps): map_always_update = false [ INFO] [1584968956.970968832]: /rtabmap/rtabmap/rtabmap(maps): map_empty_ray_tracing = true [ INFO] [1584968956.970983070]: /rtabmap/rtabmap/rtabmap(maps): cloud_output_voxelized = true [ INFO] [1584968956.970999641]: /rtabmap/rtabmap/rtabmap(maps): cloud_subtract_filtering = false [ INFO] [1584968956.971014378]: /rtabmap/rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2 [ INFO] [1584968956.998677332]: /rtabmap/rtabmap/rtabmap(maps): octomap_tree_depth = 16 [ INFO] [1584968957.010939040]: Odometry: frame_id = camera_base [ INFO] [1584968957.010964957]: Odometry: odom_frame_id = odom [ INFO] [1584968957.010981660]: Odometry: publish_tf = true [ INFO] [1584968957.010996627]: Odometry: wait_for_transform = true [ INFO] [1584968957.011023685]: Odometry: wait_for_transform_duration = 0.200000 [ INFO] [1584968957.011102725]: Odometry: initial_pose = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 [ INFO] [1584968957.011117277]: Odometry: ground_truth_frame_id = [ INFO] [1584968957.011131604]: Odometry: ground_truth_base_frame_id = [ INFO] [1584968957.011144959]: Odometry: config_path = [ INFO] [1584968957.011157865]: Odometry: publish_null_when_lost = true [ INFO] [1584968957.011170939]: Odometry: guess_frame_id = [ INFO] [1584968957.011184508]: Odometry: guess_min_translation = 0.000000 [ INFO] [1584968957.011198493]: Odometry: guess_min_rotation = 0.000000 [ INFO] [1584968957.011214794]: Odometry: guess_min_time = 0.000000 [ INFO] [1584968957.011228820]: Odometry: expected_update_rate = 0.000000 Hz [ INFO] [1584968957.011241936]: Odometry: wait_imu_to_init = false [ INFO] [1584968957.018859848]: rtabmap: frame_id = camera_base [ INFO] [1584968957.018880516]: rtabmap: map_frame_id = map [ INFO] [1584968957.018915893]: rtabmap: use_action_for_goal = false [ INFO] [1584968957.018927626]: rtabmap: tf_delay = 0.050000 [ INFO] [1584968957.018950923]: rtabmap: tf_tolerance = 0.100000 [ INFO] [1584968957.018982350]: rtabmap: odom_sensor_sync = false [ INFO] [1584968957.198334442]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true" [ INFO] [1584968957.198703261]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false" [ INFO] [1584968957.275314234]: Update odometry parameter "Odom/ResetCountdown"="2" from arguments [ INFO] [1584968957.328106280]: RGBDOdometry: approx_sync = false [ INFO] [1584968957.328147562]: RGBDOdometry: queue_size = 10 [ INFO] [1584968957.328156870]: RGBDOdometry: subscribe_rgbd = false [ INFO] [1584968957.328164967]: RGBDOdometry: rgbd_cameras = 1 [ INFO] [1584968957.342547330]: /rtabmap/rtabmap/rgbd_odometry subscribed to (exact sync): /k4a/rgb_to_depth/image_rect, /k4a/depth/image_rect, /k4a/depth/camera_info [ INFO] [1584968957.381748101]: Update RTAB-Map parameter "Odom/ResetCountdown"="2" from arguments [ INFO] [1584968957.489003750]: K4A Calibration Blob:
[ INFO] [1584968957.489108214]: Translation: 0, 0, 0 [ INFO] [1584968957.489129153]: Rotation[0]: 1, 0, 0 [ INFO] [1584968957.489149245]: Rotation[1]: 0, 1, 0 [ INFO] [1584968957.489175593]: Rotation[2]: 0, 0, 1
[ INFO] [1584968957.489224030]: Width: 640 [ INFO] [1584968957.489248796]: Height: 576
