Unable get frame in rtabmap with Intel Realsense D457.

Open tirthankarhalder opened this issue 7 months ago • 1 comments

I am setting up RTABMap with Intel RealSense D457. The camera is starting, but frames are not showing in rtabmapviz.

Os distribution: Linux tirtha-Predator-PH315-51 6.11.0-24-generic #24~24.04.1-Ubuntu SMP PREEMPT_DYNAMIC Tue Mar 25 20:14:34 UTC 2 x86_64 x86_64 x86_64 GNU/Linux

Ros Distribution : ROS Jazzy

Other dependencies : LibRealSense v2.56.3 RealSense ROS v4.55.1

D457 Firmware : 5.16.0.1

when I run ros2 launch rtabmap_examples realsense_d400.launch.py

my launch file look :

import os

from ament_index_python.packages import get_package_share_directory

from launch import LaunchDescription
from launch_ros.actions import Node, SetParameter
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource

def generate_launch_description():
    parameters=[{
          'frame_id':'camera_link',
          'subscribe_depth':True,
          'subscribe_odom_info':True,
          'approx_sync':False}]

    remappings=[
          ('rgb/image', '/camera/color/image_raw'),
          ('rgb/camera_info', '/camera/color/camera_info'),
          ('depth/image', '/camera/aligned_depth_to_color/image_raw')]

    return LaunchDescription([

        # Make sure IR emitter is enabled
        SetParameter(name='depth_module.emitter_enabled', value=1),

        # Launch camera driver
        IncludeLaunchDescription(
            PythonLaunchDescriptionSource([os.path.join(
                get_package_share_directory('realsense2_camera'), 'launch'),
                '/rs_launch.py']),
                launch_arguments={'align_depth.enable': 'true',
                                  'rgb_camera.profile': '640x360x30'}.items(),
        ),

        Node(
            package='rtabmap_odom', executable='rgbd_odometry', output='screen',
            parameters=parameters,
            remappings=remappings),

        Node(
            package='rtabmap_slam', executable='rtabmap', output='screen',
            parameters=parameters,
            remappings=remappings,
            arguments=['-d']),

        Node(
            package='rtabmap_viz', executable='rtabmap_viz', output='screen',
            parameters=parameters,
            remappings=remappings),
    ])

I am getting three warning: [rtabmap_viz-4] [WARN] [1745588034.653848243] [rtabmap_viz]: rtabmap_viz: Did not receive data since 5 seconds! Make sure the input topics are published ("$ ros2 topic 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"). Ajusting topic_queue_size (10) and sync_queue_size (10) can also help for better synchronization if framerates and/or delays are different. 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 \ [rtabmap_viz-4] /camera/color/image_raw \ [rtabmap_viz-4] /camera/aligned_depth_to_color/image_raw \ [rtabmap_viz-4] /camera/color/camera_info \ [rtabmap_viz-4] /odom_info

and

[rgbd_odometry-2] [WARN] [1745588037.473438857] [rgbd_odometry]: rgbd_odometry: 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. Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called. [rgbd_odometry-2] rgbd_odometry subscribed to (exact sync, topic_queue_size=10, sync_queue_size=5): [rgbd_odometry-2] /camera/color/image_raw, [rgbd_odometry-2] /camera/aligned_depth_to_color/image_raw, [rgbd_odometry-2] /camera/color/camera_info

and

[rtabmap-3] [WARN] [1745588037.633895165] [rtabmap]: rtabmap: Did not receive data since 5 seconds! Make sure the input topics are published ("$ ros2 topic 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"). Ajusting topic_queue_size (10) and sync_queue_size (10) can also help for better synchronization if framerates and/or delays are different. 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] /camera/color/image_raw \ [rtabmap-3] /camera/aligned_depth_to_color/image_raw \ [rtabmap-3] /camera/color/camera_info \ [rtabmap-3] /odom_info

Initialization Output :

