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stereolabs / zed-ros-wrapper

ROS wrapper for the ZED SDK
https://www.stereolabs.com/docs/ros/
MIT License
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rtabmap won't work on Jetson with zed-ros wrapper #600

Closed AndreV84 closed 4 years ago

AndreV84 commented 4 years ago

https://github.com/stereolabs/zed-docker/issues/24#issue-665892129 https://github.com/stereolabs/zed-docker/issues/22#issuecomment-664062182

Originally posted by @AndreV84 in https://github.com/stereolabs/zed-ros-wrapper/issues/559#issuecomment-664432361

AndreV84 commented 4 years ago

with the updated Dockerfile that uses 3.2.,1 sdk it seems to run but still warnings; Shall the launchfile be adjusated for use with zed2 camera? with zed mini? Dockerfile.txt

AndreV84 commented 4 years ago

running with docker run -it --rm --net=host -e DISPLAY=$DISPLAY --ipc=host --privileged -v /tmp/.X11-unix/:/tmp/.X11-unix/ -v /tmp/argus_socket:/tmp/argus_socket --cap-add SYS_PTRACE zed:latest /bin/bash -c '. /opt/ros/melodic/setup.bash; source devel/setup.bash; roslaunch zed_rtabmap_example zed_rtabmap.launch' The output is:

 docker run -it --rm --net=host   -e DISPLAY=$DISPLAY --ipc=host --privileged -v /tmp/.X11-unix/:/tmp/.X11-unix/ -v /tmp/argus_socket:/tmp/argus_socket --cap-add SYS_PTRACE zed:latest /bin/bash -c '.  /opt/ros/melodic/setup.bash; source devel/setup.bash; roslaunch zed_rtabmap_example zed_rtabmap.launch'
... logging to /root/.ros/log/0be83062-d021-11ea-9268-d6aad4984c45/roslaunch-jetson-agx001-54.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://jetson-agx001:40573/

SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.6
 * /zed/rtabmap/Grid/3D: True
 * /zed/rtabmap/Grid/CellSize: 0.05
 * /zed/rtabmap/Grid/ClusterRadius: 0.1
 * /zed/rtabmap/Grid/DepthDecimation: 1
 * /zed/rtabmap/Grid/DepthRoiRatios: [0.0, 0.0, 0.0, 0.0]
 * /zed/rtabmap/Grid/FlatObstacleDetected: True
 * /zed/rtabmap/Grid/FootprintHeight: 2.0
 * /zed/rtabmap/Grid/FootprintLength: 0.18
 * /zed/rtabmap/Grid/FootprintWidth: 0.18
 * /zed/rtabmap/Grid/FromDepth: True
 * /zed/rtabmap/Grid/GroundIsObstacle: False
 * /zed/rtabmap/Grid/MapFrameProjection: False
 * /zed/rtabmap/Grid/MaxGroundAngle: 30.0
 * /zed/rtabmap/Grid/MaxGroundHeight: -0.4
 * /zed/rtabmap/Grid/MaxObstacleHeight: 0.1
 * /zed/rtabmap/Grid/MinClusterSize: 3
 * /zed/rtabmap/Grid/MinGroundHeight: -0.5
 * /zed/rtabmap/Grid/NoiseFilteringMinNeighbors: 5
 * /zed/rtabmap/Grid/NoiseFilteringRadius: 0.1
 * /zed/rtabmap/Grid/NormalK: 20
 * /zed/rtabmap/Grid/NormalsSegmentation: False
 * /zed/rtabmap/Grid/PreVoxelFiltering: True
 * /zed/rtabmap/Grid/RangeMax: 3.0
 * /zed/rtabmap/Grid/RangeMin: 0.7
 * /zed/rtabmap/Grid/RayTracing: True
 * /zed/rtabmap/GridGlobal/Eroded: False
 * /zed/rtabmap/GridGlobal/FootprintRadius: 0.18
 * /zed/rtabmap/GridGlobal/FullUpdate: True
 * /zed/rtabmap/GridGlobal/MaxNodes: 0
 * /zed/rtabmap/GridGlobal/MinSize: 1.0
 * /zed/rtabmap/GridGlobal/OccupancyThr: 0.55
 * /zed/rtabmap/GridGlobal/ProbClampingMax: 0.971
 * /zed/rtabmap/GridGlobal/ProbClampingMin: 0.1192
 * /zed/rtabmap/GridGlobal/ProbHit: 0.7
 * /zed/rtabmap/GridGlobal/ProbMiss: 0.4
 * /zed/rtabmap/GridGlobal/UpdateError: 0.01
 * /zed/rtabmap/Mem/IncrementalMemory: true
 * /zed/rtabmap/Mem/InitWMWithAllNodes: false
 * /zed/rtabmap/approx_sync: True
 * /zed/rtabmap/config_path: ~/.ros/rtabmap.cfg
 * /zed/rtabmap/database_path: ~/.ros/rtabmap.db
 * /zed/rtabmap/frame_id: base_link
 * /zed/rtabmap/map_frame_id: map
 * /zed/rtabmap/odom_frame_id: odom
 * /zed/rtabmap/odom_sensor_sync: False
 * /zed/rtabmap/odom_tf_angular_variance: 0.001
 * /zed/rtabmap/odom_tf_linear_variance: 0.001
 * /zed/rtabmap/publish_tf: False
 * /zed/rtabmap/queue_size: 10
 * /zed/rtabmap/scan_normal_k: 0
 * /zed/rtabmap/subscribe_depth: True
 * /zed/rtabmap/subscribe_odom_info: False
 * /zed/rtabmap/subscribe_rgbd: False
 * /zed/rtabmap/subscribe_scan: False
 * /zed/rtabmap/subscribe_scan_cloud: False
 * /zed/rtabmap/subscribe_stereo: False
 * /zed/rtabmap/subscribe_user_data: False
 * /zed/rtabmap/tf_delay: 0.02
 * /zed/rtabmap/wait_for_transform_duration: 0.2
 * /zed/zed_description: <?xml version="1....
 * /zed/zed_node/auto_exposure_gain: True
 * /zed/zed_node/auto_whitebalance: True