[ INFO] [1584968957.489297673]: Model Type: 4 [ INFO] [1584968957.489323084]: Parameter Count: 14 [ INFO] [1584968957.489350359]: cx: 327.51 [ INFO] [1584968957.489376698]: cy: 316.933 [ INFO] [1584968957.489404523]: fx: 504.782 [ INFO] [1584968957.489426854]: fy: 504.901 [ INFO] [1584968957.489453975]: k1: 0.628143 [ INFO] [1584968957.489470748]: k2: 0.0272751 [ INFO] [1584968957.489483039]: k3: -0.000504959 [ INFO] [1584968957.489498793]: k4: 0.970682 [ INFO] [1584968957.489541378]: k5: 0.161894 [ INFO] [1584968957.489568935]: k6: -0.00168845 [ INFO] [1584968957.489602310]: codx: 0 [ INFO] [1584968957.489642419]: cody: 0 [ INFO] [1584968957.489673729]: p2: -3.98358e-05 [ INFO] [1584968957.489745576]: p1: 6.07112e-05 [ INFO] [1584968957.489796258]: metric_radius: 0
[ INFO] [1584968957.489878836]: Translation: -31.9164, -2.0031, 4.04156 [ INFO] [1584968957.489906627]: Rotation[0]: 0.999999, -0.000304997, -0.00132169 [ INFO] [1584968957.489937614]: Rotation[1]: 0.000433114, 0.995182, 0.0980456 [ INFO] [1584968957.489989560]: Rotation[2]: 0.00128542, -0.098046, 0.995181
[ INFO] [1584968957.490037727]: Width: 2048 [ INFO] [1584968957.490096453]: Height: 1536
[ INFO] [1584968957.490144106]: Model Type: 4 [ INFO] [1584968957.490184236]: Parameter Count: 14 [ INFO] [1584968957.490230667]: cx: 1015.7 [ INFO] [1584968957.490255940]: cy: 782.869 [ INFO] [1584968957.490280978]: fx: 981.081 [ INFO] [1584968957.490306276]: fy: 981.107 [ INFO] [1584968957.490331419]: k1: 0.267596 [ INFO] [1584968957.490356704]: k2: -2.42991 [ INFO] [1584968957.490380770]: k3: 1.45636 [ INFO] [1584968957.490406303]: k4: 0.148234 [ INFO] [1584968957.490430987]: k5: -2.24423 [ INFO] [1584968957.490455965]: k6: 1.37683 [ INFO] [1584968957.490480877]: codx: 0 [ INFO] [1584968957.490505170]: cody: 0 [ INFO] [1584968957.490530755]: p2: -7.60506e-05 [ INFO] [1584968957.490555984]: p1: 7.65587e-05 [ INFO] [1584968957.490580919]: metric_radius: 0 [ INFO] [1584968957.490613139]: IMU (Depth to Color):
[ INFO] [1584968957.490665552]: Translation: -31.9164, -2.0031, 4.04156 [ INFO] [1584968957.490692634]: Rotation[0]: 0.999999, -0.000304997, -0.00132169 [ INFO] [1584968957.490720160]: Rotation[1]: 0.000433114, 0.995182, 0.0980456 [ INFO] [1584968957.490746702]: Rotation[2]: 0.00128542, -0.098046, 0.995181 [ INFO] [1584968957.490771790]: IMU (Depth to IMU):
[ INFO] [1584968957.490822361]: Translation: -51.0108, 3.09707, 1.57417 [ INFO] [1584968957.490849249]: Rotation[0]: 0.00555363, 0.110885, -0.993818 [ INFO] [1584968957.490875828]: Rotation[1]: -0.99998, 0.0035985, -0.00518657 [ INFO] [1584968957.490902660]: Rotation[2]: 0.00300114, 0.993827, 0.110902 [ INFO] [1584968957.490927527]: IMU (IMU to Depth):
[ INFO] [1584968957.490978084]: Translation: 3.37558, 4.08072, -50.854 [ INFO] [1584968957.491004913]: Rotation[0]: 0.00555363, -0.99998, 0.00300114 [ INFO] [1584968957.491031616]: Rotation[1]: 0.110885, 0.0035985, 0.993827 [ INFO] [1584968957.491058291]: Rotation[2]: -0.993818, -0.00518657, 0.110902 [ INFO] [1584968957.491082699]: IMU (Color to IMU):
[ INFO] [1584968957.491131589]: Translation: -46.7257, -28.7857, 3.60627 [ INFO] [1584968957.491159667]: Rotation[0]: 0.00683333, 0.0129135, -0.999893 [ INFO] [1584968957.491188073]: Rotation[1]: -0.999973, 0.00263954, -0.00679979 [ INFO] [1584968957.491247961]: Rotation[2]: 0.00255145, 0.999913, 0.0129311 [ INFO] [1584968957.491306334]: IMU (IMU to Color):
