Hi, I am new to rtabmap_ros. I have installed rtabmap_ros for indigo and was following steps mentioned in [http://wiki.ros.org/rtabmap_ros/Tutorials/StereoOutdoorMapping](http://wiki.ros.org/rtabmap_ros/Tutorials/StereoOutdoorMapping) to run the **demo_stereo_outdoor.launch**. Using the file [stereo_outdoorB.bag](https://docs.google.com/uc?export=download&confirm=5Ptp&id=0B46akLGdg-uaVEs2SGFzT3ZVSU0) the stereo outdoor mapping is done correctly as you can see in [\[0:00 -> 0:52\]](https://www.youtube.com/watch?v=PuLaFdvmbwI). However, if I use a my .bag file, stereo outdoor mapping is not done correctly as can be seen in [\[0:53 -> 1:23\]](https://youtu.be/PuLaFdvmbwI?t=53). The my .bag file has the same topics as stereo_outdoorB.bag (with the exception of **/tf** that is published through the .launch file). The used .launch file is in: [https://codeshare.io/an4O03](https://codeshare.io/an4O03) After run a few seconds the map is no longer updated and the following warning is displayed: [ WARN] [1501502173.552628407, 1487604089.579723953]: rtabmap: Could not get transform from odom to base_footprint after 0.200000 seconds (for stamp=1487604089.150464)! [ WARN] (2017-07-31 12:56:13.572) OdometryF2F.cpp:203::computeTransform() Registration failed: "Not enough inliers 0/10 (matches=225) between 0 and 0" You can find the rosbag file that I used in the video at: [sev_2017-02-20-15-20-50.bag](http://vcriis01.inesctec.pt/datasets/DataSet/RailInspect/sev_2017-02-20-15-20-50.bag) Topics have to be remapped according to the following: rosbag play --clock sev_2017-02-20-15-20-50.bag /stereo/left/image_raw/compressed:=/stereo_camera/left/image_raw_throttle/compressed /stereo/right/image_raw/compressed:=/stereo_camera/right/image_raw_throttle/compressed /stereo/left/camera_info:=/stereo_camera/left/camera_info_throttle /stereo/right/camera_info:=/stereo_camera/right/camera_info_throttle Can anyone help me out to solve this? Best regards, Jorge Mendes --- **Edit:** Thanks for the help Mathieu ([@matlabbe](https://answers.ros.org/users/20914/matlabbe/)), but unfortunately I could not get the same result as you. When I run the .launch file that you provided, the following errors and warning appear: [ERROR] [1504001352.895939351]: Skipping XML Document "/opt/ros/indigo/share/hector_pose_estimation/hector_pose_estimation_nodelets.xml" which had no Root Element. This likely means the XML is malformed or missing. [ERROR] [1504001353.579416634, 1487604051.226342601]: Skipping XML Document "/opt/ros/indigo/share/hector_pose_estimation/hector_pose_estimation_nodelets.xml" which had no Root Element. This likely means the XML is malformed or missing. [ERROR] [1504001353.621420049]: Skipping XML Document "/opt/ros/indigo/share/hector_pose_estimation/hector_pose_estimation_nodelets.xml" which had no Root Element. This likely means the XML is malformed or missing. > [ WARN] (2017-08-29 11:09:20.416) Features2d.cpp:425::create() SURF/SIFT features cannot be used because OpenCV was not built with nonfree module. ORB is used instead. You can see the result of the execution on my computer in the following video: [RTAB-Map ROS stereo outdoor mapping problem](https://youtu.be/Te5myteDM5k) When I play the .bag file continues to appear warnings of the type: [ WARN] [1504001428.405463965, 1487604078.162979112]: rtabmap: Could not get transform from odom to base_footprint after 0.200000 seconds (for stamp=1487604077.691293)! [ WARN] [1504001428.435126342, 1487604078.193218747]: rtabmapviz: Could not get transform from odom to base_footprint after 0,200000 seconds (for stamp=1487604077,491246)! [ WARN] [1504001428.606564760, 1487604078.364592901]: rtabmap: Could not get transform from odom to base_footprint after 0.200000 seconds (for stamp=1487604077.891221)! [ WARN] (2017-08-29 11:10:28.657) OdometryF2M.cpp:228::computeTransform() Registration failed: "Not enough inliers 0/10 (matches=93) between -1 and 0" and [ WARN] (2017-08-29 11:10:30.108) Stereo.cpp:159::computeCorrespondences() A large number (536/925) of stereo correspondences are rejected! Optical flow may have failed, images are not calibrated, the background is too far (no disparity between the images) or maximum disparity may be too small (64). Do you have any idea of which be the reason for not getting the same result as you? Did I do something wrong? Thanks, Jorge

Dear all, I ran into a problem which I don't know how to solve. I have a ROS server and a ROS client machine. Both are connected via network. I have confirmed the bi-directional connectivity according to http://wiki.ros.org/ROS/NetworkSetup#Setting_a_name_explicitly: - Both machines can ping each other and themselves by hostname - Messages can be sent across the network using netcat in both directions When the server is running roscore and a couple of nodes, I can see the topics of the server on the client (rostopic list). I can also subscribe to topics and see data being transmitted (rostopic echo /mytopic). **Now here is the strange problem**: There is one topic which gets listed by "rostopic list" on the client, but no data is being received (rostopic echo /rtabmap/mapData). If I run the same command on the server, I can see the data coming in. I have no idea what's going on there. Could this be a rtabmap specific problem, or is this a ROS networking problem? Any ideas how to resolve this are appreciated. Thanks Specs: - ROS Kinetic on both machines - Both machines running Ubuntu 16.04 - Latest rtabmap deb-packages installed on both machines

Hi there, I was working on a project using CLEARPATH Jackal UGV as the platform to do the indoor test. So I did not use GPS data. The sensors I used are wheel encoder, onboard IMU, and Kinect v2 as the only external sensor. The mobile robot has the robot_localization package inside and I used Rtabmap to generate the map. When I switched to localization mode, I want to use r_l to generate a better and high rate pose output since the frequency of rtabmap is very low. I have a Vicon motion capture system as the ground truth. I checked the published topic of rtabmap. Only visual_odometry has the nav_msgs/Odometry topic which meets the r_l supported fusing topic type. And rtabmap has a published topic called rtabmap/mapGraph which contains the geometry_msgs/Pose. But this topic does not contain covariance. I am wondering if there is a way to fuse rtabmap into robot_localization. Or it is impossible to do that. I read a lot of questions on answers.org.org, and most of them used r_l as the odometry filter fusing wheel encoder and IMU, the output odometry/filtered topic will then be fused into the rtabmap. Thanks a lot!

Hello, I am trying to implement slam on a mobile robot. I have created my own frames and linked them and I am publishing them on /tf I do not want rtabmap to publish its own transforms on this topic (I am using rtabmap only for visual odometry) I have a launch file as follows: How do I turn off transforms for 1)/map to /odom and 2)/odom to /camera_link? Thanks!