INFO] [launch]: All log files can be found below /home/tirtha/.ros/log/2025-04-28-23-56-30-193196-tirtha-Predator-PH315-51-30042
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [realsense2_camera_node-1]: process started with pid [30045]
[INFO] [rgbd_odometry-2]: process started with pid [30046]
[INFO] [rtabmap-3]: process started with pid [30047]
[INFO] [rtabmap_viz-4]: process started with pid [30048]
[realsense2_camera_node-1] [INFO] [1745864790.636224283] [camera.camera]: RealSense ROS v4.56.3
[realsense2_camera_node-1] [INFO] [1745864790.636317510] [camera.camera]: Built with LibRealSense v2.56.3
[realsense2_camera_node-1] [INFO] [1745864790.636335511] [camera.camera]: Running with LibRealSense v2.56.3
[realsense2_camera_node-1] [INFO] [1745864790.656631438] [camera.camera]: Device with serial number 234322307380 was found.
[realsense2_camera_node-1] 
[realsense2_camera_node-1] [INFO] [1745864790.656680976] [camera.camera]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1:1.0/video4linux/video2 was found.
[realsense2_camera_node-1] [INFO] [1745864790.656696202] [camera.camera]: Device with name Intel RealSense D455 was found.
[realsense2_camera_node-1] [INFO] [1745864790.656885088] [camera.camera]: Device with port number 2-1 was found.
[realsense2_camera_node-1] [INFO] [1745864790.656900255] [camera.camera]: Device USB type: 3.2
[realsense2_camera_node-1] [INFO] [1745864790.657237954] [camera.camera]: getParameters...
[realsense2_camera_node-1] [INFO] [1745864790.657449045] [camera.camera]: JSON file is not provided
[realsense2_camera_node-1] [INFO] [1745864790.657463520] [camera.camera]: Device Name: Intel RealSense D455
[realsense2_camera_node-1] [INFO] [1745864790.657473170] [camera.camera]: Device Serial No: 234322307380
[realsense2_camera_node-1] [INFO] [1745864790.657481902] [camera.camera]: Device physical port: /sys/devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1:1.0/video4linux/video2
[realsense2_camera_node-1] [INFO] [1745864790.657492123] [camera.camera]: Device FW version: 5.16.0.1
[realsense2_camera_node-1] [INFO] [1745864790.657500756] [camera.camera]: Device Product ID: 0x0B5C
[realsense2_camera_node-1] [INFO] [1745864790.657508788] [camera.camera]: Sync Mode: Off
[rgbd_odometry-2] [INFO] [1745864790.747565925] [rgbd_odometry]: Odometry: frame_id               = camera_link
[rgbd_odometry-2] [INFO] [1745864790.747819519] [rgbd_odometry]: Odometry: odom_frame_id          = odom
[rgbd_odometry-2] [INFO] [1745864790.747833394] [rgbd_odometry]: Odometry: publish_tf             = true
[rgbd_odometry-2] [INFO] [1745864790.747845081] [rgbd_odometry]: Odometry: wait_for_transform     = 0.100000
[rgbd_odometry-2] [INFO] [1745864790.747855235] [rgbd_odometry]: Odometry: log_to_rosout_level    = 4
[rgbd_odometry-2] [INFO] [1745864790.747885140] [rgbd_odometry]: Odometry: initial_pose           = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000
[rgbd_odometry-2] [INFO] [1745864790.747896074] [rgbd_odometry]: Odometry: ground_truth_frame_id  = 
[rgbd_odometry-2] [INFO] [1745864790.747903722] [rgbd_odometry]: Odometry: ground_truth_base_frame_id = camera_link
[rgbd_odometry-2] [INFO] [1745864790.747910721] [rgbd_odometry]: Odometry: config_path            = 
[rgbd_odometry-2] [INFO] [1745864790.747917198] [rgbd_odometry]: Odometry: publish_null_when_lost = true
