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No Cameras #17

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Rob-Otics opened this issue Mar 6, 2023 · 9 comments
Open

No Cameras #17

Rob-Otics opened this issue Mar 6, 2023 · 9 comments

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@Rob-Otics
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Screenshot from 2023-03-06 16-24-00

ugv@ugv-meditel:~/dev_ws/src/phase_rtabmap_foxy$ ros2 launch phase_rtabmap_foxy phase_rtabmap_launch.py 
[INFO] [launch]: All log files can be found below /home/ugv/.ros/log/2023-03-06-16-14-33-672094-ugv-meditel-81695
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [phase_camera-1]: process started with pid [81717]
[INFO] [component_container-2]: process started with pid [81719]
[INFO] [static_transform_publisher-3]: process started with pid [81721]
[INFO] [rgbd_odometry-4]: process started with pid [81723]
[INFO] [rtabmap-5]: process started with pid [81725]
[INFO] [rtabmapviz-6]: process started with pid [81727]
[static_transform_publisher-3] [INFO] [1678119273.916722310] [camera_base_link]: Spinning until killed publishing transform from 'base_link' to 'camera_link'
[component_container-2] [INFO] [1678119274.107498864] [stereo_image_proc_container]: Load Library: /home/ugv/dev_ws/install/stereo_image_proc/lib/libstereo_image_proc.so
[component_container-2] [INFO] [1678119274.186371312] [stereo_image_proc_container]: Found class: rclcpp_components::NodeFactoryTemplate<stereo_image_proc::DisparityNode>
[component_container-2] [INFO] [1678119274.186410894] [stereo_image_proc_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<stereo_image_proc::DisparityNode>
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/disparity_node' in container '/stereo_image_proc_container'
[component_container-2] [INFO] [1678119274.202734375] [stereo_image_proc_container]: Load Library: /home/ugv/dev_ws/install/image_proc/lib/libdebayer.so
[component_container-2] [INFO] [1678119274.204113022] [stereo_image_proc_container]: Found class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>
[component_container-2] [INFO] [1678119274.204135111] [stereo_image_proc_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>
[rgbd_odometry-4] [INFO] [1678119274.218803066] [rtabmap.rgbd_odometry]: Odometry: frame_id               = base_link
[rgbd_odometry-4] [INFO] [1678119274.219419974] [rtabmap.rgbd_odometry]: Odometry: odom_frame_id          = odom
[rgbd_odometry-4] [INFO] [1678119274.219822145] [rtabmap.rgbd_odometry]: Odometry: publish_tf             = true
[rgbd_odometry-4] [INFO] [1678119274.220131756] [rtabmap.rgbd_odometry]: Odometry: wait_for_transform     = 0.200000
[rgbd_odometry-4] [INFO] [1678119274.220405284] [rtabmap.rgbd_odometry]: Odometry: log_to_rosout_level    = 4
[rgbd_odometry-4] [INFO] [1678119274.220709079] [rtabmap.rgbd_odometry]: Odometry: initial_pose           = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000
[rgbd_odometry-4] [INFO] [1678119274.220991006] [rtabmap.rgbd_odometry]: Odometry: ground_truth_frame_id  = 
[rgbd_odometry-4] [INFO] [1678119274.221242274] [rtabmap.rgbd_odometry]: Odometry: ground_truth_base_frame_id = 
[rgbd_odometry-4] [INFO] [1678119274.221692358] [rtabmap.rgbd_odometry]: Odometry: config_path            = 
[rgbd_odometry-4] [INFO] [1678119274.222007550] [rtabmap.rgbd_odometry]: Odometry: publish_null_when_lost = true
[rgbd_odometry-4] [INFO] [1678119274.222266433] [rtabmap.rgbd_odometry]: Odometry: guess_frame_id         = 
[rgbd_odometry-4] [INFO] [1678119274.222518843] [rtabmap.rgbd_odometry]: Odometry: guess_min_translation  = 0.000000
[rgbd_odometry-4] [INFO] [1678119274.222834069] [rtabmap.rgbd_odometry]: Odometry: guess_min_rotation     = 0.000000
[rgbd_odometry-4] [INFO] [1678119274.223156293] [rtabmap.rgbd_odometry]: Odometry: guess_min_time         = 0.000000
