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robin-shaun / XTDrone

UAV Simulation Platform based on PX4, ROS and Gazebo
MIT License
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VINS-Fusion+RTABMap建图部分，启动RTAB建图报错 #70

Open silkmeloni opened 1 year ago

silkmeloni commented 1 year ago

运行roslaunch vins rtabmap_vins.launch后报错，看起来是坐标系转换有问题，不知道是哪里配置错了 问题一 VINS-FUSION仿真能运行出来，在其基础上只把仿真地图的launch文件中的sdf模型从stereo改为realsense，其他没有动

uestyhox1 commented 1 year ago

我也有相同的问题 roslaunch vins rtabmap_vins.launch ... logging to /home/kd/.ros/log/9c9d253e-cdd7-11ed-a245-d4548bbd70f4/roslaunch-kd-Dell-G15-5511-5070.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://kd-Dell-G15-5511:41655/

SUMMARY

CLEAR PARAMETERS

PARAMETERS

NODES / iris_0_camera_link_to_depth (tf/static_transform_publisher) points_xyzrgb (nodelet/nodelet) rviz (rviz/rviz) /rtabmap/ rtabmap (rtabmap_ros/rtabmap)

ROS_MASTER_URI=http://localhost:11311

process[iris_0_camera_link_to_depth-1]: started with pid [5101] process[rtabmap/rtabmap-2]: started with pid [5102] process[rviz-3]: started with pid [5104] process[points_xyzrgb-4]: started with pid [5109] type is rtabmap_ros/point_cloud_xyzrgb [ INFO] [1680056242.637919464]: Starting node... [ INFO] [1680056242.669226270, 1910.745000000]: Approximate time sync = true [ INFO] [1680056242.694850963]: Initializing nodelet with 16 worker threads. [ INFO] [1680056242.766467473]: /rtabmap/rtabmap(maps): map_filter_radius = 0.000000 [ INFO] [1680056242.766498083]: /rtabmap/rtabmap(maps): map_filter_angle = 30.000000 [ INFO] [1680056242.766506306]: /rtabmap/rtabmap(maps): map_cleanup = true [ INFO] [1680056242.766514443]: /rtabmap/rtabmap(maps): map_always_update = false [ INFO] [1680056242.766521761]: /rtabmap/rtabmap(maps): map_empty_ray_tracing = true [ INFO] [1680056242.766529863]: /rtabmap/rtabmap(maps): cloud_output_voxelized = true [ INFO] [1680056242.766539457]: /rtabmap/rtabmap(maps): cloud_subtract_filtering = false [ INFO] [1680056242.766548854]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2 [ INFO] [1680056242.766707423]: /rtabmap/rtabmap(maps): octomap_tree_depth = 16 [ INFO] [1680056242.780005600]: rtabmap: frame_id = camera_link [ INFO] [1680056242.780030628]: rtabmap: map_frame_id = map [ INFO] [1680056242.780040672]: rtabmap: log_to_rosout_level = 4 [ INFO] [1680056242.780052829]: rtabmap: initial_pose = [ INFO] [1680056242.780062344]: rtabmap: use_action_for_goal = false [ INFO] [1680056242.780075812]: rtabmap: tf_delay = 0.050000 [ INFO] [1680056242.780086274]: rtabmap: tf_tolerance = 0.100000 [ INFO] [1680056242.780095883]: rtabmap: odom_sensor_sync = false [ INFO] [1680056242.780443232]: rtabmap: gen_scan = false [ INFO] [1680056242.780453483]: rtabmap: gen_depth = false [ INFO] [1680056242.863825441]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true" [ INFO] [1680056242.864043174]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false" [ INFO] [1680056243.025297428, 1911.105000000]: RTAB-Map detection rate = 1.000000 Hz [ INFO] [1680056243.025755422, 1911.105000000]: rtabmap: Deleted database "/home/kd/.ros/rtabmap.db" (--delete_db_on_start or -d are set). [ INFO] [1680056243.025784639, 1911.105000000]: rtabmap: Using database from "/home/kd/.ros/rtabmap.db" (0 MB). [ INFO] [1680056243.080587246, 1911.161000000]: rtabmap: Database version = "0.20.22". [ INFO] [1680056243.080615334, 1911.161000000]: rtabmap: SLAM mode (Mem/IncrementalMemory=true) [ INFO] [1680056243.091039545, 1911.169000000]: /rtabmap/rtabmap: subscribe_depth = true [ INFO] [1680056243.091063616, 1911.169000000]: /rtabmap/rtabmap: subscribe_rgb = true [ INFO] [1680056243.091071622, 1911.169000000]: /rtabmap/rtabmap: subscribe_stereo = false [ INFO] [1680056243.091078898, 1911.169000000]: /rtabmap/rtabmap: subscribe_rgbd = false (rgbd_cameras=1) [ INFO] [1680056243.091086684, 1911.169000000]: /rtabmap/rtabmap: subscribe_odom_info = false [ INFO] [1680056243.091095020, 1911.169000000]: /rtabmap/rtabmap: subscribe_user_data = false [ INFO] [1680056243.091105959, 1911.169000000]: /rtabmap/rtabmap: subscribe_scan = false [ INFO] [1680056243.091115642, 1911.169000000]: /rtabmap/rtabmap: subscribe_scan_cloud = false [ INFO] [1680056243.091126526, 