[rgbd_odometry-2] [INFO] [1745864790.747923600] [rgbd_odometry]: Odometry: publish_compressed_sensor_data = false
[rgbd_odometry-2] [INFO] [1745864790.747929757] [rgbd_odometry]: Odometry: guess_frame_id         = 
[rgbd_odometry-2] [INFO] [1745864790.747936128] [rgbd_odometry]: Odometry: guess_min_translation  = 0.000000
[rgbd_odometry-2] [INFO] [1745864790.747943647] [rgbd_odometry]: Odometry: guess_min_rotation     = 0.000000
[rgbd_odometry-2] [INFO] [1745864790.747951278] [rgbd_odometry]: Odometry: guess_min_time         = 0.000000
[rgbd_odometry-2] [INFO] [1745864790.747958448] [rgbd_odometry]: Odometry: expected_update_rate   = 0.000000 Hz
[rgbd_odometry-2] [INFO] [1745864790.747966220] [rgbd_odometry]: Odometry: max_update_rate        = 0.000000 Hz
[rgbd_odometry-2] [INFO] [1745864790.747974090] [rgbd_odometry]: Odometry: min_update_rate        = 0.000000 Hz
[rgbd_odometry-2] [INFO] [1745864790.747981672] [rgbd_odometry]: Odometry: wait_imu_to_init       = false
[rgbd_odometry-2] [INFO] [1745864790.747988466] [rgbd_odometry]: Odometry: always_check_imu_tf    = true
[rgbd_odometry-2] [INFO] [1745864790.747995260] [rgbd_odometry]: Odometry: sensor_data_compression_format = .jpg
[rgbd_odometry-2] [INFO] [1745864790.748001997] [rgbd_odometry]: Odometry: sensor_data_parallel_compression = true
[rgbd_odometry-2] [INFO] [1745864790.748019918] [rgbd_odometry]: Odometry: stereoParams_=0 visParams_=1 icpParams_=0
[rtabmap-3] [INFO] [1745864790.752214533] [rtabmap]: rtabmap(maps): latch                      = true
[rtabmap-3] [INFO] [1745864790.752522583] [rtabmap]: rtabmap(maps): map_filter_radius          = 0.000000
[rtabmap-3] [INFO] [1745864790.752539579] [rtabmap]: rtabmap(maps): map_filter_angle           = 30.000000
[rtabmap-3] [INFO] [1745864790.752553770] [rtabmap]: rtabmap(maps): map_cleanup                = true
[rtabmap-3] [INFO] [1745864790.752559874] [rtabmap]: rtabmap(maps): map_always_update          = false
[rtabmap-3] [INFO] [1745864790.752568500] [rtabmap]: rtabmap(maps): map_empty_ray_tracing      = true
[rtabmap-3] [INFO] [1745864790.752578279] [rtabmap]: rtabmap(maps): cloud_output_voxelized     = true
[rtabmap-3] [INFO] [1745864790.752588597] [rtabmap]: rtabmap(maps): cloud_subtract_filtering   = false
[rtabmap-3] [INFO] [1745864790.752595781] [rtabmap]: rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[rtabmap-3] [INFO] [1745864790.752635881] [rtabmap]: rtabmap(maps): octomap_tree_depth         = 16
[rgbd_odometry-2] [INFO] [1745864790.779828814] [rgbd_odometry]: RGBDOdometry: approx_sync    = false
[rgbd_odometry-2] [INFO] [1745864790.779857765] [rgbd_odometry]: RGBDOdometry: topic_queue_size = 10
[rgbd_odometry-2] [INFO] [1745864790.779865348] [rgbd_odometry]: RGBDOdometry: sync_queue_size  = 5
[rgbd_odometry-2] [INFO] [1745864790.779871358] [rgbd_odometry]: RGBDOdometry: qos             = 0
[rgbd_odometry-2] [INFO] [1745864790.779877330] [rgbd_odometry]: RGBDOdometry: qos_camera_info = 0
[rgbd_odometry-2] [INFO] [1745864790.779882981] [rgbd_odometry]: RGBDOdometry: subscribe_rgbd = false
[rgbd_odometry-2] [INFO] [1745864790.779889112] [rgbd_odometry]: RGBDOdometry: rgbd_cameras   = 1
[rgbd_odometry-2] [INFO] [1745864790.779894937] [rgbd_odometry]: RGBDOdometry: keep_color     = false
[realsense2_camera_node-1] [INFO] [1745864790.780000978] [camera.camera]: Set ROS param depth_module.depth_profile to default: 848x480x30