Hi there, I was working on a project using CLEARPATH Jackal as the platform. Using kinectv2 and `Rtabmap` to generate an indoor map. I want to fuse `/odometry/filtered` topic from `robot_localization` package into `Rtabmap`. I have changed the `fame_id` in `rgbd_mapping_kinect2.launch` to `base_link` and disabled the transform from `visual_odometry`. But it still crashed, showing no image in Rviz. Any thoughts? Thank you! And the output of launch file saying did not receive data since 5 seconds, but all the topics are published.

hi all, i used rtabmap with stereo camera and created 3d map and occupancy grid map from environment. my question is that how can i Get (x,y,z) coordinates of an obstacle from a 3d map or occupancy grid map? thanks

Hi There, I am working with a mobile robot CLEARPATH Jackal. It has two instances `ekf_localization_node` running inside, one for local and one for global. For the first test, `ekf_local_node` was fused with `wheel odometry` and `IMU`. `ekf_global_node` was fused with `wheel odometry`, `IMU` and the output of `RTabMap` which took `/odometry/filtered/local` as the input. The launch files are shown below: ekf_local_node: [false, false, false, false, false, false, true, true, false, false, false, true, false, false, false][false, false, false, false, false, true, false, false, false, false, false, true, false, false, false] ekf_global_node: [false, false, false, false, false, false, true, true, true, false, false, true, false, false, false][true, true, true, false, false, true, false, false, false, false, false, false, false, false, false][false, false, false, false, false, true, false, false, false, false, false, true, false, false, false] The first test worked perfectly. I generated plots of positions x versus y for ekf_nodes (both ekf_local and ekf_global) and they have good agreements with those obtained from`vicon` cameras. However, after a few days when I did the second test with the same launch file, both ekf nodes had convergence problems, i.e. position x grew boundlessly which is unphysical. This problem is weird because I used the same launch file and the experiment environment was the same as before. I investigated the problem for a bit, and I found fusing the absolute pose of wheel odometry with `ekf_local` node can fix the convergence problem for 'ekf_local_node'. For `ekf_global_node`, if I fuse absolute poses from both `wheel odometry` and `Rtabmap`, or only one of them, it showed a discontinuous plot of position x-y, but the trend looks nice. I am wondering is this normal for that discontinuous plot, and why the initial launch file did not work?

I would like to over ride rtabmap parameters on a rosrun command line....I want to used the unaltered rtabmap launch file overriding some of the Grid parameters. Can this be done from the command line? If not is there a way to call rtabmap with include from another launch file and do this I do not want to cop and modify the launch file. I can not seem to get any solution on this. Thank you for your time. The below code does not work. roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/zed/depth/depth_registered frame_id:=base_frame approx_sync:=false visual_odometry:=false odom_topic:=/zed/odom camera_info_topic:=/zed/rgb/camera_info rgb_topic:=/zed/rgb/image_rect_color rtabmapviz:=false Grid/MaxGroundAngle:=45.0 Grid/MaxObstacleHeight:=2.0 I tried setting inside a launch file: But the rtabmap keeps setting values to true. [ INFO] [1529896284.763605800]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true" [ INFO] [1529896284.764360510]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false" even though rosparam list | grep Incr /Mem/IncrementalMemory /rtabmap/Kp/IncrementalDictionary /rtabmap/Kp/IncrementalFlann /rtabmap/Mem/IncrementalMemory /rtabmap/rtabmap/Mem/IncrementalMemory

I will list all my steps clearly, including my git repo. If anyone needs anything, feel free to tell me. 1)Run RosAria on the robot pc. Connects well, publishes odom->base_link transforms well and good. 2) On the piggyback laptop, roslaunch freenect_launch freenect.launch depth_registration:=true. For my kinect, of course 3)rosrun depthimage_to_laserscan depthimage_to_laserscan image:=/camera/depth_registered/image_raw. For fake laser data 4)roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete-dbs-on-start" rviz:=true rtabviz:=false, gives me map->odom transform. 5) Run teleop in the remote pc. I generate a 2-d map in rtabmap, save it on map_server 6)Roslaunch p3dx_navigation move_base_rosaria.launch. open rviz, 2d point estimate works well. Not perfect, but not too bad either. 7)Set a goal using 2d Nav goal. Here i get all sorts of errors as follows [ERROR] [1529929504.112153804]: Aborting because a valid plan could not be found. Even after executing all recovery behaviors [ WARN] [1529929504.112746594]: Map update loop missed its desired rate of 2.5000Hz... the loop actually took 0.5540 seconds [ WARN] [1529929514.661682065]: Costmap2DROS transform timeout. Current time: 1529929514.6616, global_pose stamp: 1529929514.3319, tolerance: 0.3000 [ WARN] [1529929514.707078373]: Could not get robot pose, cancelling reconfiguration. If anyone can help me it would be a godsend. Here is the link to my github repo. https://github.com/RiddhimanRaut/NewRepo

hi all i created 3d map from environment with rtabmap and stereo camera. for this purpose, stereo images were captured with stereo camera and saved in folder. after this, by using of [this](https://gist.github.com/matlabbe/5731ce3b2bc25ec5e0295a80c9f5f671) launch file the 3d map was created. my question is that, how can i use rtabmap_ros/obstacles_detection nodelet in this launch file to extract obstacles and the ground from a point cloud? please help me Ubuntu 14.04, Ros indigo

I've been trying to run robot_state_publisher and joint_state_publisher on a remote TX1 running Ubuntu 16.04 and ROS Kinetic. When running the node from a local launch file (manually ssh into the remote machine and run launch file), everything runs fine. However, when I try to run a launch file from my local machine, I get this error in my terminal: [192.168.1.237-0]: [robot_state_publisher-28] process has died [pid 26798, exit code 255, cmd /opt/ros/kinetic/lib/robot_state_publisher/state_publisher __name:=robot_state_publisher log:=/home/nvidia/.ros/log/038bfbd8-7afb-11e8-b9f2-ac220b57ae89/robot_state_publisher-28.log]. log file: /home/nvidia/.ros/log/038bfbd8-7afb-11e8-b9f2-ac220b57ae89/robot_state_publisher-28*.log [192.168.1.237-0]: [joint_state_publisher-27] process has died [pid 26780, exit code 1, cmd /opt/ros/kinetic/lib/joint_state_publisher/joint_state_publisher __name:=joint_state_publisher log:=/home/nvidia/.ros/log/038bfbd8-7afb-11e8-b9f2-ac220b57ae89/joint_state_publisher-27.log]. log file: /home/nvidia/.ros/log/038bfbd8-7afb-11e8-b9f2-ac220b57ae89/joint_state_publisher-27*.log How can I fix this? Here's my launch file: Here are the outputs in from the log files: joint_state_publisher: Traceback (most recent call last): File "/home/nvidia/catkin_ws/src/joint_state_publisher/joint_state_publisher/joint_state_publisher", line 474, in jsp = JointStatePublisher() File "/home/nvidia/catkin_ws/src/joint_state_publisher/joint_state_publisher/joint_state_publisher", line 149, in __init__ robot = xml.dom.minidom.parseString(description) File "/usr/lib/python2.7/xml/dom/minidom.py", line 1928, in parseString return expatbuilder.parseString(string) File "/usr/lib/python2.7/xml/dom/expatbuilder.py", line 940, in parseString return builder.parseString(string) File "/usr/lib/python2.7/xml/dom/expatbuilder.py", line 223, in parseString parser.Parse(string, True) TypeError: Parse() argument 1 must be string or read-only buffer, not None robot_state_publisher: [ERROR] [1530379066.805335879]: Could not find parameter robot_description on parameter server

Hi. I'm using rtabmap and rtabmap_ros as localization mode to recognize robot's global pose. To make my map simplify, I want to change map origin from pose which odometry started to desired pose. Is there any way to do this?