 * /zed/zed_node/brightness: 4
 * /zed/zed_node/contrast: 4
 * /zed/zed_node/depth/depth_downsample_factor: 1.0
 * /zed/zed_node/depth/depth_stabilization: 1
 * /zed/zed_node/depth/max_depth: 20.0
 * /zed/zed_node/depth/min_depth: 0.7
 * /zed/zed_node/depth/openni_depth_mode: True
 * /zed/zed_node/depth/quality: 1
 * /zed/zed_node/depth/sensing_mode: 0
 * /zed/zed_node/depth_confidence: 50
 * /zed/zed_node/depth_texture_conf: 100
 * /zed/zed_node/exposure: 100
 * /zed/zed_node/gain: 100
 * /zed/zed_node/gamma: 8
 * /zed/zed_node/general/base_frame: base_link
 * /zed/zed_node/general/camera_flip: False
 * /zed/zed_node/general/camera_model: zed2
 * /zed/zed_node/general/camera_name: zed
 * /zed/zed_node/general/gpu_id: -1
 * /zed/zed_node/general/grab_frame_rate: 15
 * /zed/zed_node/general/resolution: 2
 * /zed/zed_node/general/self_calib: True
 * /zed/zed_node/general/serial_number: 0
 * /zed/zed_node/general/svo_compression: 2
 * /zed/zed_node/general/verbose: False
 * /zed/zed_node/general/zed_id: 0
 * /zed/zed_node/hue: 0
 * /zed/zed_node/mapping/fused_pointcloud_freq: 1.0
 * /zed/zed_node/mapping/mapping_enabled: False
 * /zed/zed_node/mapping/max_mapping_range: -1
 * /zed/zed_node/mapping/resolution: 0.05
 * /zed/zed_node/object_detection/confidence_threshold: 50
 * /zed/zed_node/object_detection/object_tracking_enabled: True
 * /zed/zed_node/object_detection/od_enabled: False
 * /zed/zed_node/object_detection/people_detection: True
 * /zed/zed_node/object_detection/vehicle_detection: False
 * /zed/zed_node/point_cloud_freq: 15.0
 * /zed/zed_node/pos_tracking/area_memory: True
 * /zed/zed_node/pos_tracking/area_memory_db_path: 
 * /zed/zed_node/pos_tracking/fixed_z_value: 0.0
 * /zed/zed_node/pos_tracking/floor_alignment: False
 * /zed/zed_node/pos_tracking/imu_fusion: True
 * /zed/zed_node/pos_tracking/init_odom_with_first_valid_pose: True
 * /zed/zed_node/pos_tracking/initial_base_pose: [0.0, 0.0, 0.0, 0...
 * /zed/zed_node/pos_tracking/map_frame: map
 * /zed/zed_node/pos_tracking/odometry_frame: odom
 * /zed/zed_node/pos_tracking/path_max_count: -1
 * /zed/zed_node/pos_tracking/path_pub_rate: 2.0
 * /zed/zed_node/pos_tracking/publish_map_tf: True
 * /zed/zed_node/pos_tracking/publish_tf: True
 * /zed/zed_node/pos_tracking/two_d_mode: False
 * /zed/zed_node/pub_frame_rate: 15.0
 * /zed/zed_node/saturation: 4
 * /zed/zed_node/sensors/sensors_timestamp_sync: False
 * /zed/zed_node/sharpness: 4
 * /zed/zed_node/stream: 
 * /zed/zed_node/svo_file: 
 * /zed/zed_node/video/extrinsic_in_camera_frame: True
 * /zed/zed_node/video/img_downsample_factor: 1.0
 * /zed/zed_node/whitebalance_temperature: 42

