Comments (7)
matlabbe
commented on September 2, 2024
I tried with the latest binaries for Indigo and I don't have your problem (the clouds of the previous session are correctly shown). See below my output. In your case, "rtabmap" node seems to crash when loading node data from the database. This explains why rtabmapviz cannot call "get_map" service as the rtabmap node is busy (and finally crashes).
Is it a database created from the same rtabmap version? and when the database was first created, rtabmap exited normally? If so, try if the standalone can load the clouds from the database:
$ rtabmap
File -> "Open database..." and select ~/.ros/rtabmap.db, then Edit->"Download all Clouds".
$ roslaunch test.launch
... logging to /home/mathieu/.ros/log/2a93741a-33da-11e5-9602-58b03561ac71/roslaunch-mathieu-MacBookPro-1451.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://mathieu-MacBookPro:47180/
SUMMARY
========
PARAMETERS
* /rosdistro: indigo
* /rosversion: 1.11.13
* /rtabmap/Mem/IncrementalMemory: true
* /rtabmap/frame_id: base_link
* /rtabmap/publish_tf: True
* /rtabmap/tf_prefix: vehicle
* /rtabmapviz/frame_id: base_link
NODES
/
rtabmap (rtabmap_ros/rtabmap)
rtabmapviz (rtabmap_ros/rtabmapviz)
auto-starting new master
process[master]: started with pid [1463]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 2a93741a-33da-11e5-9602-58b03561ac71
process[rosout-1]: started with pid [1476]
started core service [/rosout]
process[rtabmap-2]: started with pid [1493]
[ INFO] [1437944782.600114047]: Starting node...
process[rtabmapviz-3]: started with pid [1516]
[ INFO] [1437944782.653571565]: rtabmap: frame_id = base_link
[ INFO] [1437944782.653664911]: rtabmap: map_frame_id = map
[ INFO] [1437944782.653706062]: rtabmap: queue_size = 10
[ INFO] [1437944782.653758345]: rtabmap: tf_delay = 0.050000
[ INFO] [1437944782.832241270]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1437944782.878467966]: Starting node...
[ INFO] [1437944783.010909452]: rtabmapviz: Using configuration from "/home/mathieu/.ros/rtabmapGUI.ini"
[ INFO] [1437944783.327790918]: RTAB-Map rate detection = 1.000000 Hz
[ INFO] [1437944783.327872240]: rtabmap: Using database from "/home/mathieu/.ros/rtabmap.db".
[ WARN] (2015-07-26 17:06:23.408) Memory.cpp:319::init() _vwd->getUnusedWordsSize() must be empty... size=34
[ INFO] [1437944783.824370890]: Reading parameters from the ROS server...
[ INFO] [1437944783.993093350]: Registering Depth callback...
[ INFO] [1437944783.997333934]:
/rtabmap subscribed to:
/rgb/image,
/depth/image,
/rgb/camera_info,
/odom
[ INFO] [1437944783.997742969]: rtabmap started...
[ INFO] [1437944784.038171432]: Parameters read = 179
[ INFO] [1437944784.038255961]: Parameters successfully read.
[ INFO] [1437944784.103117613]:
/rtabmapviz subscribed to:
[ INFO] [1437944784.112952839]: rtabmapviz started.
[ INFO] [1437944786.655224010]: rtabmap: paused!
[ INFO] [1437944792.836083254]: rtabmap: Getting map (global=true optimized=true graphOnly=true)...
[ INFO] [1437944797.162813599]: rtabmap: Getting map (global=true optimized=true graphOnly=false)...
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atomala
commented on September 2, 2024
I am using the '5MappingSessions_OnlineConstraint700ms.db.zip' database found on this site.
Trying it on the standalone RTABmap, I noticed that I can download the cloud but it does not show up on the 3d view for some weird reason. The graph data renders perfectly fine though.
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matlabbe
commented on September 2, 2024
Make sure that "Show 3D clouds" under Map is checked in Preferences->3D Rendering. Well, I tried the database above and it worked on my computer. However, it takes a lot of memory to show full global map with the latest indigo version (6.9 Gig on my computer). On the latest version from source, rtabmap takes 4 Gig for the same database.
How much memory does your computer have? You can try to download only the "local map" to see if you can at least have the point clouds. When clicking "Download all clouds", select local map instead.
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atomala
commented on September 2, 2024
Using the local map doesn't work either. For some reason the cloud is not being rendered in the 3d view. When I enable the grid in the 3d view, it still remains black. Changing the background color also doesn't cause anything to happen to the 3d view.
Edit: Just noticed that I got this error now after compiling RTABmap from source and upgrading PCL:
[PCLVisualizer::addTextureMesh] Your GPU doesn't support multi texturing. Will use first one only!
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atomala
commented on September 2, 2024
Just compiled rtabmap_ros (and rtabmap) from source and it gets the data perfectly fine now. Only problem is the black 3d view. It receives the data but doesn't render it in rtabmap_viz.
I would also like to mention that I am using OpenCV 3 but I don't think that should cause anything weird to happen
And trying to get the occupancy grid doesn't work either and gives such a useful error message:
alex@alex-laptop:~$ rosservice call /rtabmap/get_grid_map
ERROR: service [/rtabmap/get_grid_map] responded with an error:
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natejgardner
commented on September 2, 2024
I encounter this error whenever I try to download clouds from a large database. If I spend too much time scanning a room, especially if I run postprocessing, I always get this error. Usually any more than 1,000 loop closures will produce this for me in rtabmap_ros.
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matlabbe
commented on September 2, 2024
Which error exactly do you have? Download error, rosservice call failed or optimization failed error?
"Usually any more than 1,000 loop closures will produce", looks like an optimization error problem (g2o/GTSAM/TORO failing to optimize the graph).
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