[rgbd_odometry-4] [INFO] [1678119274.223424448] [rtabmap.rgbd_odometry]: Odometry: expected_update_rate   = 0.000000 Hz
[rgbd_odometry-4] [INFO] [1678119274.223689388] [rtabmap.rgbd_odometry]: Odometry: max_update_rate        = 0.000000 Hz
[rgbd_odometry-4] [INFO] [1678119274.224047566] [rtabmap.rgbd_odometry]: Odometry: min_update_rate        = 0.000000 Hz
[rgbd_odometry-4] [INFO] [1678119274.224306287] [rtabmap.rgbd_odometry]: Odometry: wait_imu_to_init       = false
[rgbd_odometry-4] [INFO] [1678119274.224620011] [rtabmap.rgbd_odometry]: Odometry: stereoParams_=0 visParams_=1 icpParams_=0
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/left/debayer_node' in container 'stereo_image_proc_container'
[component_container-2] [INFO] [1678119274.226232077] [stereo_image_proc_container]: Found class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>
[component_container-2] [INFO] [1678119274.226336307] [stereo_image_proc_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>
[component_container-2] [INFO] [1678119274.236753579] [stereo_image_proc_container]: Found class: rclcpp_components::NodeFactoryTemplate<stereo_image_proc::DisparityNode>
[component_container-2] [INFO] [1678119274.236784015] [stereo_image_proc_container]: Found class: rclcpp_components::NodeFactoryTemplate<stereo_image_proc::PointCloudNode>
[component_container-2] [INFO] [1678119274.236790311] [stereo_image_proc_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<stereo_image_proc::PointCloudNode>
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/right/debayer_node' in container 'stereo_image_proc_container'
[component_container-2] [INFO] [1678119274.245477662] [stereo_image_proc_container]: Load Library: /home/ugv/dev_ws/install/image_proc/lib/librectify.so
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/point_cloud_node' in container '/stereo_image_proc_container'
[component_container-2] [INFO] [1678119274.247069681] [stereo_image_proc_container]: Found class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>
[component_container-2] [INFO] [1678119274.247100814] [stereo_image_proc_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/left/rectify_mono_node' in container 'stereo_image_proc_container'
[component_container-2] [INFO] [1678119274.271707454] [stereo_image_proc_container]: Found class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>
[component_container-2] [INFO] [1678119274.271738614] [stereo_image_proc_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>
[rgbd_odometry-4] [INFO] [1678119274.276441265] [rtabmap.rgbd_odometry]: RGBDOdometry: approx_sync    = false
[rgbd_odometry-4] [INFO] [1678119274.276467135] [rtabmap.rgbd_odometry]: RGBDOdometry: queue_size     = 10
[rgbd_odometry-4] [INFO] [1678119274.276474750] [rtabmap.rgbd_odometry]: RGBDOdometry: qos            = 1
[rgbd_odometry-4] [INFO] [1678119274.276480594] [rtabmap.rgbd_odometry]: RGBDOdometry: qos_camera_info = 1
[rgbd_odometry-4] [INFO] [1678119274.276486165] [rtabmap.rgbd_odometry]: RGBDOdometry: subscribe_rgbd = false
[rgbd_odometry-4] [INFO] [1678119274.276491354] [rtabmap.rgbd_odometry]: RGBDOdometry: rgbd_cameras   = 1
[rgbd_odometry-4] [INFO] [1678119274.276496698] [rtabmap.rgbd_odometry]: RGBDOdometry: keep_color     = false
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/right/rectify_mono_node' in container 'stereo_image_proc_container'
[component_container-2] [INFO] [1678119274.289976275] [stereo_image_proc_container]: Found class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>
[component_container-2] [INFO] [1678119274.290013424] [stereo_image_proc_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>
[rgbd_odometry-4] [INFO] [1678119274.300173598] [rtabmap.rgbd_odometry]: 
[rgbd_odometry-4] rgbd_odometry subscribed to (exact sync):
[rgbd_odometry-4]    /left/image_rect_color,
[rgbd_odometry-4]    /depth/image,
[rgbd_odometry-4]    /left/camera_info