1911.169000000]: /rtabmap/rtabmap: subscribe_scan_descriptor = false [ INFO] [1680056243.091135749, 1911.169000000]: /rtabmap/rtabmap: queue_size = 200 [ INFO] [1680056243.091145297, 1911.169000000]: /rtabmap/rtabmap: approx_sync = true [ INFO] [1680056243.091298553, 1911.169000000]: Setup depth callback [ INFO] [1680056243.100966621, 1911.181000000]: /rtabmap/rtabmap subscribed to (approx sync): /vins_estimator/odometry \ /iris_0/realsense/depth_camera/color/image_raw \ /iris_0/realsense/depth_camera/depth/image_raw \ /iris_0/realsense/depth_camera/color/camera_info [ INFO] [1680056243.171295208, 1911.249000000]: rtabmap 0.20.22 started... [ERROR] [1680056243.393611314, 1911.473000000]: PluginlibFactory: The plugin for class 'octomap_rviz_plugin/ColorOccupancyGrid' failed to load. Error: According to the loaded plugin descriptions the class octomap_rviz_plugin/ColorOccupancyGrid with base class type rviz::Display does not exist. Declared types are Submaps moveit_rviz_plugin/MotionPlanning moveit_rviz_plugin/PlanningScene moveit_rviz_plugin/RobotState moveit_rviz_plugin/Trajectory rtabmap_ros/Info rtabmap_ros/MapCloud rtabmap_ros/MapGraph rviz/Axes rviz/Camera rviz/DepthCloud rviz/Effort rviz/FluidPressure rviz/Grid rviz/GridCells rviz/Illuminance rviz/Image rviz/InteractiveMarkers rviz/LaserScan rviz/Map rviz/Marker rviz/MarkerArray rviz/Odometry rviz/Path rviz/PointCloud rviz/PointCloud2 rviz/PointStamped rviz/Polygon rviz/Pose rviz/PoseArray rviz/PoseWithCovariance rviz/Range rviz/RelativeHumidity rviz/RobotModel rviz/TF rviz/Temperature rviz/WrenchStamped rviz_plugin_tutorials/Imu [ WARN] [1680056248.102549689, 1916.181000000]: /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=200). /rtabmap/rtabmap subscribed to (approx sync): /vins_estimator/odometry \ /iris_0/realsense/depth_camera/color/image_raw \ /iris_0/realsense/depth_camera/depth/image_raw \ /iris_0/realsense/depth_camera/color/camera_info [ WARN] [1680056253.104938653, 1921.181000000]: /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=200). /rtabmap/rtabmap subscribed to (approx sync): /vins_estimator/odometry \ /iris_0/realsense/depth_camera/color/image_raw \ /iris_0/realsense/depth_camera/depth/image_raw \ /iris_0/realsense/depth_camera/color/camera_info [ WARN] [1680056258.109487078, 1926.181000000]: /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=200). /rtabmap/rtabmap subscribed to (approx sync): /vins_estimator/odometry \ /iris_0/realsense/depth_camera/color/image_raw \ /iris_0/realsense/depth_camera/depth/image_raw \ /iris_0/realsense/depth_camera/color/camera_info [ WARN] [1680056263.112769409, 1931.181000000]: /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=200). /rtabmap/rtabmap subscribed to (approx sync): /vins_estimator/odometry \ /iris_0/realsense/depth_camera/color/image_raw \ /iris_0/realsense/depth_camera/depth/image_raw \ /iris_0/realsense/depth_camera/color/camera_info [ WARN] [1680056268.115100009, 1936.181000000]: /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=200). /rtabmap/rtabmap subscribed to (approx sync): /vins_estimator/odometry \ /iris_0/realsense/depth_camera/color/image_raw \ /iris_0/realsense/depth_camera/depth/image_raw \ /iris_0/realsense/depth_camera/color/camera_info [ WARN] [1680056273.117830714, 1941.181000000]: /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=200). /rtabmap/rtabmap subscribed to (approx sync): /vins_estimator/odometry \ /iris_0/realsense/depth_camera/color/image_raw \ /iris_0/realsense/depth_camera/depth/image_raw \ /iris_0/realsense/depth_camera/color/camera_info [ WARN] [1680056278.120715940, 1946.181000000]: /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=200). /rtabmap/rtabmap subscribed to (approx sync): /vins_estimator/odometry \ /iris_0/realsense/depth_camera/color/image_raw \ /iris_0/realsense/depth_camera/depth/image_raw \ /iris_0/realsense/depth_camera/color/camera_info [ WARN] [1680056283.124468668, 1951.181000000]: /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=200). /rtabmap/rtabmap subscribed to (approx sync): /vins_estimator/odometry \ /iris_0/realsense/depth_camera/color/image_raw \ /iris_0/realsense/depth_camera/depth/image_raw \ /iris_0/realsense/depth_camera/color/camera_info