NODES
  /zed/
    rtabmap (rtabmap_ros/rtabmap)
    rtabmapviz (rtabmap_ros/rtabmapviz)
    rviz (rviz/rviz)
    zed_node (zed_wrapper/zed_wrapper_node)
    zed_state_publisher (robot_state_publisher/robot_state_publisher)

auto-starting new master
process[master]: started with pid [67]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 0be83062-d021-11ea-9268-d6aad4984c45
process[rosout-1]: started with pid [78]
started core service [/rosout]
process[zed/zed_state_publisher-2]: started with pid [85]
process[zed/zed_node-3]: started with pid [86]
[ INFO] [1595865097.888253206]: Initializing nodelet with 8 worker threads.
[ERROR] [1595865097.922212026]: Failed to load nodelet [/zed/zed_node] of type [zed_nodelets/ZEDWrapperNodelet] even after refreshing the cache: Failed to load library /home/nvidia/ros_ws/devel/lib//libZEDNodelets.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = libcuda.so.1: cannot open shared object file: No such file or directory)
[ERROR] [1595865097.922355616]: The error before refreshing the cache was: Failed to load library /home/nvidia/ros_ws/devel/lib//libZEDNodelets.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = libcuda.so.1: cannot open shared object file: No such file or directory)
process[zed/rtabmapviz-4]: started with pid [93]
process[zed/rtabmap-5]: started with pid [109]
[ INFO] [1595865099.014172627]: Starting node...
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
qt.qpa.screen: QXcbConnection: Could not connect to display 
Could not connect to any X display.
process[zed/rviz-6]: started with pid [110]
[zed/rtabmapviz-4] process has died [pid 93, exit code 1, cmd /opt/ros/melodic/lib/rtabmap_ros/rtabmapviz rgb/image:=zed_node/rgb/image_rect_color depth/image:=zed_node/depth/depth_registered rgb/camera_info:=zed_node/rgb/camera_info grid_map:=map odom:=zed_node/odom __name:=rtabmapviz __log:=/root/.ros/log/0be83062-d021-11ea-9268-d6aad4984c45/zed-rtabmapviz-4.log].
log file: /root/.ros/log/0be83062-d021-11ea-9268-d6aad4984c45/zed-rtabmapviz-4*.log
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
qt.qpa.screen: QXcbConnection: Could not connect to display 
Could not connect to any X display.
[zed/rviz-6] process has died [pid 110, exit code 1, cmd /opt/ros/melodic/lib/rviz/rviz -d /home/nvidia/ros_ws/src/zed-ros-examples/examples/zed_rtabmap_example/rviz/zed-rtabmap.rviz __name:=rviz __log:=/root/.ros/log/0be83062-d021-11ea-9268-d6aad4984c45/zed-rviz-6.log].
log file: /root/.ros/log/0be83062-d021-11ea-9268-d6aad4984c45/zed-rviz-6*.log
[ INFO] [1595865099.254237964]: Starting node...
[ INFO] [1595865099.317389953]: Initializing nodelet with 8 worker threads.
[ INFO] [1595865099.684399772]: /zed/rtabmap(maps): map_filter_radius          = 0.000000
[ INFO] [1595865099.685019795]: /zed/rtabmap(maps): map_filter_angle           = 30.000000
[ INFO] [1595865099.685133527]: /zed/rtabmap(maps): map_cleanup                = true
[ INFO] [1595865099.685183897]: /zed/rtabmap(maps): map_always_update          = false
[ INFO] [1595865099.685236187]: /zed/rtabmap(maps): map_empty_ray_tracing      = true
[ INFO] [1595865099.685274685]: /zed/rtabmap(maps): cloud_output_voxelized     = true
[ INFO] [1595865099.685311934]: /zed/rtabmap(maps): cloud_subtract_filtering   = false
[ INFO] [1595865099.685349439]: /zed/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1595865099.690030545]: /zed/rtabmap(maps): octomap_tree_depth         = 16
[ INFO] [1595865099.734549765]: rtabmap: frame_id      = base_link
[ INFO] [1595865099.734709291]: rtabmap: odom_frame_id = odom
[ INFO] [1595865099.734849840]: rtabmap: map_frame_id  = map
[ INFO] [1595865099.734916434]: rtabmap: use_action_for_goal  = false
[ INFO] [1595865099.734980405]: rtabmap: tf_delay      = 0.020000
[ INFO] [1595865099.735058104]: rtabmap: tf_tolerance  = 0.100000
[ INFO] [1595865099.735121018]: rtabmap: odom_sensor_sync   = false