[rtabmap-5] [INFO] [1678119274.304983043] [rtabmap.rtabmap]: rtabmap(maps): map_filter_radius          = 0.000000
[rtabmap-5] [INFO] [1678119274.305774109] [rtabmap.rtabmap]: rtabmap(maps): map_filter_angle           = 30.000000
[rtabmap-5] [INFO] [1678119274.306138769] [rtabmap.rtabmap]: rtabmap(maps): map_cleanup                = true
[rtabmap-5] [INFO] [1678119274.306532010] [rtabmap.rtabmap]: rtabmap(maps): map_always_update          = false
[rtabmap-5] [INFO] [1678119274.306827270] [rtabmap.rtabmap]: rtabmap(maps): map_empty_ray_tracing      = true
[rtabmap-5] [INFO] [1678119274.307146448] [rtabmap.rtabmap]: rtabmap(maps): cloud_output_voxelized     = true
[rtabmap-5] [INFO] [1678119274.307483571] [rtabmap.rtabmap]: rtabmap(maps): cloud_subtract_filtering   = false
[component_container-2] [INFO] [1678119274.307806168] [stereo_image_proc_container]: Found class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>
[component_container-2] [INFO] [1678119274.307828105] [stereo_image_proc_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/left/rectify_color_node' in container 'stereo_image_proc_container'
[rtabmap-5] [INFO] [1678119274.309090343] [rtabmap.rtabmap]: rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[rtabmap-5] [INFO] [1678119274.309561568] [rtabmap.rtabmap]: rtabmap(maps): octomap_tree_depth         = 16
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/right/rectify_color_node' in container 'stereo_image_proc_container'
[rtabmap-5] [INFO] [1678119274.340592709] [rtabmap.rtabmap]: rtabmap: frame_id      = base_link
[rtabmap-5] [INFO] [1678119274.340623573] [rtabmap.rtabmap]: rtabmap: map_frame_id  = map
[rtabmap-5] [INFO] [1678119274.340630151] [rtabmap.rtabmap]: rtabmap: log_to_rosout_level  = 4
[rtabmap-5] [INFO] [1678119274.340635495] [rtabmap.rtabmap]: rtabmap: initial_pose  = 
[rtabmap-5] [INFO] [1678119274.340640401] [rtabmap.rtabmap]: rtabmap: use_action_for_goal  = false
[rtabmap-5] [INFO] [1678119274.340645824] [rtabmap.rtabmap]: rtabmap: tf_delay      = 0.050000
[rtabmap-5] [INFO] [1678119274.340654400] [rtabmap.rtabmap]: rtabmap: tf_tolerance  = 0.100000
[rtabmap-5] [INFO] [1678119274.340660216] [rtabmap.rtabmap]: rtabmap: odom_sensor_sync   = false
[rtabmap-5] [INFO] [1678119274.340666718] [rtabmap.rtabmap]: rtabmap: gen_scan  = false
[rtabmap-5] [INFO] [1678119274.340671832] [rtabmap.rtabmap]: rtabmap: gen_depth  = false
[rtabmap-5] [INFO] [1678119274.395439746] [rtabmap.rtabmap]: RTAB-Map detection rate = 1.000000 Hz
[rtabmap-5] [INFO] [1678119274.395641272] [rtabmap.rtabmap]: rtabmap: Deleted database "/home/ugv/.ros/rtabmap.db" (--delete_db_on_start or -d are set).
[rtabmap-5] [INFO] [1678119274.395673568] [rtabmap.rtabmap]: rtabmap: Using database from "/home/ugv/.ros/rtabmap.db" (0 MB).
[rtabmapviz-6] [INFO] [1678119274.603194291] [rtabmap.rtabmapviz]: rtabmapviz: Using configuration from "/home/ugv/.ros/rtabmapGUI.ini"
[rtabmap-5] [INFO] [1678119274.607410494] [rtabmap.rtabmap]: rtabmap: Database version = "0.20.23".
[rtabmap-5] [INFO] [1678119274.607444087] [rtabmap.rtabmap]: rtabmap: SLAM mode (Mem/IncrementalMemory=true)
[phase_camera-1] RuntimeError: module compiled against API version 0x10 but this version of numpy is 0xd
[phase_camera-1] RuntimeError: module compiled against API version 0x10 but this version of numpy is 0xd
[phase_camera-1] RuntimeError: module compiled against API version 0x10 but this version of numpy is 0xd
[phase_camera-1] ImportError: numpy.core.multiarray failed to import
[phase_camera-1] 
[phase_camera-1] The above exception was the direct cause of the following exception:
[phase_camera-1] 
[phase_camera-1] SystemError: <built-in method __contains__ of dict object at 0x7fab9742d280> returned a result with an error set
[phase_camera-1] 
[phase_camera-1] The above exception was the direct cause of the following exception:
[phase_camera-1] 
[phase_camera-1] Traceback (most recent call last):
