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".
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