VINS-Fusion+RTABMap的三维稠密重建rviz中没有深度图数据

[uestyhox1]

如下图，我将launch文件中的iris_stereo_camera换成iris_realsense_camera后， 在跑vio是可以的但是这里就找不到图像了。 然后终端部分是：

[ERROR] [1680057241.818750807, 2898.005000000]: 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] [1680057247.084207416, 2902.805000000]: /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] [1680057252.545337181, 2907.805000000]: /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] [1680057258.070917557, 2912.805000000]: /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] [1680057263.555420596, 2917.805000000]: /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] [1680057269.050886101, 2922.805000000]: /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] [1680057274.540516339, 2927.805000000]: /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).

[2874160799]

你好，我也是这中问题，rviz中没有点云，请问你知道问题的原因了吗？