[phase_camera-1]   File "/home/ugv/dev_ws/install/phase_rtabmap_foxy/lib/phase_rtabmap_foxy/phase_camera", line 11, in <module>
[phase_camera-1]     load_entry_point('phase-rtabmap-foxy==0.0.0', 'console_scripts', 'phase_camera')()
[phase_camera-1]   File "/usr/lib/python3/dist-packages/pkg_resources/__init__.py", line 490, in load_entry_point
[phase_camera-1]     return get_distribution(dist).load_entry_point(group, name)
[phase_camera-1]   File "/usr/lib/python3/dist-packages/pkg_resources/__init__.py", line 2854, in load_entry_point
[phase_camera-1]     return ep.load()
[phase_camera-1]   File "/usr/lib/python3/dist-packages/pkg_resources/__init__.py", line 2445, in load
[phase_camera-1]     return self.resolve()
[phase_camera-1]   File "/usr/lib/python3/dist-packages/pkg_resources/__init__.py", line 2451, in resolve
[phase_camera-1]     module = __import__(self.module_name, fromlist=['__name__'], level=0)
[phase_camera-1]   File "/home/ugv/dev_ws/install/phase_rtabmap_foxy/lib/python3.8/site-packages/phase_rtabmap_foxy/phase_pub.py", line 22, in <module>
[phase_camera-1]     import phase.pyphase as phase
[phase_camera-1]   File "/home/ugv/.local/lib/python3.8/site-packages/phase/__init__.py", line 58, in <module>
[phase_camera-1]     check_phase_version(phase_version)
[phase_camera-1]   File "/home/ugv/.local/lib/python3.8/site-packages/phase/__init__.py", line 41, in check_phase_version
[phase_camera-1]     from phase.pyphase import getAPIVersionString
[phase_camera-1] ImportError: initialization failed
[rtabmap-5] [INFO] [1678119274.620711004] [rtabmap.rtabmap]: Setup callbacks
[rtabmap-5] [INFO] [1678119274.620861936] [rtabmap.rtabmap]: rtabmap: subscribe_depth = true
[rtabmap-5] [INFO] [1678119274.620876906] [rtabmap.rtabmap]: rtabmap: subscribe_rgb = true
[rtabmap-5] [INFO] [1678119274.620883094] [rtabmap.rtabmap]: rtabmap: subscribe_stereo = false
[rtabmap-5] [INFO] [1678119274.620888772] [rtabmap.rtabmap]: rtabmap: subscribe_rgbd = false (rgbd_cameras=1)
[rtabmap-5] [INFO] [1678119274.620894686] [rtabmap.rtabmap]: rtabmap: subscribe_odom_info = true
[rtabmap-5] [INFO] [1678119274.620900133] [rtabmap.rtabmap]: rtabmap: subscribe_user_data = false
[rtabmap-5] [INFO] [1678119274.620905288] [rtabmap.rtabmap]: rtabmap: subscribe_scan = false
[rtabmap-5] [INFO] [1678119274.620910383] [rtabmap.rtabmap]: rtabmap: subscribe_scan_cloud = false
[rtabmap-5] [INFO] [1678119274.620915482] [rtabmap.rtabmap]: rtabmap: subscribe_scan_descriptor = false
[rtabmap-5] [INFO] [1678119274.620920666] [rtabmap.rtabmap]: rtabmap: queue_size      = 10
[rtabmap-5] [INFO] [1678119274.620926152] [rtabmap.rtabmap]: rtabmap: qos_image       = 1
[rtabmap-5] [INFO] [1678119274.620931320] [rtabmap.rtabmap]: rtabmap: qos_camera_info = 1
[rtabmap-5] [INFO] [1678119274.620936422] [rtabmap.rtabmap]: rtabmap: qos_scan        = 1
[rtabmap-5] [INFO] [1678119274.620941339] [rtabmap.rtabmap]: rtabmap: qos_odom        = 1
[rtabmap-5] [INFO] [1678119274.620946471] [rtabmap.rtabmap]: rtabmap: qos_user_data   = 1
[rtabmap-5] [INFO] [1678119274.620951595] [rtabmap.rtabmap]: rtabmap: approx_sync     = false
[rtabmap-5] [INFO] [1678119274.620965866] [rtabmap.rtabmap]: Setup depth callback
[rtabmap-5] [INFO] [1678119274.631825606] [rtabmap.rtabmap]: 
[rtabmap-5] rtabmap subscribed to (exact sync):
[rtabmap-5]    /rtabmap/odom \
[rtabmap-5]    /left/image_rect_color \
[rtabmap-5]    /depth/image \
[rtabmap-5]    /left/camera_info \
[rtabmap-5]    /rtabmap/odom_info
[ERROR] [phase_camera-1]: process has died [pid 81717, exit code 1, cmd '/home/ugv/dev_ws/install/phase_rtabmap_foxy/lib/phase_rtabmap_foxy/phase_camera --left_serial 23638717 --right_serial 23638711 --camera_name Basler acA2440-35uc --device_type phobos --interface_type usb --exposure 25000 --ros-args -r __node:=phase_pub'].
[rtabmapviz-6] libpng warning: iCCP: known incorrect sRGB profile
[rtabmapviz-6] libpng warning: iCCP: known incorrect sRGB profile