I need maps of both the cameras simultaneously. As soon as I run rtabmap in another terminal, the first process dies.

hi all, i used rtabmap to created 3d map from environment. i used stereo camera for this. my question is that, in rtabmap, How is the 3D map created for stereo camera? it is feature based or area based? in other words, What is a 3D map creating theory? thanks

Hi, I'm trying to build a 3D map remotely with RTABMap over WiFi. I'm running a navigation stack, Rosaria, freenect and depthimage_to_laserscan nodes on Raspberry Pi 3 which is interfaced with Kinect Xbox 360 camera and Pioneer robot. RTABMap and RViz nodes are running on my laptop. ROS Kinetic is installed on both computers with Ubuntu 14.04 LTS 32-bit on laptop and Ubuntu Mate on RPi3. Here are some [screenshots](https://imgur.com/a/KNDqopu) of 3D maps I've build so far. Let's say these are the least bad. 1.) I've tried experimenting with different velocity rates, slowing vel_x and vel_theta down to 0.1 m/s. Maybe it did reduce misalignment a bit, but 3D map still has considerable amount of error. 2.) I am not sure if I should try calibrating my Kinect, since Freenect loads default calibration settings every time it starts. 3.) I have one static TF transform between robot base_link and camera_link which I've set up following [this](http://wiki.ros.org/navigation/Tutorials/RobotSetup/TF) tutorial. Kinect is positioned 17,5 cm at the back on x-axis and 56,7 cm from the center of robot's base to the center of kinect. > I'm stuck ATM, since I do not know what to try next to improve the quality of 3D map. Any suggestions would be much appreciated. Thanks!

I was following the [RGB-D Handheld Mapping](http://wiki.ros.org/rtabmap_ros/Tutorials/HandHeldMapping) tutorial . First I ran the following command $ roslaunch realsense_camera r200_nodelet_default.launch While the realsense_camera node is running, in a new tab I ran $ roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/camera/depth_registered/sw_registered/image_rect_raw The RTABMAP GUI is launched as expected but there is no image. In the terminal that I launched the RTABMAP GUI, I am receiving the following warning. [ WARN] [1532462055.394145038]: /rtabmap/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. /rtabmap/rgbd_odometry subscribed to (approx sync): /camera/rgb/image_rect_color, /camera/depth/image_raw, /camera/rgb/camera_info Same thing happens when I run $ roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/camera/depth/points/image_raw Can you help me solve this issue? Thank you. *I am running Ros Kinetic on Ubuntu 16.04 64-bit machine.* **Edit** The published topics are: $ rostopic list /camera/color/camera_info /camera/color/image_raw /camera/color/image_raw/compressed /camera/color/image_raw/compressed/parameter_descriptions /camera/color/image_raw/compressed/parameter_updates /camera/color/image_raw/compressedDepth /camera/color/image_raw/compressedDepth/parameter_descriptions /camera/color/image_raw/compressedDepth/parameter_updates /camera/color/image_raw/theora /camera/color/image_raw/theora/parameter_descriptions /camera/color/image_raw/theora/parameter_updates /camera/depth/camera_info /camera/depth/image_raw /camera/depth/image_raw/compressed /camera/depth/image_raw/compressed/parameter_descriptions /camera/depth/image_raw/compressed/parameter_updates /camera/depth/image_raw/compressedDepth /camera/depth/image_raw/compressedDepth/parameter_descriptions /camera/depth/image_raw/compressedDepth/parameter_updates /camera/depth/image_raw/theora /camera/depth/image_raw/theora/parameter_descriptions /camera/depth/image_raw/theora/parameter_updates /camera/depth/points /camera/driver/parameter_descriptions /camera/driver/parameter_updates /camera/ir/camera_info /camera/ir/image_raw /camera/ir/image_raw/compressed /camera/ir/image_raw/compressed/parameter_descriptions /camera/ir/image_raw/compressed/parameter_updates /camera/ir/image_raw/compressedDepth /camera/ir/image_raw/compressedDepth/parameter_descriptions /camera/ir/image_raw/compressedDepth/parameter_updates /camera/ir/image_raw/theora /camera/ir/image_raw/theora/parameter_descriptions /camera/ir/image_raw/theora/parameter_updates /camera/ir2/camera_info /camera/ir2/image_raw /camera/ir2/image_raw/compressed /camera/ir2/image_raw/compressed/parameter_descriptions /camera/ir2/image_raw/compressed/parameter_updates /camera/ir2/image_raw/compressedDepth /camera/ir2/image_raw/compressedDepth/parameter_descriptions /camera/ir2/image_raw/compressedDepth/parameter_updates /camera/ir2/image_raw/theora /camera/ir2/image_raw/theora/parameter_descriptions /camera/ir2/image_raw/theora/parameter_updates /camera/nodelet_manager/bond /rosout /rosout_agg /tf /tf_static I think the RTABMAP GUI is not looking for the right topic; there is nothing matching "/camera/depth_registered/sw_registered/image_rect_raw". What should I change the $ roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/camera/depth_registered/sw_registered/image_rect_raw command with? **Edit 2** As Martin suggested, I tried running $ roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/camera/depth/image_raw Again, there's no image in the GUI. I also ran "rostopic hz /camera/depth/image_raw" and got: $ rostopic hz /camera/depth/image_raw subscribed to [/camera/depth/image_raw] average rate: 60.027 min: 0.016s max: 0.017s std dev: 0.00024s window: 57 average rate: 60.022 min: 0.016s max: 0.017s std dev: 0.00025s window: 117 average rate: 60.018 min: 0.016s max: 0.017s std dev: 0.00025s window: 177 average rate: 60.015 min: 0.016s max: 0.017s std dev: 0.00025s window: 237 average rate: 60.007 min: 0.016s max: 0.017s std dev: 0.00025s window: 297 average rate: 60.002 min: 0.016s max: 0.017s std dev: 0.00024s window: 357 average rate: 60.003 min: 0.016s max: 0.017s std dev: 0.00024s window: 417 average rate: 60.004 min: 0.016s max: 0.017s std dev: 0.00023s window: 477 average rate: 60.005 min: 0.016s max: 0.017s std dev: 0.00024s window: 538 average rate: 60.005 min: 0.016s max: 0.017s std dev: 0.00024s window: 598 This shows that we are receiving something from this topic. I also ran Run the following command $ rqt_image_view just to check if the camera is working and it is indeed working: https://ibb.co/fWS8ET Please notice that the chosen topic is "/camera/depth/image_raw".