5ea4e3e0854c7e5f400a691d41cb0a98

uestyhox1 commented 1 year ago

我也是vio可以但就改了一下launch换成深度相机，就bug了

silkmeloni commented 1 year ago

我将rtabmap_vins.launch文件中的iris0/depth_camera_base改成了depth_camera_base，问题应该是得到了解决。

silkmeloni commented 1 year ago

我将rtabmap_vins.launch文件中的iris0/depth_camera_base改成了depth_camera_base，问题应该是得到了解决。 你可以尝试一下，但咱们的报错好像不完全一样，不一定能解决  

LiJiaXu @.***

 

------------------ 原始邮件 ------------------ 发件人: @.>; 发送时间: 2023年3月29日(星期三) 上午10:21 收件人: @.>; 抄送: @.>; @.>; 主题: Re: [robin-shaun/XTDrone] VINS-Fusion+RTABMap建图部分，启动RTAB建图报错 (Issue #70)

我也是vio可以但就改了一下launch换成深度相机，就bug了

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uestyhox1 commented 1 year ago

请问这里的修改逻辑是什么呢？是要把iris0全都改掉嘛？ launch文件中：

silkmeloni commented 1 year ago

对，我是把带iris0的全部删掉，可能是tf发布和订阅坐标系话题的名称不对应，我也不太懂，就莫名其妙这样改就改好了。我是第一次做仿真

LiJiaXu @.***

 

------------------ 原始邮件 ------------------ 发件人: "robin-shaun/XTDrone" @.>; 发送时间: 2023年3月29日(星期三) 中午11:19 @.>; @.**@.>; 主题: Re: [robin-shaun/XTDrone] VINS-Fusion+RTABMap建图部分，启动RTAB建图报错 (Issue #70)

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uestyhox1 commented 1 year ago

7a186b77eb5b263d4b7fda314ad569c9

uestyhox1 commented 1 year ago

好的我试下，谢谢

uestyhox1 commented 1 year ago

我修改之后还是没有成功，但问题可能还是在这个launch文件中，警告的内容实质上没有变化 [ERROR] [1680060652.867450071, 2162.593000000]: PluginlibFactory: The plugin for class 'octomap_rviz_plugin/ColorOccupancyGrid' failed to load. Error: According to the loaded plugin descriptions the class octomap_rviz_plugin/ColorOccupancyGrid with base class type rviz::Display does not exist. Declared types are Submaps moveit_rviz_plugin/MotionPlanning moveit_rviz_plugin/PlanningScene moveit_rviz_plugin/RobotState moveit_rviz_plugin/Trajectory rtabmap_ros/Info rtabmap_ros/MapCloud rtabmap_ros/MapGraph rviz/Axes rviz/Camera rviz/DepthCloud rviz/Effort rviz/FluidPressure rviz/Grid rviz/GridCells rviz/Illuminance rviz/Image rviz/InteractiveMarkers rviz/LaserScan rviz/Map rviz/Marker rviz/MarkerArray rviz/Odometry rviz/Path rviz/PointCloud rviz/PointCloud2 rviz/PointStamped rviz/Polygon rviz/Pose rviz/PoseArray rviz/PoseWithCovariance rviz/Range rviz/RelativeHumidity rviz/RobotModel rviz/TF rviz/Temperature rviz/WrenchStamped rviz_plugin_tutorials/Imu [ WARN] [1680060657.642496705, 2167.373000000]: /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=200). /rtabmap/rtabmap subscribed to (approx sync): /vins_estimator/odometry \ /realsense/depth_camera/color/image_raw \ /realsense/depth_camera/depth/image_raw \ /realsense/depth_camera/color/camera_info [ WARN] [1680060662.645575772, 2172.373000000]: /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=200). /rtabmap/rtabmap subscribed to (approx sync): /vins_estimator/odometry \ /realsense/depth_camera/color/image_raw \ /realsense/depth_camera/depth/image_raw \ /realsense/depth_camera/color/camera_info [ WARN] [1680060667.648368084, 2177.373000000]: /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=200). /rtabmap/rtabmap subscribed to (approx sync): /vins_estimator/odometry \ /realsense/depth_camera/color/image_raw \ /realsense/depth_camera/depth/image_raw \ /realsense/depth_camera/color/camera_info [ WARN] [1680060672.650552289, 2182.373000000]: /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=200). /rtabmap/rtabmap subscribed to (approx sync): /vins_estimator/odometry \ /realsense/depth_camera/color/image_raw \ /realsense/depth_camera/depth/image_raw \ /realsense/depth_camera/color/camera_info [ WARN] [1680060677.653516938, 2187.373000000]: /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=200). /rtabmap/rtabmap subscribed to (approx sync): /vins_estimator/odometry \ /realsense/depth_camera/color/image_raw \ /realsense/depth_camera/depth/image_raw \ /realsense/depth_camera/color/camera_info [ WARN] [16

Randall-W commented 10 months ago

启动仿真程序的地方不对，直接cd到~/XTDrone/sitl_config/launch，然后roslaunch indoor1.launch (对应的仿真文件) 直接roslaunch px4 indoor1.launch 就一直只有双目的信息没有rgbd信息