[ INFO] [1595865099.764869023]: Loading parameters from /root/.ros/rtabmap.cfg
[ WARN] [1595865099.765135978]: Config file doesn't exist! It will be generated...
[ WARN] (2020-07-27 15:51:39.765) Parameters.cpp:1113::readINI() Section "Core" in /root/.ros/rtabmap.cfg doesn't exist... Ignore this warning if the ini file does not exist yet. The ini file will be automatically created when rtabmap will close.
[ INFO] [1595865099.834138268]: Setting RTAB-Map parameter "Grid/3D"="true"
[ INFO] [1595865099.835854653]: Setting RTAB-Map parameter "Grid/CellSize"="0.05"
[ INFO] [1595865099.837495131]: Setting RTAB-Map parameter "Grid/ClusterRadius"="0.1"
[ INFO] [1595865099.839074166]: Setting RTAB-Map parameter "Grid/DepthDecimation"="1"
[ INFO] [1595865099.842614620]: Setting RTAB-Map parameter "Grid/FlatObstacleDetected"="true"
[ INFO] [1595865099.844417248]: Setting RTAB-Map parameter "Grid/FootprintHeight"="2"
[ INFO] [1595865099.846071839]: Setting RTAB-Map parameter "Grid/FootprintLength"="0.18"
[ INFO] [1595865099.847695676]: Setting RTAB-Map parameter "Grid/FootprintWidth"="0.18"
[ INFO] [1595865099.848744452]: Setting RTAB-Map parameter "Grid/FromDepth"="true"
[ INFO] [1595865099.849749034]: Setting RTAB-Map parameter "Grid/GroundIsObstacle"="false"
[ INFO] [1595865099.850948215]: Setting RTAB-Map parameter "Grid/MapFrameProjection"="false"
[ INFO] [1595865099.852586901]: Setting RTAB-Map parameter "Grid/MaxGroundAngle"="30"
[ INFO] [1595865099.854298934]: Setting RTAB-Map parameter "Grid/MaxGroundHeight"="-0.4"
[ INFO] [1595865099.855849361]: Setting RTAB-Map parameter "Grid/MaxObstacleHeight"="0.1"
[ INFO] [1595865099.857509424]: Setting RTAB-Map parameter "Grid/MinClusterSize"="3"
[ INFO] [1595865099.860150964]: Setting RTAB-Map parameter "Grid/MinGroundHeight"="-0.5"
[ INFO] [1595865099.862420137]: Setting RTAB-Map parameter "Grid/NoiseFilteringMinNeighbors"="5"
[ INFO] [1595865099.864358003]: Setting RTAB-Map parameter "Grid/NoiseFilteringRadius"="0.1"
[ INFO] [1595865099.866474211]: Setting RTAB-Map parameter "Grid/NormalK"="20"
[ INFO] [1595865099.867742003]: Setting RTAB-Map parameter "Grid/NormalsSegmentation"="false"
[ INFO] [1595865099.868839836]: Setting RTAB-Map parameter "Grid/PreVoxelFiltering"="true"
[ INFO] [1595865099.870588158]: Setting RTAB-Map parameter "Grid/RangeMax"="3"
[ INFO] [1595865099.872497735]: Setting RTAB-Map parameter "Grid/RangeMin"="0.7"
[ INFO] [1595865099.873705460]: Setting RTAB-Map parameter "Grid/RayTracing"="true"
[ INFO] [1595865099.878768340]: Setting RTAB-Map parameter "GridGlobal/Eroded"="false"
[ INFO] [1595865099.880544855]: Setting RTAB-Map parameter "GridGlobal/FootprintRadius"="0.18"
[ INFO] [1595865099.881662913]: Setting RTAB-Map parameter "GridGlobal/FullUpdate"="true"
[ INFO] [1595865099.883086519]: Setting RTAB-Map parameter "GridGlobal/MaxNodes"="0"
[ INFO] [1595865099.884673939]: Setting RTAB-Map parameter "GridGlobal/MinSize"="1"
[ INFO] [1595865099.886523129]: Setting RTAB-Map parameter "GridGlobal/OccupancyThr"="0.55"
[ INFO] [1595865099.888192664]: Setting RTAB-Map parameter "GridGlobal/ProbClampingMax"="0.971"
[ INFO] [1595865099.889754035]: Setting RTAB-Map parameter "GridGlobal/ProbClampingMin"="0.1192"
[ INFO] [1595865099.891480789]: Setting RTAB-Map parameter "GridGlobal/ProbHit"="0.7"
[ INFO] [1595865099.893371292]: Setting RTAB-Map parameter "GridGlobal/ProbMiss"="0.4"
[ INFO] [1595865099.895203490]: Setting RTAB-Map parameter "GridGlobal/UpdateError"="0.01"
[ INFO] [1595865100.057624289]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1595865100.058377982]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[ INFO] [1595865101.001410069]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1595865101.001671135]: rtabmap: Using database from "/root/.ros/rtabmap.db" (0 MB).
[ INFO] [1595865101.195918963]: rtabmap: Database version = "0.19.3".
[ INFO] [1595865101.231233995]: /zed/rtabmap: subscribe_depth = true
