Error on rtabmap_viz launching default launch files.

[mattiadutto]

Platform:

• OS: Ubuntu 22.04
• ROS2: Humble
• RTAMAMP: 0.21.9-1jammy.20241205.203533
• Used sensor: Velodyne Puck VLP-16

I have a bag recorded with a Velodyne Puck. I tried to launch multiple files:

• lidar3d.launch.py
• rtabmap.launch.py

But in both cases, I have the issue that rtabmap_viz is crushing, here is the error:

[rtabmap_viz-3] [INFO] [1737913161.711884529] [rtabmap.rtabmap_viz]: rtabmap_viz: Using configuration from "/home/mattia/.ros/rtabmapGUI.ini"
[rtabmap_viz-3] libpng warning: iCCP: known incorrect sRGB profile
[rtabmap_viz-3] libpng warning: iCCP: known incorrect sRGB profile
[rtabmap_viz-3] libpng warning: iCCP: known incorrect sRGB profile
[rtabmap_viz-3] [WARN] [1737913162.561300405] [rcl.logging_rosout]: Publisher already registered for provided node name. \
If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. \
As  soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from \
being published on the rosout topic.
[rtabmap_viz-3] [INFO] [1737913162.562601441] [rtabmap.rtabmap_viz]: Reading parameters from the ROS server...
[rtabmap_viz-3] [INFO] [1737913162.611245523] [rtabmap.rtabmap_viz]: Parameters read = 383
[rtabmap_viz-3] [INFO] [1737913162.611310782] [rtabmap.rtabmap_viz]: Parameters successfully read.
[rtabmap_viz-3] terminate called after throwing an instance of 'rclcpp::exceptions::InvalidParameterTypeException'
[rtabmap_viz-3]   what():  parameter 'wait_for_transform' has invalid type: Wrong parameter type, parameter {wait_for_transform} \
is of type {double}, setting it to {string} is not allowed.
[ERROR] [rtabmap_viz-3]: process has died [pid 15937, exit code -6, cmd '/opt/ros/humble/lib/rtabmap_viz/rtabmap_viz \
~/.ros/rtabmap_gui.ini --ros-args --log-level rtabmap.rtabmap_viz:=info --log-level rtabmap_viz:=info --ros-args -r __node:=rtabmap_viz \
-r __ns:=/rtabmap -p use_sim_time:=False --params-file /tmp/launch_params_1ysp2552 -r rgb/image:=/camera/rgb/image_rect_color \
-r depth/image:=/camera/depth_registered/image_raw -r rgb/camera_info:=/camera/rgb/camera_info -r rgbd_image:=rgbd_image_relay \
-r left/image_rect:=/stereo_camera/left/image_rect_color -r right/image_rect:=/stereo_camera/right/image_rect -r \
left/camera_info:=/stereo_camera/left/camera_info -r right/camera_info:=/stereo_camera/right/camera_info -r scan:=/scan -r \
scan_cloud:=/scan_cloud -r odom:=odom'].

Thanks for any suggestions.

[matlabbe]

You may check this answer if it can help: https://github.com/introlab/rtabmap_ros/issues/670#issuecomment-980531111