Gemini E (Orbbec ) Did not receive data since 5 seconds!

[Dreambyland]

Does anyone has experience using Gemini E camera for RTAB-MAP? I adjusted parameters as:

ros2 launch rtabmap_launch rtabmap.launch.py \
 rtabmap_args:="--delete_db_on_start" \
 rgb_topic:=/camera/color/image_raw \
 depth_topic:=/camera/depth/image_raw \
 camera_info_topic:=/camera/color/camera_info \
 frame_id:=camera_link \
 use_sim_time:=true \
 approx_sync:=true \
 qos:=2 \
 rviz:=true \
 queue_size:=30

, But, it still shows error Did not receive data since 5 seconds!

Im trying to launch rtabmap on Gemini E camera and collect dataset and train loop closure model on NetVLAD.

[matlabbe]

Can you record a small rosbag of the camera topics + tf and share it?

ros2 bag record /camera/color/image_raw /camera/depth/image_raw /camera/color/camera_info /tf /tf_static

[Dreambyland]

ros2 bag record /camera/color/image_raw /camera/depth/image_raw /camera/color/camera_info /tf /tf_static [INFO] [1749784879.629107816] [rosbag2_recorder]: Press SPACE for pausing/resuming [INFO] [1749784879.630030708] [rosbag2_storage]: Opened database 'rosbag2_2025_06_13-12_21_19/rosbag2_2025_06_13-12_21_19_0.db3' for READ_WRITE. [INFO] [1749784879.630456956] [rosbag2_recorder]: Listening for topics... [INFO] [1749784879.630473490] [rosbag2_recorder]: Event publisher thread: Starting [INFO] [1749784879.631956512] [rosbag2_recorder]: Subscribed to topic '/tf_static' [INFO] [1749784879.632331516] [rosbag2_recorder]: Subscribed to topic '/tf' [INFO] [1749784879.633033972] [rosbag2_recorder]: Subscribed to topic '/camera/color/image_raw' [INFO] [1749784879.633393334] [rosbag2_recorder]: Subscribed to topic '/camera/depth/image_raw' [INFO] [1749784879.633875976] [rosbag2_recorder]: Subscribed to topic '/camera/color/camera_info' [INFO] [1749784879.633932430] [rosbag2_recorder]: Recording... [INFO] [1749784879.634688634] [rosbag2_recorder]: All requested topics are subscribed. Stopping discovery...

Yes, it is recording. But have problem with camera on rtabmap is showing anything, but camera is working.

[matlabbe]

Can you share that bag? It will be easier to help if we can reproduce the issue.

[Dreambyland]

https://drive.google.com/file/d/14ebhoZ2HygE8w6O42msSBctcJaDyf8nw/view?usp=sharing, https://drive.google.com/file/d/14ibhrQLgVbQRLbmB1nkcOSVcWm3NlIaG/view?usp=sharing

[matlabbe]

I tried this:

ros2 launch rtabmap_launch rtabmap.launch.py \
   rgb_topic:=/camera/color/image_raw \
   depth_topic:=/camera/depth/image_raw \
   camera_info_topic:=/camera/color/camera_info \
   use_sim_time:=true \
   frame_id:=camera_link \
   approx_sync:=true \
   args:="-d"

ros2 bag play rosbag2_2025_06_13-12_21_19_0 --clock

and it works as expected, I can see the 3D point cloud in 3D view of rtabmap_viz.

Then I tried your command:

ros2 launch rtabmap_launch rtabmap.launch.py \
 rtabmap_args:="--delete_db_on_start" \
 rgb_topic:=/camera/color/image_raw \
 depth_topic:=/camera/depth/image_raw \
 camera_info_topic:=/camera/color/camera_info \
 frame_id:=camera_link \
 use_sim_time:=true \
 approx_sync:=true \
 qos:=2 \
 rviz:=true \
 queue_size:=30

ros2 bag play rosbag2_2025_06_13-12_21_19_0 --clock

still working.

[Dreambyland]

Hi Mathieu . I've solved problem , just rebuilded , with same command everything works fine. But i have another request from you.I've seen your method netvlad and TF-IDF BOW approach here: https://github.com/introlab/rtabmap/issues/1105? Could you please share or provide code ? Because this link : Python script to extract netvlad: https://github.com/introlab/rtabmap/blob/pydescriptor/corelib/src/python/rtabmap_netvlad.py doesn't work.

Thanks

[matlabbe]

It was merged to master, the file is here: https://github.com/introlab/rtabmap/blob/master/corelib/src/python/rtabmap_netvlad.py, see comments in the file to use with rtabmap.

[Dreambyland]

I don't know why, but my rtabmap suddenly again doest want to display image. I just reinstalled from scratch and it was working. I cant event play rosbag file and see image. Did u have this kind of experience? I don't know what to do. Camera does work and rtabmap is launching.

[matlabbe]

Are there nodes crashing? are there logs? If nothing is shown, it is either something died or topics are not sent or topics cannot be synchronized. If rtabmap is waiting for images, you should see a warning displayed every 5 sec.