[realsense2_camera_node-1] [INFO] [1745864790.780780249] [camera.camera]: Set ROS param depth_module.infra_profile to default: 848x480x30
[rtabmap-3] [INFO] [1745864790.783284895] [rtabmap]: rtabmap: frame_id      = camera_link
[rtabmap-3] [INFO] [1745864790.783313443] [rtabmap]: rtabmap: map_frame_id  = map
[rtabmap-3] [INFO] [1745864790.783326669] [rtabmap]: rtabmap: log_to_rosout_level  = 4
[rtabmap-3] [INFO] [1745864790.783337495] [rtabmap]: rtabmap: initial_pose  = 
[rtabmap-3] [INFO] [1745864790.783348379] [rtabmap]: rtabmap: use_action_for_goal  = false
[rtabmap-3] [INFO] [1745864790.783355300] [rtabmap]: rtabmap: tf_delay      = 0.050000
[rtabmap-3] [INFO] [1745864790.783362948] [rtabmap]: rtabmap: tf_tolerance  = 0.100000
[rtabmap-3] [INFO] [1745864790.783369614] [rtabmap]: rtabmap: odom_sensor_sync   = false
[rtabmap-3] [INFO] [1745864790.783375476] [rtabmap]: rtabmap: pub_loc_pose_only_when_localizing = false
[rtabmap-3] [INFO] [1745864790.783381290] [rtabmap]: rtabmap: wait_for_transform = 0.200000
[rtabmap-3] [INFO] [1745864790.783391424] [rtabmap]: rtabmap: gen_scan  = false
[rtabmap-3] [INFO] [1745864790.783398823] [rtabmap]: rtabmap: gen_depth  = false
[rgbd_odometry-2] [INFO] [1745864790.786452912] [rgbd_odometry]: 
[rgbd_odometry-2] rgbd_odometry subscribed to (exact sync, topic_queue_size=10, sync_queue_size=5):
[rgbd_odometry-2]    /camera/color/image_raw,
[rgbd_odometry-2]    /camera/aligned_depth_to_color/image_raw,
[rgbd_odometry-2]    /camera/color/camera_info
[realsense2_camera_node-1] [INFO] [1745864790.792667378] [camera.camera]: Set ROS param rgb_camera.color_profile to default: 1280x720x30
[realsense2_camera_node-1] [INFO] [1745864790.794025557] [camera.camera]: Set ROS param gyro_fps to default: 200
[realsense2_camera_node-1] [INFO] [1745864790.794182646] [camera.camera]: Set ROS param accel_fps to default: 100
[realsense2_camera_node-1] [INFO] [1745864790.799676939] [camera.camera]: Stopping Sensor: Depth Module
[realsense2_camera_node-1] [INFO] [1745864790.799812571] [camera.camera]: Stopping Sensor: RGB Camera
[realsense2_camera_node-1] [INFO] [1745864790.808585629] [camera.camera]: Starting Sensor: Depth Module
[realsense2_camera_node-1] [INFO] [1745864790.811949751] [camera.camera]: Open profile: stream_type: Depth(0), Format: Z16, Width: 848, Height: 480, FPS: 30
[rtabmap-3] [INFO] [1745864790.831198898] [rtabmap]: RTAB-Map detection rate = 1.000000 Hz
[rtabmap-3] [INFO] [1745864790.832067930] [rtabmap]: rtabmap: Deleted database "/home/tirtha/.ros/rtabmap.db" (--delete_db_on_start or -d are set).
[rtabmap-3] [INFO] [1745864790.832112121] [rtabmap]: rtabmap: Using database from "/home/tirtha/.ros/rtabmap.db" (0 MB).
=true)
[rtabmap-3] [INFO] [1745864790.900959747] [rtabmap]: Setup callbacks
[rtabmap-3] [INFO] [1745864790.901088294] [rtabmap]: rtabmap: subscribe_depth = true
[rtabmap-3] [INFO] [1745864790.901106531] [rtabmap]: rtabmap: subscribe_rgb = true
[rtabmap-3] [INFO] [1745864790.901115899] [rtabmap]: rtabmap: subscribe_stereo = false
[rtabmap-3] [INFO] [1745864790.901123578] [rtabmap]: rtabmap: subscribe_rgbd = false (rgbd_cameras=1)
[rtabmap-3] [INFO] [1745864790.901131364] [rtabmap]: rtabmap: subscribe_sensor_data = false
[rtabmap-3] [INFO] [1745864790.901138680] [rtabmap]: rtabmap: subscribe_odom_info = true
