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[BUG] rtabmap.launch.py Topic Synchronization Problem and Odometry issues

Open Canadia123456 opened this issue 8 months ago • 1 comments

Per the link https://docs.luxonis.com/software/ros/depthai-ros/driver/ I am trying to "roslaunch depthai_ros_driver rtabmap.launch" for rtab-map and to get odometry from RTAB-map, but get the following errors:

ubuntu@ubuntu:~/depthai_ws$ roslaunch depthai_ros_driver rtabmap.launch ... logging to /home/ubuntu/.ros/log/beeefe34-3205-11f0-aa0b-43d087adeb1e/roslaunch-ubuntu-12915.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://ubuntu:38667/

SUMMARY

PARAMETERS

  • /oak/camera_i_base_frame: oak-d_frame
  • /oak/camera_i_cam_pitch: 0.0
  • /oak/camera_i_cam_pos_x: 0.0
  • /oak/camera_i_cam_pos_y: 0.0
  • /oak/camera_i_cam_pos_z: 0.0
  • /oak/camera_i_cam_roll: 0.0
  • /oak/camera_i_cam_yaw: 0.0
  • /oak/camera_i_imu_from_descr: False
  • /oak/camera_i_nn_type: none
  • /oak/camera_i_parent_frame: oak-d-base-frame
  • /oak/camera_i_publish_tf_from_calibration: False
  • /oak/robot_description: <?xml version="1....
  • /oak/stereo_i_subpixel: True
  • /rgbd_odometry/approx_sync: True
  • /rgbd_odometry/approx_sync_max_interval: 0.02
  • /rgbd_odometry/frame_id: oak
  • /rgbd_odometry/subscribe_depth: True
  • /rosdistro: noetic
  • /rosversion: 1.17.0
  • /rtabmap/Rtabmap/DetectionRate: 3.5
  • /rtabmap/frame_id: oak

NODES / oak (nodelet/nodelet) oak_nodelet_manager (nodelet/nodelet) oak_state_publisher (robot_state_publisher/robot_state_publisher) rectify_color (nodelet/nodelet) rgbd_odometry (rtabmap_odom/rgbd_odometry) rtabmap (rtabmap_slam/rtabmap) rtabmap_viz (rtabmap_viz/rtabmap_viz)

auto-starting new master process[master]: started with pid [12931] ROS_MASTER_URI=http://localhost:11311

setting /run_id to beeefe34-3205-11f0-aa0b-43d087adeb1e process[rosout-1]: started with pid [12944] started core service [/rosout] process[oak_state_publisher-2]: started with pid [12951] process[oak_nodelet_manager-3]: started with pid [12952] process[oak-4]: started with pid [12953] process[rectify_color-5]: started with pid [12958] process[rgbd_odometry-6]: started with pid [12960] [ INFO] [1747366074.243626168]: Loading nodelet /oak of type depthai_ros_driver/Camera to manager oak_nodelet_manager with the following remappings: [ INFO] [1747366074.268942264]: waitForService: Service [/oak_nodelet_manager/load_nodelet] has not been advertised, waiting... process[rtabmap-7]: started with pid [12967] process[rtabmap_viz-8]: started with pid [12973] [ INFO] [1747366074.433662471]: Initializing nodelet with 4 worker threads. [ INFO] [1747366074.461148413]: waitForService: Service [/oak_nodelet_manager/load_nodelet] is now available. [ INFO] [1747366076.325231353]: Starting camera. [ INFO] [1747366076.356679244]: No ip/mxid/usb_id specified, connecting to the next available device. qt.qpa.xcb: could not connect to display qt.qpa.plugin: Could not load the Qt platform plugin "xcb" in "" even though it was found. This application failed to start because no Qt platform plugin could be initialized. Reinstalling the application may fix this problem.

Available platform plugins are: eglfs, linuxfb, minimal, minimalegl, offscreen, vnc, xcb.

[rtabmap_viz-8] process has died [pid 12973, exit code -6, cmd /opt/ros/noetic/lib/rtabmap_viz/rtabmap_viz rgb/image:=oak/rgb/image_raw rgb/camera_info:=oak/rgb/camera_info depth/image:=oak/stereo/image_raw __name:=rtabmap_viz __log:=/home/ubuntu/.ros/log/beeefe34-3205-11f0-aa0b-43d087adeb1e/rtabmap_viz-8.log]. log file: /home/ubuntu/.ros/log/beeefe34-3205-11f0-aa0b-43d087adeb1e/rtabmap_viz-8*.log [ INFO] [1747366082.251140755]: Camera with MXID: 14442C10813EDDD600 and Name: 1.1.2 connected! [ INFO] [1747366082.254054346]: USB SPEED: SUPER [ INFO] [1747366082.320099715]: Device type: OAK-D-PRO [ INFO] [1747366082.355638443]: Pipeline type: RGBD [ INFO] [1747366084.749857411]: Finished setting up pipeline. [ INFO] [1747366086.405593063]: Camera ready! [ WARN] [1747366091.287817129]: /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 "sync_queue_size" and/or "topic_queue_size" parameters (current=10 and 10 respectively). /rtabmap subscribed to (approx sync): /odom
/oak/rgb/image_raw
/oak/stereo/image_raw
/oak/rgb/camera_info [ WARN] [1747366096.288155495]: /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 "sync_queue_size" and/or "topic_queue_size" parameters (current=10 and 10 respectively). /rtabmap subscribed to (approx sync): /odom
/oak/rgb/image_raw
/oak/stereo/image_raw
/oak/rgb/camera_info

Canadia123456 avatar May 16 '25 03:05 Canadia123456