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snt-spacer / rtabmap_livox

ROS 2 package to launch RTAB-Map with the Leo Rover simulation of SpaceR using a 3D LiDAR.
BSD 3-Clause "New" or "Revised" License
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RTAB-Map Visualization Issue with Livox LiDAR #1

Open Hezhexi2002 opened 1 month ago

Hezhexi2002 commented 1 month ago

I'm having an issue with RTAB-Map visualization when using the Livox LiDAR. After launching the Livox driver and then running the rtabmap_livox.launch.py package, the RTAB-Map RViz visualization does not display any map. Additionally, I'm receiving the following warnings in the terminal:

[rtabmap-3] [WARN] [1715096732.958434813] [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). Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
[rtabmap-3] rtabmap subscribed to (exact sync):
[rtabmap-3]    /odom \
[rtabmap-3]    /assembled_cloud
[rtabmap_viz-4] [WARN] [1715096733.058976163] [rtabmap_viz]: rtabmap_viz: 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). Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
[rtabmap_viz-4] rtabmap_viz subscribed to (exact sync):
[rtabmap_viz-4]    /odom_filtered_input_scan \
[rtabmap_viz-4]    /odom_info

I've attached a screenshot of my current RQT Graph for reference. rosgraph my current RQT Graph looks normal, as shown in the attached screenshot. I'm wondering if I need to run any additional algorithms to provide odometry information before launching this package. Could you please help me understand if any additional setup or configuration is required before running the rtabmap_livox.launch.py package with the Livox LiDAR? Any assistance would be greatly appreciated.

Joao8bit commented 1 month ago

Hi! I'm a student doing part-time with the snt-spacer group, I found the same issue by following the README file, but found the solution. The problem is that the LeoRover model from the README refers to the official one, which does not include the Livox Lidar component, please refer to the leo-common-ros2 snt-spacer repository instead to get the correct leo_description. (Here: https://github.com/snt-spacer/leo_common-ros2.git)