[ INFO] [1584968957.491356390]: Translation: -28.4748, -2.92659, -46.9631 [ INFO] [1584968957.491384818]: Rotation[0]: 0.00683333, -0.999973, 0.00255145 [ INFO] [1584968957.491411061]: Rotation[1]: 0.0129135, 0.00263954, 0.999913 [ INFO] [1584968957.491438612]: Rotation[2]: -0.999893, -0.00679979, 0.0129311 [ INFO] [1584968957.491816960]: STARTING CAMERAS [ INFO] [1584968957.541107843]: RTAB-Map detection rate = 1.000000 Hz [ INFO] [1584968957.541846105]: rtabmap: Deleted database "/home/lamer/.ros/rtabmap.db" (--delete_db_on_start or -d are set). [ INFO] [1584968957.541875294]: rtabmap: Using database from "/home/lamer/.ros/rtabmap.db" (0 MB). [ INFO] [1584968957.622537211]: rtabmap: Database version = "0.19.3". [ INFO] [1584968957.644149662]: /rtabmap/rtabmap/rtabmap: subscribe_depth = true [ INFO] [1584968957.644177202]: /rtabmap/rtabmap/rtabmap: subscribe_rgb = true [ INFO] [1584968957.644190747]: /rtabmap/rtabmap/rtabmap: subscribe_stereo = false [ INFO] [1584968957.644202380]: /rtabmap/rtabmap/rtabmap: subscribe_rgbd = false (rgbd_cameras=1) [ INFO] [1584968957.644215599]: /rtabmap/rtabmap/rtabmap: subscribe_odom_info = true [ INFO] [1584968957.644225481]: /rtabmap/rtabmap/rtabmap: subscribe_user_data = false [ INFO] [1584968957.644233954]: /rtabmap/rtabmap/rtabmap: subscribe_scan = false [ INFO] [1584968957.644243314]: /rtabmap/rtabmap/rtabmap: subscribe_scan_cloud = false [ INFO] [1584968957.644276685]: /rtabmap/rtabmap/rtabmap: queue_size = 10 [ INFO] [1584968957.644286049]: /rtabmap/rtabmap/rtabmap: approx_sync = false [ INFO] [1584968957.644388041]: Setup depth callback [ INFO] [1584968957.660555100]: /rtabmap/rtabmap/rtabmap subscribed to (exact sync): /rtabmap/rtabmap/odom, /k4a/rgb_to_depth/image_rect, /k4a/depth/image_rect, /k4a/depth/camera_info, /rtabmap/rtabmap/odom_info [ INFO] [1584968957.667998742]: rtabmap 0.19.3 started... libpng warning: iCCP: known incorrect sRGB profile libpng warning: iCCP: known incorrect sRGB profile [ INFO] [1584968957.931511364]: Cameras started [ INFO] [1584968957.931568108]: STARTING IMU [ INFO] [1584968957.931959612]: IMU started [ INFO] [1584968957.943531259]: Reading parameters from the ROS server... [ INFO] [1584968958.028997984]: Parameters read = 311 [ INFO] [1584968958.029028201]: Parameters successfully read. [ INFO] [1584968958.158896311]: /rtabmap/rtabmap/rtabmapviz: subscribe_depth = true [ INFO] [1584968958.158918586]: /rtabmap/rtabmap/rtabmapviz: subscribe_rgb = false [ INFO] [1584968958.158931561]: /rtabmap/rtabmap/rtabmapviz: subscribe_stereo = false [ INFO] [1584968958.158968689]: /rtabmap/rtabmap/rtabmapviz: subscribe_rgbd = false (rgbd_cameras=1) [ INFO] [1584968958.158976942]: /rtabmap/rtabmap/rtabmapviz: subscribe_odom_info = true [ INFO] [1584968958.158986360]: /rtabmap/rtabmap/rtabmapviz: subscribe_user_data = false [ INFO] [1584968958.159016634]: /rtabmap/rtabmap/rtabmapviz: subscribe_scan = false [ INFO] [1584968958.159025857]: /rtabmap/rtabmap/rtabmapviz: subscribe_scan_cloud = false [ INFO] [1584968958.159047184]: /rtabmap/rtabmap/rtabmapviz: queue_size = 10 [ INFO] [1584968958.159080874]: /rtabmap/rtabmap/rtabmapviz: approx_sync = false [ INFO] [1584968958.159092937]: Setup depth callback [ INFO] [1584968958.219388349]: /rtabmap/rtabmap/rtabmapviz subscribed to (exact sync): /rtabmap/rtabmap/odom, /k4a/rgb_to_depth/image_rect, /k4a/depth/image_rect, /k4a/depth/camera_info, /rtabmap/rtabmap/odom_info [ INFO] [1584968958.219483934]: rtabmapviz started. [ WARN] [1584968958.738880630]: Initializing the device to realtime offset based on wall clock: 1584968958738545282 ns [ WARN] [1584968958.813117329]: Initializing or re-initializing the device to realtime offset: 1584968958760106333 ns [ WARN] [1584968958.852968724]: Image processing thread is running behind. Expected max loop time: 0.033333333 Actual loop time: 0.914895246
[ WARN] [1584968962.342825111]: /rtabmap/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. Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called. /rtabmap/rtabmap/rgbd_odometry subscribed to (exact sync): /k4a/rgb_to_depth/image_rect, /k4a/depth/image_rect, /k4a/depth/camera_info [ WARN] [1584968962.660759534]: /rtabmap/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"). Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called. /rtabmap/rtabmap/rtabmap subscribed to (exact sync): /rtabmap/rtabmap/odom, /k4a/rgb_to_depth/image_rect, /k4a/depth/image_rect, /k4a/depth/camera_info, /rtabmap/rtabmap/odom_info [ WARN] [1584968963.219559338]: /rtabmap/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"). Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called. /rtabmap/rtabmap/rtabmapviz subscribed to (exact sync): /rtabmap/rtabmap/odom, /k4a/rgb_to_depth/image_rect, /k4a/depth/image_rect, /k4a/depth/camera_info, /rtabmap/rtabmap/odom_info [ WARN] [1584968967.342988859]: /rtabmap/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. Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called. /rtabmap/rtabmap/rgbd_odometry subscribed to (exact sync): /k4a/rgb_to_depth/image_rect, /k4a/depth/image_rect, /k4a/depth/camera_info [ WARN] [1584968967.660941261]: /rtabmap/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"). Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called. /rtabmap/rtabmap/rtabmap subscribed to (exact sync): /rtabmap/rtabmap/odom, /k4a/rgb_to_depth/image_rect, /k4a/depth/image_rect, /k4a/depth/camera_info, /rtabmap/rtabmap/odom_info [ WARN] [1584968968.219677953]: /rtabmap/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"). Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called. /rtabmap/rtabmap/rtabmapviz subscribed to (exact sync): /rtabmap/rtabmap/odom, /k4a/rgb_to_depth/image_rect, /k4a/depth/image_rect, /k4a/depth/camera_info, /rtabmap/rtabmap/odom_info [ WARN] [1584968972.343166219]: /rtabmap/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. Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called. /rtabmap/rtabmap/rgbd_odometry subscribed to (exact sync): /k4a/rgb_to_depth/image_rect, /k4a/depth/image_rect, /k4a/depth/camera_info [ WARN] [1584968972.661113566]: /rtabmap/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"). Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called. /rtabmap/rtabmap/rtabmap subscribed to (exact sync): /rtabmap/rtabmap/odom, /k4a/rgb_to_depth/image_rect, /k4a/depth/image_rect, /k4a/depth/camera_info, /rtabmap/rtabmap/odom_info