[rtabmapviz-6] libpng warning: iCCP: known incorrect sRGB profile
[rtabmapviz-6] [WARN] [1678119275.567277419] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[rtabmapviz-6] [INFO] [1678119275.569292189] [rtabmap.rtabmapviz]: Reading parameters from the ROS server...
[rtabmapviz-6] [INFO] [1678119275.608352786] [rtabmap.rtabmapviz]: Parameters read = 359
[rtabmapviz-6] [INFO] [1678119275.608401936] [rtabmap.rtabmapviz]: Parameters successfully read.
[rtabmapviz-6] [INFO] [1678119275.872899256] [rtabmap.rtabmapviz]: rtabmapviz: subscribe_depth = true
[rtabmapviz-6] [INFO] [1678119275.872952099] [rtabmap.rtabmapviz]: rtabmapviz: subscribe_rgb = true
[rtabmapviz-6] [INFO] [1678119275.872956014] [rtabmap.rtabmapviz]: rtabmapviz: subscribe_stereo = false
[rtabmapviz-6] [INFO] [1678119275.872959091] [rtabmap.rtabmapviz]: rtabmapviz: subscribe_rgbd = false (rgbd_cameras=1)
[rtabmapviz-6] [INFO] [1678119275.872962639] [rtabmap.rtabmapviz]: rtabmapviz: subscribe_odom_info = true
[rtabmapviz-6] [INFO] [1678119275.872965588] [rtabmap.rtabmapviz]: rtabmapviz: subscribe_user_data = false
[rtabmapviz-6] [INFO] [1678119275.872968510] [rtabmap.rtabmapviz]: rtabmapviz: subscribe_scan = false
[rtabmapviz-6] [INFO] [1678119275.872971335] [rtabmap.rtabmapviz]: rtabmapviz: subscribe_scan_cloud = false
[rtabmapviz-6] [INFO] [1678119275.872974305] [rtabmap.rtabmapviz]: rtabmapviz: subscribe_scan_descriptor = false
[rtabmapviz-6] [INFO] [1678119275.872977222] [rtabmap.rtabmapviz]: rtabmapviz: queue_size      = 10
[rtabmapviz-6] [INFO] [1678119275.872980305] [rtabmap.rtabmapviz]: rtabmapviz: qos_image       = 1
[rtabmapviz-6] [INFO] [1678119275.872983190] [rtabmap.rtabmapviz]: rtabmapviz: qos_camera_info = 1
[rtabmapviz-6] [INFO] [1678119275.872986078] [rtabmap.rtabmapviz]: rtabmapviz: qos_scan        = 1
[rtabmapviz-6] [INFO] [1678119275.872988957] [rtabmap.rtabmapviz]: rtabmapviz: qos_odom        = 1
[rtabmapviz-6] [INFO] [1678119275.872991817] [rtabmap.rtabmapviz]: rtabmapviz: qos_user_data   = 1
[rtabmapviz-6] [INFO] [1678119275.872994634] [rtabmap.rtabmapviz]: rtabmapviz: approx_sync     = false
[rtabmapviz-6] [INFO] [1678119275.873006273] [rtabmap.rtabmapviz]: Setup depth callback
[rtabmapviz-6] [INFO] [1678119275.884310197] [rtabmap.rtabmapviz]: 
[rtabmapviz-6] rtabmapviz subscribed to (exact sync):
[rtabmapviz-6]    /rtabmap/odom \
[rtabmapviz-6]    /left/image_rect_color \
[rtabmapviz-6]    /depth/image \
[rtabmapviz-6]    /left/camera_info \
[rtabmapviz-6]    /rtabmap/odom_info
[rtabmapviz-6] [INFO] [1678119275.884375637] [rtabmap.rtabmapviz]: rtabmapviz started.
[rgbd_odometry-4] [WARN] [1678119279.315854910] [rtabmap.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-4] rgbd_odometry subscribed to (exact sync):
[rgbd_odometry-4]    /left/image_rect_color,
[rgbd_odometry-4]    /depth/image,
[rgbd_odometry-4]    /left/camera_info
[rtabmap-5] [WARN] [1678119279.632229736] [rtabmap.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). Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
[rtabmap-5] rtabmap subscribed to (exact sync):
[rtabmap-5]    /rtabmap/odom \
[rtabmap-5]    /left/image_rect_color \
[rtabmap-5]    /depth/image \
[rtabmap-5]    /left/camera_info \
[rtabmap-5]    /rtabmap/odom_info
[rtabmapviz-6] [WARN] [1678119280.884851643] [rtabmap.rtabmapviz]: 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). Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
[rtabmapviz-6] rtabmapviz subscribed to (exact sync):
[rtabmapviz-6]    /rtabmap/odom \
[rtabmapviz-6]    /left/image_rect_color \
[rtabmapviz-6]    /depth/image \
[rtabmapviz-6]    /left/camera_info \
[rtabmapviz-6]    /rtabmap/odom_info
[rgbd_odometry-4] [WARN] [1678119284.315804305] [rtabmap.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-4] rgbd_odometry subscribed to (exact sync):
[rgbd_odometry-4]    /left/image_rect_color,
[rgbd_odometry-4]    /depth/image,
[rgbd_odometry-4]    /left/camera_info