[ INFO] [1595865101.231392945]: /zed/rtabmap: subscribe_rgb = true
[ INFO] [1595865101.231537654]: /zed/rtabmap: subscribe_stereo = false
[ INFO] [1595865101.231603385]: /zed/rtabmap: subscribe_rgbd = false (rgbd_cameras=1)
[ INFO] [1595865101.231660155]: /zed/rtabmap: subscribe_odom_info = false
[ INFO] [1595865101.231698172]: /zed/rtabmap: subscribe_user_data = false
[ INFO] [1595865101.231792096]: /zed/rtabmap: subscribe_scan = false
[ INFO] [1595865101.231873091]: /zed/rtabmap: subscribe_scan_cloud = false
[ INFO] [1595865101.231916773]: /zed/rtabmap: queue_size    = 10
[ INFO] [1595865101.231952102]: /zed/rtabmap: approx_sync   = true
[ INFO] [1595865101.232073195]: Setup depth callback
[ INFO] [1595865101.255059056]: 
/zed/rtabmap subscribed to (approx sync):
   /zed/zed_node/rgb/image_rect_color,
   /zed/zed_node/depth/depth_registered,
   /zed/zed_node/rgb/camera_info
[ INFO] [1595865101.270145259]: rtabmap 0.19.3 started...
[ WARN] [1595865106.255391624]: /zed/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).
/zed/rtabmap subscribed to (approx sync):
   /zed/zed_node/rgb/image_rect_color,
   /zed/zed_node/depth/depth_registered,
   /zed/zed_node/rgb/camera_info
[ WARN] [1595865111.255893413]: /zed/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).
/zed/rtabmap subscribed to (approx sync):
   /zed/zed_node/rgb/image_rect_color,
   /zed/zed_node/depth/depth_registered,
   /zed/zed_node/rgb/camera_info
[ WARN] [1595865116.256836882]: /zed/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).
/zed/rtabmap subscribed to (approx sync):
   /zed/zed_node/rgb/image_rect_color,
   /zed/zed_node/depth/depth_registered,
   /zed/zed_node/rgb/camera_info
[ WARN] [1595865121.257246474]: /zed/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).
/zed/rtabmap subscribed to (approx sync):
   /zed/zed_node/rgb/image_rect_color,
   /zed/zed_node/depth/depth_registered,
   /zed/zed_node/rgb/camera_info
[ WARN] [1595865126.258732169]: /zed/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).
/zed/rtabmap subscribed to (approx sync):
   /zed/zed_node/rgb/image_rect_color,
   /zed/zed_node/depth/depth_registered,
   /zed/zed_node/rgb/camera_info
[ WARN] [1595865131.259896987]: /zed/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).
/zed/rtabmap subscribed to (approx sync):
   /zed/zed_node/rgb/image_rect_color,
   /zed/zed_node/depth/depth_registered,
   /zed/zed_node/rgb/camera_info
[ WARN] [1595865136.260231884]: /zed/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).
/zed/rtabmap subscribed to (approx sync):
   /zed/zed_node/rgb/image_rect_color,
   /zed/zed_node/depth/depth_registered,
   /zed/zed_node/rgb/camera_info
[ WARN] [1595865141.261341593]: /zed/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).
/zed/rtabmap subscribed to (approx sync):
   /zed/zed_node/rgb/image_rect_color,
   /zed/zed_node/depth/depth_registered,
   /zed/zed_node/rgb/camera_info
[ WARN] [1595865146.261966900]: /zed/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).
/zed/rtabmap subscribed to (approx sync):
   /zed/zed_node/rgb/image_rect_color,
   /zed/zed_node/depth/depth_registered,
   /zed/zed_node/rgb/camera_info
[ WARN] [1595865151.262869271]: /zed/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).
/zed/rtabmap subscribed to (approx sync):
   /zed/zed_node/rgb/image_rect_color,
   /zed/zed_node/depth/depth_registered,
   /zed/zed_node/rgb/camera_info
[ WARN] [1595865156.263264166]: /zed/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).
/zed/rtabmap subscribed to (approx sync):
   /zed/zed_node/rgb/image_rect_color,
   /zed/zed_node/depth/depth_registered,
   /zed/zed_node/rgb/camera_info
Myzhar commented 4 years ago

@AndreV84 can you please update the ticket or close it if you found a solution?

AndreV84 commented 4 years ago

@Myzhar Thank you for following up. In my case complication was that database viewer won't draw 3dmap.