[rtabmap-3] [INFO] [1745864790.901146082] [rtabmap]: rtabmap: subscribe_user_data = false
[rtabmap-3] [INFO] [1745864790.901153197] [rtabmap]: rtabmap: subscribe_scan = false
[rtabmap-3] [INFO] [1745864790.901160288] [rtabmap]: rtabmap: subscribe_scan_cloud = false
[rtabmap-3] [INFO] [1745864790.901167408] [rtabmap]: rtabmap: subscribe_scan_descriptor = false
[rtabmap-3] [INFO] [1745864790.901174767] [rtabmap]: rtabmap: topic_queue_size = 10
[rtabmap-3] [INFO] [1745864790.901182339] [rtabmap]: rtabmap: sync_queue_size  = 10
[rtabmap-3] [INFO] [1745864790.901189619] [rtabmap]: rtabmap: qos_image       = 0
[rtabmap-3] [INFO] [1745864790.901197331] [rtabmap]: rtabmap: qos_camera_info = 0
[rtabmap-3] [INFO] [1745864790.901204519] [rtabmap]: rtabmap: qos_scan        = 0
[rtabmap-3] [INFO] [1745864790.901211806] [rtabmap]: rtabmap: qos_odom        = 0
[rtabmap-3] [INFO] [1745864790.901218939] [rtabmap]: rtabmap: qos_user_data   = 0
[rtabmap-3] [INFO] [1745864790.901226062] [rtabmap]: rtabmap: approx_sync     = false
[rtabmap-3] [INFO] [1745864790.901236062] [rtabmap]: Setup depth callback
[rtabmap-3] [INFO] [1745864790.906694385] [rtabmap]: 
[rtabmap-3] rtabmap subscribed to (exact sync):
[rtabmap-3]    /odom \
[rtabmap-3]    /camera/color/image_raw \
[rtabmap-3]    /camera/aligned_depth_to_color/image_raw \
[rtabmap-3]    /camera/color/camera_info \
[rtabmap-3]    /odom_info
[realsense2_camera_node-1] [INFO] [1745864790.937865297] [camera.camera]: Starting Sensor: RGB Camera
[realsense2_camera_node-1] [INFO] [1745864790.942271607] [camera.camera]: Open profile: stream_type: Color(0), Format: RGB8, Width: 1280, Height: 720, FPS: 30
[realsense2_camera_node-1] [INFO] [1745864790.954608802] [camera.camera]: RealSense Node Is Up!
[rtabmap_viz-4] [INFO] [1745864791.052204134] [rtabmap_viz]: rtabmap_viz: Using configuration from "/home/tirtha/.ros/rtabmapGUI.ini"
[rtabmap_viz-4] libpng warning: iCCP: known incorrect sRGB profile
[rtabmap_viz-4] libpng warning: iCCP: known incorrect sRGB profile
[rtabmap_viz-4] libpng warning: iCCP: known incorrect sRGB profile
[realsense2_camera_node-1]  28/04 23:56:32,812 ERROR [140476099327680] (ds-options.cpp:93) Asic Temperature value is not valid!
[rtabmap_viz-4] [INFO] [1745864793.135706501] [rtabmap_viz]: Reading parameters from the ROS server...
[rtabmap_viz-4] [INFO] [1745864793.186098806] [rtabmap_viz]: Parameters read = 386
[rtabmap_viz-4] [INFO] [1745864793.186148410] [rtabmap_viz]: Parameters successfully read.
[rtabmap_viz-4] [INFO] [1745864793.538731938] [rtabmap_viz]: rtabmap_viz: subscribe_depth = true
[rtabmap_viz-4] [INFO] [1745864793.539140946] [rtabmap_viz]: rtabmap_viz: subscribe_rgb = false
[rtabmap_viz-4] [INFO] [1745864793.539184577] [rtabmap_viz]: rtabmap_viz: subscribe_stereo = false
[rtabmap_viz-4] [INFO] [1745864793.539214706] [rtabmap_viz]: rtabmap_viz: subscribe_rgbd = false (rgbd_cameras=1)
[rtabmap_viz-4] [INFO] [1745864793.539243778] [rtabmap_viz]: rtabmap_viz: subscribe_sensor_data = false
[rtabmap_viz-4] [INFO] [1745864793.539298272] [rtabmap_viz]: rtabmap_viz: subscribe_odom_info = true
[rtabmap_viz-4] [INFO] [1745864793.539327673] [rtabmap_viz]: rtabmap_viz: subscribe_user_data = false
[rtabmap_viz-4] [INFO] [1745864793.539354224] [rtabmap_viz]: rtabmap_viz: subscribe_scan = false
[rtabmap_viz-4] [INFO] [1745864793.539379046] [rtabmap_viz]: rtabmap_viz: subscribe_scan_cloud = false