[rtabmap-5] [WARN] [1678119284.631994196] [rtabmap.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). Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
[rtabmap-5] rtabmap subscribed to (exact sync):
[rtabmap-5]    /rtabmap/odom \
[rtabmap-5]    /left/image_rect_color \
[rtabmap-5]    /depth/image \
[rtabmap-5]    /left/camera_info \
[rtabmap-5]    /rtabmap/odom_info
[rtabmapviz-6] [WARN] [1678119285.884533687] [rtabmap.rtabmapviz]: 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). Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
[rtabmapviz-6] rtabmapviz subscribed to (exact sync):
[rtabmapviz-6]    /rtabmap/odom \
[rtabmapviz-6]    /left/image_rect_color \
[rtabmapviz-6]    /depth/image \
[rtabmapviz-6]    /left/camera_info \
[rtabmapviz-6]    /rtabmap/odom_info
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[rtabmap-5] [INFO] [1678119287.029787481] [rclcpp]: signal_handler(signal_value=2)
[rtabmap-5] [WARN] [1678119287.031584411] [rtabmap.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). Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
[rtabmap-5] rtabmap subscribed to (exact sync):
[rtabmap-5]    /rtabmap/odom \
[rtabmap-5]    /left/image_rect_color \
[rtabmap-5]    /depth/image \
[rtabmap-5]    /left/camera_info \
[rtabmap-5]    /rtabmap/odom_info
[INFO] [static_transform_publisher-3]: process has finished cleanly [pid 81721]
[INFO] [component_container-2]: process has finished cleanly [pid 81719]
[static_transform_publisher-3] [INFO] [1678119287.029791283] [rclcpp]: signal_handler(signal_value=2)
[rgbd_odometry-4] [INFO] [1678119287.029787514] [rclcpp]: signal_handler(signal_value=2)
[rgbd_odometry-4] [WARN] [1678119287.030299412] [rtabmap.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-4] rgbd_odometry subscribed to (exact sync):
[rgbd_odometry-4]    /left/image_rect_color,
[rgbd_odometry-4]    /depth/image,
[rgbd_odometry-4]    /left/camera_info
[component_container-2] [INFO] [1678119287.029787908] [rclcpp]: signal_handler(signal_value=2)
[rtabmapviz-6] [INFO] [1678119287.029875214] [rtabmap.rtabmapviz]: rtabmapviz stopping spinner...
[rtabmapviz-6] [WARN] [1678119287.031681245] [rtabmap.rtabmapviz]: 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). Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
[rtabmapviz-6] rtabmapviz subscribed to (exact sync):
[rtabmapviz-6]    /rtabmap/odom \
[rtabmapviz-6]    /left/image_rect_color \
[rtabmapviz-6]    /depth/image \
[rtabmapviz-6]    /left/camera_info \
[rtabmapviz-6]    /rtabmap/odom_info
[rtabmapviz-6] [INFO] [1678119287.034695798] [rtabmap.rtabmapviz]: rtabmapviz: All done! Closing...
[rtabmap-5] [INFO] [1678119287.080511569] [rtabmap.rtabmap]: Parameters are not saved (No configuration file provided...)
[rtabmap-5] rtabmap: Saving database/long-term memory... (located at /home/ugv/.ros/rtabmap.db)
[rtabmap-5] rtabmap: Saving database/long-term memory...done! (located at /home/ugv/.ros/rtabmap.db, 0 MB)
[INFO] [rgbd_odometry-4]: process has finished cleanly [pid 81723]
[INFO] [rtabmap-5]: process has finished cleanly [pid 81725]
[ERROR] [rtabmapviz-6]: process has died [pid 81727, exit code 255, cmd '/home/ugv/dev_ws/install/rtabmap_ros/lib/rtabmap_ros/rtabmapviz ~/.ros/rtabmap_gui.ini --ros-args -r __ns:=/rtabmap --params-file /tmp/launch_params_wxi0q3zm --params-file /tmp/launch_params_nsei2tm3 -r rgb/image:=/left/image_rect_color -r depth/image:=/depth/image -r rgb/camera_info:=/left/camera_info -r rgbd_image:=rgbd_image_relay -r left/image_rect:=/stereo_camera/left/image_rect_color -r right/image_rect:=/stereo_camera/right/image_rect -r left/camera_info:=/stereo_camera/left/camera_info -r right/camera_info:=/stereo_camera/right/camera_info -r scan:=/scan -r scan_cloud:=/scan_cloud -r odom:=odom'].
@kinyipchan913
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I see an error on numpy import but let me see deeply about this tomorrow.