When we try to roslaunch our launch file after starting realsense node: This error is produced: [ WARN] [1532506304.213371657]: Could not get transform from base_link to camera_color_optical_frame after 0.200000 seconds (for stamp=1532506303.902335)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.20185 timeout was 0.2.". [ERROR] [1532506304.213408698]: TF of received image 0 at time 1532506303.902335s is not set! [ERROR] [1532506304.213440664]: Could not convert rgb/depth msgs! Aborting rtabmap update... Note - No errors when executed as a bash command: roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" rviz:=true rtabmapviz:=false depth_topic:=/camera/aligned_depth_to_color/image_raw rgb_topic:=/camera/color/image_raw camera_info_topic:=/camera/color/camera_info odom_topic:=/fused/odom scan_topic:=/scan Some help with this issue would be much appreciated thanks

Hello. I've got 3D camera Intel RealSense R200, but I haven't got TurtleBot. The operating system is Ubuntu 14.04.5 kernel 4.4.0-130-generic. ROS distro: Indigo. The following information was used for camera configuration and room map construction: http://wiki.ros.org/rtabmap_ros/Tutorials/HandHeldMap.. http://wiki.ros.org/rtabmap_ros/Tutorials/MappingAndN.. Starting procedure is the following: roscore export TURTLEBOT_3D_SENSOR=r200 roslaunch turtlebot_bringup minimal.launch export TURTLEBOT_3D_SENSOR=r200 roslaunch rtabmap_ros demo_turtlebot_mapping.launch args:="--delete_db_on_start" rgbd_odometry:=true depth_topic:=/camera/depth_registered/sw_registered/image_rect_raw  roslaunch rtabmap_ros demo_turtlebot_rviz.launch Launch files log: $ roslaunch rtabmap_ros demo_turtlebot_mapping.launch args:="--delete_db_on_start" rgbd_odometry:=true depth_topic:=/camera/depth_registered/sw_registered/image_rect_raw ... logging to /home/hulk/.ros/log/79eae048-8a58-11e8-818e-240a64bf4b09/roslaunch-hulk-X550CL-2002.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://192.168.43.162:37408/ SUMMARY ======== PARAMETERS * /camera/camera_nodelet_manager/num_worker_threads: 4 * /camera/depth_rectify_depth/interpolation: 0 * /camera/disparity_depth/max_range: 4.0 * /camera/disparity_depth/min_range: 0.5 * /camera/disparity_registered_sw/max_range: 4.0 * /camera/disparity_registered_sw/min_range: 0.5 * /camera/driver/base_frame_id: camera_link * /camera/driver/camera_type: R200 * /camera/driver/color_fps: 30 * /camera/driver/color_frame_id: camera_rgb_frame * /camera/driver/color_height: 480 * /camera/driver/color_optical_frame_id: camera_rgb_optica... * /camera/driver/color_width: 640 * /camera/driver/depth_fps: 30 * /camera/driver/depth_frame_id: camera_depth_frame * /camera/driver/depth_height: 360 * /camera/driver/depth_optical_frame_id: camera_depth_opti... * /camera/driver/depth_width: 480 * /camera/driver/enable_color: True * /camera/driver/enable_depth: True * /camera/driver/enable_fisheye: False * /camera/driver/enable_imu: False * /camera/driver/enable_ir2: True * /camera/driver/enable_ir: True * /camera/driver/enable_pointcloud: False * /camera/driver/enable_tf: False * /camera/driver/fisheye_frame_id: camera_fisheye_frame * /camera/driver/fisheye_optical_frame_id: camera_fisheye_op... * /camera/driver/imu_frame_id: camera_imu_frame * /camera/driver/imu_optical_frame_id: camera_imu_optica... * /camera/driver/ir2_frame_id: camera_ir2_frame * /camera/driver/ir2_optical_frame_id: camera_ir2_optica... * /camera/driver/ir_frame_id: camera_ir_frame * /camera/driver/ir_optical_frame_id: camera_ir_optical... * /camera/driver/mode: manual * /camera/driver/serial_no: * /camera/driver/usb_port_id: * /camera/points_xyzrgb_sw_registered/queue_size: 100 * /depthimage_to_laserscan/output_frame_id: /camera_depth_frame * /depthimage_to_laserscan/range_min: 0.45 * /depthimage_to_laserscan/scan_height: 10 * /move_base/DWAPlannerROS/acc_lim_theta: 2.0 * /move_base/DWAPlannerROS/acc_lim_x: 1.0 * /move_base/DWAPlannerROS/acc_lim_y: 0.0 * /move_base/DWAPlannerROS/forward_point_distance: 0.325 * /move_base/DWAPlannerROS/global_frame_id: odom * /move_base/DWAPlannerROS/goal_distance_bias: 24.0 * /move_base/DWAPlannerROS/max_rot_vel: 5.0 * /move_base/DWAPlannerROS/max_scaling_factor: 0.2 * /move_base/DWAPlannerROS/max_trans_vel: 0.5 * /move_base/DWAPlannerROS/max_vel_x: 0.5 * /move_base/DWAPlannerROS/max_vel_y: 0.0 * /move_base/DWAPlannerROS/min_rot_vel: 0.4 * /move_base/DWAPlannerROS/min_trans_vel: 0.1 * /move_base/DWAPlannerROS/min_vel_x: 0.0 * /move_base/DWAPlannerROS/min_vel_y: 0.0 * /move_base/DWAPlannerROS/occdist_scale: 0.5 * /move_base/DWAPlannerROS/oscillation_reset_dist: 0.05 * /move_base/DWAPlannerROS/path_distance_bias: 64.0 * /move_base/DWAPlannerROS/publish_cost_grid_pc: True * /move_base/DWAPlannerROS/publish_traj_pc: True * /move_base/DWAPlannerROS/rot_stopped_vel: 0.4 * /move_base/DWAPlannerROS/scaling_speed: 0.25 * /move_base/DWAPlannerROS/sim_time: 1.0 * /move_base/DWAPlannerROS/stop_time_buffer: 0.2 * /move_base/DWAPlannerROS/trans_stopped_vel: 0.1 * /move_base/DWAPlannerROS/vtheta_samples: 20 * /move_base/DWAPlannerROS/vx_samples: 6 * /move_base/DWAPlannerROS/vy_samples: 1 * /move_base/DWAPlannerROS/xy_goal_tolerance: 0.15 * /move_base/DWAPlannerROS/yaw_goal_tolerance: 0.3 * /move_base/GlobalPlanner/allow_unknown: True * /move_base/GlobalPlanner/cost_factor: 3.0 * /move_base/GlobalPlanner/default_tolerance: 0.0 * /move_base/GlobalPlanner/lethal_cost: 253 * /move_base/GlobalPlanner/neutral_cost: 50 * /move_base/GlobalPlanner/old_navfn_behavior: False * /move_base/GlobalPlanner/planner_costmap_publish_frequency: 0.0 * /move_base/GlobalPlanner/planner_window_x: 0.0 * /move_base/GlobalPlanner/planner_window_y: 0.0 * /move_base/GlobalPlanner/publish_potential: True * /move_base/GlobalPlanner/publish_scale: 100 * /move_base/GlobalPlanner/use_dijkstra: True * /move_base/GlobalPlanner/use_grid_path: False * /move_base/GlobalPlanner/use_quadratic: True * /move_base/NavfnROS/allow_unknown: False * /move_base/NavfnROS/default_tolerance: 0.0 * /move_base/NavfnROS/planner_window_x: 0.0 * /move_base/NavfnROS/planner_window_y: 0.0 * /move_base/NavfnROS/visualize_potential: False * /move_base/base_global_planner: navfn/NavfnROS * /move_base/base_local_planner: dwa_local_planner... * /move_base/controller_frequency: 5.0 * /move_base/controller_patience: 3.0 * /move_base/global_costmap/global_frame: map * /move_base/global_costmap/inflation_layer/cost_scaling_factor: 5.0 * /move_base/global_costmap/inflation_layer/enabled: True * /move_base/global_costmap/inflation_layer/inflation_radius: 0.5 * /move_base/global_costmap/map_type: voxel * /move_base/global_costmap/max_obstacle_height: 0.6 * /move_base/global_costmap/obstacle_layer/bump/clearing: False * /move_base/global_costmap/obstacle_layer/bump/data_type: PointCloud2 * /move_base/global_costmap/obstacle_layer/bump/marking: True * /move_base/global_costmap/obstacle_layer/bump/max_obstacle_height: 0.15 * /move_base/global_costmap/obstacle_layer/bump/min_obstacle_height: 0.0 * /move_base/global_costmap/obstacle_layer/bump/topic: mobile_base/senso... * /move_base/global_costmap/obstacle_layer/combination_method: 1 * /move_base/global_costmap/obstacle_layer/enabled: True * /move_base/global_costmap/obstacle_layer/mark_threshold: 0 * /move_base/global_costmap/obstacle_layer/max_obstacle_height: 0.6 * /move_base/global_costmap/obstacle_layer/observation_sources: scan bump * /move_base/global_costmap/obstacle_layer/obstacle_range: 2.5 * /move_base/global_costmap/obstacle_layer/origin_z: 0.0 * /move_base/global_costmap/obstacle_layer/publish_voxel_map: False * /move_base/global_costmap/obstacle_layer/raytrace_range: 3.0 * /move_base/global_costmap/obstacle_layer/scan/clearing: True * /move_base/global_costmap/obstacle_layer/scan/data_type: LaserScan * /move_base/global_costmap/obstacle_layer/scan/marking: True * /move_base/global_costmap/obstacle_layer/scan/max_obstacle_height: 0.35 * /move_base/global_costmap/obstacle_layer/scan/min_obstacle_height: 0.25 * /move_base/global_costmap/obstacle_layer/scan/topic: scan * /move_base/global_costmap/obstacle_layer/track_unknown_space: True * /move_base/global_costmap/obstacle_layer/unknown_threshold: 15 * /move_base/global_costmap/obstacle_layer/z_resolution: 0.2 * /move_base/global_costmap/obstacle_layer/z_voxels: 2 * /move_base/global_costmap/plugins: [{'type': 'costma... * /move_base/global_costmap/publish_frequency: 0.5 * /move_base/global_costmap/robot_base_frame: base_footprint * /move_base/global_costmap/robot_radius: 0.2 * /move_base/global_costmap/static_layer/enabled: True * /move_base/global_costmap/static_map: True * /move_base/global_costmap/transform_tolerance: 0.5 * /move_base/global_costmap/update_frequency: 1.0 * /move_base/local_costmap/global_frame: odom * /move_base/local_costmap/height: 4.0 * /move_base/local_costmap/inflation_layer/cost_scaling_factor: 5.0 * /move_base/local_costmap/inflation_layer/enabled: True * /move_base/local_costmap/inflation_layer/inflation_radius: 0.5 * /move_base/local_costmap/map_type: voxel * /move_base/local_costmap/max_obstacle_height: 0.6 * /move_base/local_costmap/obstacle_layer/bump/clearing: False * /move_base/local_costmap/obstacle_layer/bump/data_type: PointCloud2 * /move_base/local_costmap/obstacle_layer/bump/marking: True * /move_base/local_costmap/obstacle_layer/bump/max_obstacle_height: 0.15 * /move_base/local_costmap/obstacle_layer/bump/min_obstacle_height: 0.0 * /move_base/local_costmap/obstacle_layer/bump/topic: mobile_base/senso... * /move_base/local_costmap/obstacle_layer/combination_method: 1 * /move_base/local_costmap/obstacle_layer/enabled: True * /move_base/local_costmap/obstacle_layer/mark_threshold: 0 * /move_base/local_costmap/obstacle_layer/max_obstacle_height: 0.6 * /move_base/local_costmap/obstacle_layer/observation_sources: scan bump * /move_base/local_costmap/obstacle_layer/obstacle_range: 2.5 * /move_base/local_costmap/obstacle_layer/origin_z: 0.0 * /move_base/local_costmap/obstacle_layer/publish_voxel_map: False * /move_base/local_costmap/obstacle_layer/raytrace_range: 3.0 * /move_base/local_costmap/obstacle_layer/scan/clearing: True * /move_base/local_costmap/obstacle_layer/scan/data_type: LaserScan * /move_base/local_costmap/obstacle_layer/scan/marking: True * /move_base/local_costmap/obstacle_layer/scan/max_obstacle_height: 0.35 * /move_base/local_costmap/obstacle_layer/scan/min_obstacle_height: 0.25 * /move_base/local_costmap/obstacle_layer/scan/topic: scan * /move_base/local_costmap/obstacle_layer/track_unknown_space: True * /move_base/local_costmap/obstacle_layer/unknown_threshold: 15 * /move_base/local_costmap/obstacle_layer/z_resolution: 0.2 * /move_base/local_costmap/obstacle_layer/z_voxels: 2 * /move_base/local_costmap/plugins: [{'type': 'costma... * /move_base/local_costmap/publish_frequency: 2.0 * /move_base/local_costmap/resolution: 0.05 * /move_base/local_costmap/robot_base_frame: base_footprint * /move_base/local_costmap/robot_radius: 0.2 * /move_base/local_costmap/rolling_window: True * /move_base/local_costmap/static_layer/enabled: True * /move_base/local_costmap/static_map: False * /move_base/local_costmap/transform_tolerance: 0.5 * /move_base/local_costmap/update_frequency: 5.0 * /move_base/local_costmap/width: 4.0 * /move_base/oscillation_distance: 0.2 * /move_base/oscillation_timeout: 10.0 * /move_base/planner_frequency: 1.0 * /move_base/planner_patience: 5.0 * /move_base/shutdown_costmaps: False * /navigation_velocity_smoother/accel_lim_v: 1.0 * /navigation_velocity_smoother/accel_lim_w: 2.0 * /navigation_velocity_smoother/decel_factor: 1.5 * /navigation_velocity_smoother/frequency: 20.0 * /navigation_velocity_smoother/robot_feedback: 2 * /navigation_velocity_smoother/speed_lim_v: 0.8 * /navigation_velocity_smoother/speed_lim_w: 5.4 * /rosdistro: indigo * /rosversion: 1.11.21 * /rtabmap/rgbd_odometry/Reg/Force3DoF: true * /rtabmap/rgbd_odometry/Vis/InlierDistance: 0.05 * /rtabmap/rgbd_odometry/frame_id: base_footprint * /rtabmap/rgbd_odometry/wait_for_transform_duration: 0.2 * /rtabmap/rtabmap/GridGlobal/MinSize: 20 * /rtabmap/rtabmap/Icp/CorrespondenceRatio: 0.3 * /rtabmap/rtabmap/Kp/MaxDepth: 4.0 * /rtabmap/rtabmap/Mem/IncrementalMemory: true * /rtabmap/rtabmap/Mem/InitWMWithAllNodes: false * /rtabmap/rtabmap/Mem/RehearsalSimilarity: 0.30 * /rtabmap/rtabmap/Optimizer/Slam2D: true * /rtabmap/rtabmap/RGBD/AngularUpdate: 0.1 * /rtabmap/rtabmap/RGBD/LinearUpdate: 0.1 * /rtabmap/rtabmap/RGBD/OptimizeFromGraphEnd: false * /rtabmap/rtabmap/RGBD/OptimizeMaxError: 0.1 * /rtabmap/rtabmap/RGBD/ProximityBySpace: true * /rtabmap/rtabmap/RGBD/ProximityPathMaxNeighbors: 0 * /rtabmap/rtabmap/Reg/Force3DoF: true * /rtabmap/rtabmap/Reg/Strategy: 0 * /rtabmap/rtabmap/Rtabmap/TimeThr: 700 * /rtabmap/rtabmap/Vis/InlierDistance: 0.1 * /rtabmap/rtabmap/Vis/MinInliers: 15 * /rtabmap/rtabmap/database_path: rtabmap.db * /rtabmap/rtabmap/frame_id: base_footprint * /rtabmap/rtabmap/map_negative_poses_ignored: True * /rtabmap/rtabmap/subscribe_depth: True * /rtabmap/rtabmap/subscribe_scan: True * /rtabmap/rtabmap/wait_for_transform_duration: 0.2 NODES /camera/ camera_nodelet_manager (nodelet/nodelet) depth_metric (nodelet/nodelet) depth_metric_rect (nodelet/nodelet) depth_points (nodelet/nodelet) depth_rectify_depth (nodelet/nodelet) depth_registered_sw_metric_rect (nodelet/nodelet) disparity_depth (nodelet/nodelet) disparity_registered_sw (nodelet/nodelet) driver (nodelet/nodelet) ir_rectify_ir (nodelet/nodelet) points_xyzrgb_sw_registered (nodelet/nodelet) register_depth_rgb (nodelet/nodelet) rgb_debayer (nodelet/nodelet) rgb_rectify_color (nodelet/nodelet) rgb_rectify_mono (nodelet/nodelet) /rtabmap/ rgbd_odometry (rtabmap_ros/rgbd_odometry) rtabmap (rtabmap_ros/rtabmap) / depthimage_to_laserscan (nodelet/nodelet) kobuki_safety_controller (nodelet/nodelet) move_base (move_base/move_base) navigation_velocity_smoother (nodelet/nodelet) ROS_MASTER_URI=http://localhost:11311 core service [/rosout] found process[camera/camera_nodelet_manager-1]: started with pid [2030] process[camera/driver-2]: started with pid [2031] process[camera/rgb_debayer-3]: started with pid [2032] process[camera/rgb_rectify_mono-4]: started with pid [2033] process[camera/rgb_rectify_color-5]: started with pid [2046] process[camera/ir_rectify_ir-6]: started with pid [2054] process[camera/depth_rectify_depth-7]: started with pid [2077] process[camera/depth_metric_rect-8]: started with pid [2090] process[camera/depth_metric-9]: started with pid [2098] process[camera/depth_points-10]: started with pid [2115] process[camera/register_depth_rgb-11]: started with pid [2141] process[camera/points_xyzrgb_sw_registered-12]: started with pid [2157] process[camera/depth_registered_sw_metric_rect-13]: started with pid [2161] [ INFO] [1531899164.266179504]: Initializing nodelet with 4 worker threads. process[camera/disparity_depth-14]: started with pid [2171] process[camera/disparity_registered_sw-15]: started with pid [2188] process[depthimage_to_laserscan-16]: started with pid [2202] process[navigation_velocity_smoother-17]: started with pid [2212] process[kobuki_safety_controller-18]: started with pid [2227] process[move_base-19]: started with pid [2232] process[rtabmap/rtabmap-20]: started with pid [2253] process[rtabmap/rgbd_odometry-21]: started with pid [2268] [ INFO] [1531899164.859760477]: Starting node... [ INFO] [1531899165.099925898]: Initializing nodelet with 2 worker threads. [ INFO] [1531899165.125944229]: Initializing nodelet with 2 worker threads. Intel RealSense F200_camera ; 2.60.0.0 Intel RealSense LR200_camera ; 2.0.71.18 Intel RealSense R200_camera ; 1.0.72.06 Intel RealSense SR300_camera ; 3.10.10.0 Intel RealSense ZR300_adapter ; 1.29.0.0 Intel RealSense ZR300_camera ; 2.0.71.28 Intel RealSense ZR300_motion_module ; 1.25.0.0 [ INFO] [1531899165.539619402]: /camera/driver - Detected the following camera: - Serial No: 2161301822, USB Port ID: 4-1, Name: Intel RealSense R200, Camera FW: 1.0.72.10 [ WARN] [1531899165.539867207]: /camera/driver - Detected unvalidated firmware: - 2161301822's current camera firmware is 1.0.72.10, Validated camera firmware is 1.0.72.06 [ INFO] [1531899165.540019615]: /camera/driver - Connecting to camera with Serial No: 2161301822, USB Port ID: 4-1 [ INFO] [1531899165.901775997]: Odometry: frame_id = base_footprint [ INFO] [1531899165.901833909]: Odometry: odom_frame_id = odom [ INFO] [1531899165.901862358]: Odometry: publish_tf = true [ INFO] [1531899165.901885495]: Odometry: wait_for_transform = true [ INFO] [1531899165.901933418]: Odometry: wait_for_transform_duration = 0.200000 [ INFO] [1531899165.901998698]: Odometry: initial_pose = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 [ INFO] [1531899165.902029909]: Odometry: ground_truth_frame_id = [ INFO] [1531899165.902061129]: Odometry: ground_truth_base_frame_id = base_footprint [ INFO] [1531899165.902087374]: Odometry: config_path = [ INFO] [1531899165.902115039]: Odometry: publish_null_when_lost = true [ INFO] [1531899165.902141203]: Odometry: guess_frame_id = [ INFO] [1531899165.902168819]: Odometry: guess_min_translation = 0.000000 [ INFO] [1531899165.902195966]: Odometry: guess_min_rotation = 0.000000 [ INFO] [1531899166.001348791]: /rtabmap/rtabmap(maps): map_filter_radius = 0.000000 [ INFO] [1531899166.001413919]: /rtabmap/rtabmap(maps): map_filter_angle = 30.000000 [ INFO] [1531899166.001530178]: /rtabmap/rtabmap(maps): map_cleanup = true [ INFO] [1531899166.001554906]: /rtabmap/rtabmap(maps): map_negative_poses_ignored = true [ INFO] [1531899166.001576867]: /rtabmap/rtabmap(maps): map_negative_scan_ray_tracing = true [ INFO] [1531899166.001615764]: /rtabmap/rtabmap(maps): cloud_output_voxelized = true [ INFO] [1531899166.001642427]: /rtabmap/rtabmap(maps): cloud_subtract_filtering = false [ INFO] [1531899166.001665925]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2 [ INFO] [1531899166.010511430]: /rtabmap/rtabmap(maps): octomap_tree_depth = 16 [ INFO] [1531899166.138003113]: rtabmap: frame_id = base_footprint [ INFO] [1531899166.138061767]: rtabmap: map_frame_id = map [ INFO] [1531899166.138091510]: rtabmap: tf_delay = 0.050000 [ INFO] [1531899166.138116750]: rtabmap: tf_tolerance = 0.100000 [ INFO] [1531899166.138140796]: rtabmap: odom_sensor_sync = false [ INFO] [1531899166.258426814]: /camera/driver - Setting static camera options [ INFO] [1531899166.300871810]: /camera/driver - Enabling Depth in manual mode [ INFO] [1531899166.301265822]: /camera/driver - Enabling Color in manual mode [ INFO] [1531899166.301804533]: /camera/driver - Enabling IR in manual mode [ INFO] [1531899166.301975546]: /camera/driver - Enabling IR2 in manual mode [ INFO] [1531899166.302138154]: /camera/driver - Starting camera [ INFO] [1531899166.338050494]: /camera/driver - Setting dynamic camera options (r200_dc_preset=2) [ INFO] [1531899166.709441902]: Setting RTAB-Map parameter "GridGlobal/MinSize"="20" [ INFO] [1531899166.728648626]: Setting RTAB-Map parameter "Icp/CorrespondenceRatio"="0.3" [ INFO] [1531899166.906227993]: Setting odometry parameter "Reg/Force3DoF"="true" [ INFO] [1531899166.966884604]: Setting RTAB-Map parameter "Kp/MaxDepth"="4.0" [ INFO] [1531899167.077912712]: /camera/driver - Initializing Depth Control Preset to 2 [ INFO] [1531899167.159887069]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true" [ INFO] [1531899167.161762119]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false" [ INFO] [1531899167.226601183]: Setting odometry parameter "Vis/InlierDistance"="0.05" [ INFO] [1531899167.311443253]: Setting RTAB-Map parameter "Mem/RehearsalSimilarity"="0.30" [ INFO] [1531899167.803950974]: RGBDOdometry: approx_sync = true [ INFO] [1531899167.804007079]: RGBDOdometry: queue_size = 5 [ INFO] [1531899167.804035317]: RGBDOdometry: subscribe_rgbd = false [ INFO] [1531899167.804061931]: RGBDOdometry: rgbd_cameras = 1 [ INFO] [1531899167.880988116]: /rtabmap/rgbd_odometry subscribed to (approx sync): /camera/rgb/image_rect_color, /camera/depth_registered/sw_registered/image_rect_raw, /camera/rgb/camera_info [ INFO] [1531899168.434375187]: Setting RTAB-Map parameter "RGBD/AngularUpdate"="0.1" [ INFO] [1531899168.486137417]: Setting RTAB-Map parameter "RGBD/LinearUpdate"="0.1" [ INFO] [1531899168.540011929]: Setting RTAB-Map parameter "RGBD/OptimizeFromGraphEnd"="false" [ INFO] [1531899168.542521371]: Setting RTAB-Map parameter "RGBD/OptimizeMaxError"="0.1" [ INFO] [1531899168.583500913]: Setting RTAB-Map parameter "RGBD/ProximityBySpace"="true" [ INFO] [1531899168.609785562]: Setting RTAB-Map parameter "RGBD/ProximityPathMaxNeighbors"="0" [ INFO] [1531899168.627628660]: Setting RTAB-Map parameter "Reg/Force3DoF"="true" [ INFO] [1531899168.641654229]: Setting RTAB-Map parameter "Reg/Strategy"="0" [ INFO] [1531899168.780300401]: Setting RTAB-Map parameter "Rtabmap/TimeThr"="700" [ WARN] [1531899168.962854660]: TF2 exception: Lookup would require extrapolation into the past. Requested time 1531899168.948684630 but the earliest data is at time 1531899169.090065455, when looking up transform from frame [camera_depth_optical_frame] to frame [camera_rgb_optical_frame] [ INFO] [1531899169.182288809]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.047835s [ INFO] [1531899169.310901024]: Setting RTAB-Map parameter "Vis/InlierDistance"="0.1" [ INFO] [1531899169.332230706]: Odom: quality=84, std dev=0.035737m|0.060612rad, update time=0.144897s [ INFO] [1531899169.345712771]: Setting RTAB-Map parameter "Vis/MinInliers"="15" [ INFO] [1531899169.464221130]: Odom: quality=110, std dev=0.035940m|0.055507rad, update time=0.122418s [ WARN] [1531899170.147910619]: Rtabmap: Parameter name changed: "Optimizer/Slam2D" -> "Reg/Force3DoF". Please update your launch file accordingly. Value "true" is still set to the new parameter name. [ INFO] [1531899170.302581878]: Odom: quality=118, std dev=0.040106m|0.062718rad, update time=0.187067s [ WARN] [1531899170.302924684]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.101148 timeout was 0.1. [ WARN] [1531899170.430089034]: Setting "Grid/FromDepth" parameter to false (default true) as "subscribe_scan" or "subscribe_scan_cloud" is true. The occupancy grid map will be constructed from laser scans. To get occupancy grid map from cloud projection, set "Grid/FromDepth" to true. To suppress this warning, add [ INFO] [1531899170.430358892]: Setting "Grid/RangeMax" parameter to 0 (default 5.000000) as "subscribe_scan" or "subscribe_scan_cloud" is true. [ INFO] [1531899170.506724926]: Odom: quality=130, std dev=0.044738m|0.062397rad, update time=0.199453s [ INFO] [1531899171.270738965]: Odom: quality=129, std dev=0.034276m|0.058794rad, update time=0.198081s [ INFO] [1531899171.277770446]: RTAB-Map detection rate = 1.000000 Hz [ INFO] [1531899171.278094817]: rtabmap: Deleted database "/home/hulk/.ros/rtabmap.db" (--delete_db_on_start or -d are set). [ INFO] [1531899171.278277275]: rtabmap: Using database from "/home/hulk/.ros/rtabmap.db" (0 MB). [ INFO] [1531899171.423506877]: Odom: quality=125, std dev=0.034778m|0.067006rad, update time=0.148551s [ INFO] [1531899171.502016504]: /camera/driver - Setting dynamic camera options [ INFO] [1531899171.572004251]: Odom: quality=142, std dev=0.039934m|0.063628rad, update time=0.135117s [ INFO] [1531899171.637802010]: rtabmap: Database version = "0.17.1". [ INFO] [1531899171.739755060]: /rtabmap/rtabmap: queue_size = 10 [ INFO] [1531899171.739958337]: /rtabmap/rtabmap: rgbd_cameras = 1 [ INFO] [1531899171.740084168]: /rtabmap/rtabmap: approx_sync = true [ INFO] [1531899171.740272979]: Setup depth callback [ INFO] [1531899171.827203280]: Odom: quality=149, std dev=0.039927m|0.059374rad, update time=0.155083s [ INFO] [1531899171.834349727]: /rtabmap/rtabmap subscribed to (approx sync): /rtabmap/odom, /camera/rgb/image_rect_color, /camera/depth_registered/sw_registered/image_rect_raw, /camera/rgb/camera_info, /scan [ INFO] [1531899171.869863963]: rtabmap 0.17.1 started... [ INFO] [1531899171.974811638]: Odom: quality=126, std dev=0.046539m|0.061982rad, update time=0.146084s [ INFO] [1531899175.297803769]: Odom: quality=149, std dev=0.032007m|0.059429rad, update time=0.133683s [ WARN] [1531899175.370958706]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.101241 timeout was 0.1. [ INFO] [1531899175.436676910]: Odom: quality=146, std dev=0.039326m|0.062496rad, update time=0.136180s [ INFO] [1531899176.794933438]: Odom: quality=118, std dev=0.033830m|0.053508rad, update time=0.127217s [ WARN] [1531899176.834530120]: /rtabmap/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). /rtabmap/rtabmap subscribed to (approx sync): /rtabmap/odom, /camera/rgb/image_rect_color, /camera/depth_registered/sw_registered/image_rect_raw, /camera/rgb/camera_info, /scan [ INFO] [1531899176.924189231]: Odom: quality=131, std dev=0.046159m|0.058813rad, update time=0.124888s time=0.130043s [ INFO] [1531899177.571394633]: Odom: quality=139, std dev=0.041224m|0.066494rad, update time=0.125271s ^C[rtabmap/rgbd_odometry-21] killing on exit [rtabmap/rtabmap-20] killing on exit [move_base-19] killing on exit [kobuki_safety_controller-18] killing on exit [navigation_velocity_smoother-17] killing on exit [depthimage_to_laserscan-16] killing on exit [camera/disparity_registered_sw-15] killing on exit [camera/disparity_depth-14] killing on exit [camera/depth_registered_sw_metric_rect-13] killing on exit [camera/points_xyzrgb_sw_registered-12] killing on exit [camera/register_depth_rgb-11] killing on exit [camera/depth_points-10] killing on exit [camera/depth_metric-9] killing on exit [camera/depth_metric_rect-8] killing on exit [camera/depth_rectify_depth-7] killing on exit [camera/ir_rectify_ir-6] killing on exit [camera/rgb_rectify_color-5] killing on exit [camera/rgb_rectify_mono-4] killing on exit [camera/rgb_debayer-3] killing on exit [camera/driver-2] killing on exit [camera/camera_nodelet_manager-1] killing on exit rtabmap: Saving database/long-term memory... (located at /home/hulk/.ros/rtabmap.db) rtabmap: Saving database/long-term memory...done! (located at /home/hulk/.ros/rtabmap.db, 0 MB) shutting down processing monitor... ... shutting down processing monitor complete done There are no messages from topic`s /scan and /depthimage_to_laserscan. Could you please explain why is it happening and tell me how to start room map construction. Thank you in advance.