[rtabmap_viz-4] [INFO] [1745864793.539404785] [rtabmap_viz]: rtabmap_viz: subscribe_scan_descriptor = false
[rtabmap_viz-4] [INFO] [1745864793.539465201] [rtabmap_viz]: rtabmap_viz: topic_queue_size = 10
[rtabmap_viz-4] [INFO] [1745864793.539496003] [rtabmap_viz]: rtabmap_viz: sync_queue_size  = 10
[rtabmap_viz-4] [INFO] [1745864793.539521612] [rtabmap_viz]: rtabmap_viz: qos_image       = 0
[rtabmap_viz-4] [INFO] [1745864793.539547661] [rtabmap_viz]: rtabmap_viz: qos_camera_info = 0
[rtabmap_viz-4] [INFO] [1745864793.539587768] [rtabmap_viz]: rtabmap_viz: qos_scan        = 0
[rtabmap_viz-4] [INFO] [1745864793.539618120] [rtabmap_viz]: rtabmap_viz: qos_odom        = 0
[rtabmap_viz-4] [INFO] [1745864793.539644696] [rtabmap_viz]: rtabmap_viz: qos_user_data   = 0
[rtabmap_viz-4] [INFO] [1745864793.539671104] [rtabmap_viz]: rtabmap_viz: approx_sync     = false
[rtabmap_viz-4] [INFO] [1745864793.539706180] [rtabmap_viz]: Setup depth callback
[rtabmap_viz-4] [INFO] [1745864793.567747921] [rtabmap_viz]: 
[rtabmap_viz-4] rtabmap_viz subscribed to (exact sync):
[rtabmap_viz-4]    /odom \
[rtabmap_viz-4]    /camera/color/image_raw \
[rtabmap_viz-4]    /camera/aligned_depth_to_color/image_raw \
[rtabmap_viz-4]    /camera/color/camera_info \
[rtabmap_viz-4]    /odom_info
[rtabmap_viz-4] [INFO] [1745864793.575418808] [rtabmap_viz]: rtabmap_viz started.
[rgbd_odometry-2] [WARN] [1745864795.791091863] [rgbd_odometry]: rgbd_odometry: 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. Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
[rgbd_odometry-2] rgbd_odometry subscribed to (exact sync, topic_queue_size=10, sync_queue_size=5):
[rgbd_odometry-2]    /camera/color/image_raw,
[rgbd_odometry-2]    /camera/aligned_depth_to_color/image_raw,
[rgbd_odometry-2]    /camera/color/camera_info
[rtabmap-3] [WARN] [1745864795.910203987] [rtabmap]: rtabmap: Did not receive data since 5 seconds! Make sure the input topics are published ("$ ros2 topic 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"). Ajusting topic_queue_size (10) and sync_queue_size (10) can also help for better synchronization if framerates and/or delays are different. 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]    /camera/color/image_raw \
[rtabmap-3]    /camera/aligned_depth_to_color/image_raw \
[rtabmap-3]    /camera/color/camera_info \
[rtabmap-3]    /odom_info
[rtabmap_viz-4] [WARN] [1745864798.575420660] [rtabmap_viz]: rtabmap_viz: Did not receive data since 5 seconds! Make sure the input topics are published ("$ ros2 topic 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"). Ajusting topic_queue_size (10) and sync_queue_size (10) can also help for better synchronization if framerates and/or delays are different. 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 \
[rtabmap_viz-4]    /camera/color/image_raw \
[rtabmap_viz-4]    /camera/aligned_depth_to_color/image_raw \
[rtabmap_viz-4]    /camera/color/camera_info \
[rtabmap_viz-4]    /odom_info

I unable to solve this. Kindly guide me to solve this. My rtabmap window is coming blank:

Apr 28 '25 18:04 tirthankarhalder

Like the warning says, can you check the frame rate of these topics?

ros2 topic hz /camera/color/image_raw
ros2 topic hz /camera/aligned_depth_to_color/image_raw
ros2 topic hz /camera/color/camera_info

May 02 '25 04:05 matlabbe