@kinyipchan913
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Hi Rob,
The first thing to try is to install the pylon viewer from basler to see if the camera driver connects the camera. Please install the pylon viewer and run it to see if we can access the camera information and the live image.

https://docs.baslerweb.com/software-installation-(linux)

@Rob-Otics
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Rob-Otics commented Mar 7, 2023 via email

@kinyipchan913
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kinyipchan913 commented Mar 7, 2023 •
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Hi Rob, if you ran in in Pylon viewer and couldn't see anything. We prepared the worst case is the cameras are not function at all. So I would like to know where is the camera at the moment or what is it working with in case we need to drive up and see the camera. I suggest for the time being on your side you can still do a quick test for me in remote assist. If you can open the lid of the camera and try to connect the two cameras seperately and see if you can see anything in pylon viewer.

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I am coming back on this issue. Again the first thing to try. I have experienced that it runs for a while (let's say 5 mins) before the rtabmap starts to recognise the camera. Please try this first, or I am still finding the reason for this delay issue related to I3DRSGM or rtabmap.

@kinyipchan913
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I am also thinking the numpy error you mentioned last time, that probably also be the reason.

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kinyipchan913 commented Mar 7, 2023 •
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Other thing can you see if pyphase is in /opt/i3dr/ folder? if yes, can you remove
sudo rm -rf /opt/i3dr

@kinyipchan913
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After remove the folder above, install phase instead of pyphase
https://github.com/i3drobotics/phase/releases

@Rob-Otics
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we didn't have a /opt/i3dr/ folder, tried with phase instead of pyphase and we had several build errors.

May have to park this as we can't afford much more time trying to debug and fix this at this point with so many other parts of the project to get working.

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