Hello, I was following the rtabmap_ros [Remote Mapping](http://wiki.ros.org/rtabmap_ros/Tutorials/RemoteMapping) tutorial. I started with creating the `freenect_throttle.launch` file inside Robot's catkin_ws/src (I am not sure this is where it should be created.) I connected the Microsoft Kinect sensor to the robot using a USB 3.0 Hub and ran the turtlebot3_bringup node rrlTB@rrl-tb3-4:~$ roslaunch turtlebot3_bringup turtlebot3_robot.launch Then I launched the `freenect_throttle.launch` file running the following command: rrlTB@rrl-tb3-4:~/catkin_ws/src$ roslaunch freenect_throttle.launch rate:=5 and received the following error(s) [ERROR] [1532714701.215154862]: Failed to load nodelet [/camera/data_throttle] of type [rtabmap_ros/data_throttle] even after refreshing the cache: According to the loaded plugin descriptions the class rtabmap_ros/data_throttle with base class type nodelet::Nodelet does not exist. Declared types are SlamGMappingNodelet depth_image_proc/convert_metric depth_image_proc/crop_foremost depth_image_proc/disparity depth_image_proc/point_cloud_xyz depth_image_proc/point_cloud_xyz_radial depth_image_proc/point_cloud_xyzi depth_image_proc/point_cloud_xyzi_radial depth_image_proc/point_cloud_xyzrgb depth_image_proc/register depthimage_to_laserscan/DepthImageToLaserScanNodelet freenect_camera/driver image_proc/crop_decimate image_proc/crop_nonZero image_proc/crop_non_zero image_proc/debayer image_proc/rectify image_proc/resize image_publisher/image_publisher image_rotate/image_rotate image_view/disparity image_view/image laser_proc/LaserProcNodelet nodelet_tutorial_math/Plus pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid stereo_image_proc/disparity stereo_image_proc/point_cloud2 [ERROR] [1532714701.215329314]: The error before refreshing the cache was: According to the loaded plugin descriptions the class rtabmap_ros/data_throttle with base class type nodelet::Nodelet does not exist. Declared types are SlamGMappingNodelet depth_image_proc/convert_metric depth_image_proc/crop_foremost depth_image_proc/disparity depth_image_proc/point_cloud_xyz depth_image_proc/point_cloud_xyz_radial depth_image_proc/point_cloud_xyzi depth_image_proc/point_cloud_xyzi_radial depth_image_proc/point_cloud_xyzrgb depth_image_proc/register depthimage_to_laserscan/DepthImageToLaserScanNodelet freenect_camera/driver image_proc/crop_decimate image_proc/crop_nonZero image_proc/crop_non_zero image_proc/debayer image_proc/rectify image_proc/resize image_publisher/image_publisher image_rotate/image_rotate image_view/disparity image_view/image laser_proc/LaserProcNodelet nodelet_tutorial_math/Plus pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid stereo_image_proc/disparity stereo_image_proc/point_cloud2 [FATAL] [1532714701.215657067]: Failed to load nodelet '/camera/data_throttle` of type `rtabmap_ros/data_throttle` to manager `camera_nodelet_manager' [camera/data_throttle-25] process has died [pid 3050, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load rtabmap_ros/data_throttle camera_nodelet_manager rgb/image_in:=rgb/image_rect_color depth/image_in:=depth_registered/image_raw rgb/camera_info_in:=rgb/camera_info rgb/image_out:=data_throttled_image depth/image_out:=data_throttled_image_depth rgb/camera_info_out:=data_throttled_camera_info __name:=data_throttle __log:=/home/rrlTB/.ros/log/ade111ea-91c6-11e8-953e-60f677079225/camera-data_throttle-25.log]. log file: /home/rrlTB/.ros/log/ade111ea-91c6-11e8-953e-60f677079225/camera-data_throttle-25*.log and consecutively since the `/camera/data_throttle` is not loaded **there is no image** when I launch the `rtabmapviz` using the following command: $ roslaunch rtabmap_ros rtabmap.launch rgb_topic:=/camera/data_throttled_image depth_topic:=/camera/data_throttled_image_depth camera_info_topic:=/camera/data_throttled_camera_info compressed:=true rtabmap_args:="--delete_db_on_start" The warning message that I am receiving on the terminal that I launched `rtabmapviz` is as follows: [ WARN] [1532715689.158667703]: /rtabmap/rtabmapviz: 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). /rtabmap/rtabmapviz subscribed to (approx sync): /rtabmap/odom, /camera/data_throttled_image_relay, /camera/data_throttled_image_depth_relay, /camera/data_throttled_camera_info, /rtabmap/odom_info I am not sure what I did wrong, can you help me solve this issue? Thank you. *I am running Ros Kinetic on Ubuntu 16.04 64-bit machine.*

I want to fuse IMU data with vision while mapping with rtabmap_ros, I need to know if the algorithms actually accepts IMU fusion?