A problem about "roslaunch realsense_ros_slam demo_slam.launch" with realsense ZR300

LYuan5 · ‎05-30-2018

Hello,

I run the commands as the website: https://github.com/IntelRealSense/realsense_samples_ros/blob/kinetic-devel/realsense_ros_slam/README.md realsense_samples_ros/README.md at kinetic-devel · IntelRealSense/realsense_samples_ros · GitHub

$ cd catkin_ws

$ source devel/setup.bash

$ roslaunch realsense_ros_slam demo_slam.launch

And the terminal shows as following including two cases.

Case 1:

yuanlibin@yuanlibin:~/catkin_ws$ roslaunch realsense_ros_slam demo_slam.launch

... logging to /home/yuanlibin/.ros/log/ce3f41f2-63b1-11e8-9c51-1c1b0d61bf22/roslaunch-yuanlibin-2914.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://yuanlibin:43883/ http://yuanlibin:43883/

SUMMARY

PARAMETERS

/realsense_ros_camera/accel_optical_frame_id: camera_accel_opti...
/realsense_ros_camera/color_fps: 30
/realsense_ros_camera/color_height: 480
/realsense_ros_camera/color_optical_frame_id: camera_rgb_optica...
/realsense_ros_camera/color_width: 640
/realsense_ros_camera/depth_fps: 30
/realsense_ros_camera/depth_height: 240
/realsense_ros_camera/depth_optical_frame_id: camera_depth_opti...
/realsense_ros_camera/depth_width: 320
/realsense_ros_camera/enable_color: False
/realsense_ros_camera/enable_depth: True
/realsense_ros_camera/enable_fisheye: True
/realsense_ros_camera/fisheye_fps: 30
/realsense_ros_camera/fisheye_height: 480
/realsense_ros_camera/fisheye_optical_frame_id: camera_fisheye_op...
/realsense_ros_camera/fisheye_width: 640
/realsense_ros_camera/gyro_optical_frame_id: camera_gyro_optic...
/realsense_ros_camera/ir2_optical_frame_id: camera_ir2_optica...
/realsense_ros_camera/ir_optical_frame_id: camera_ir_optical...
/realsense_ros_camera/serial_no:
/realsense_ros_slam/doi_max: 3.0
/realsense_ros_slam/doi_min: 0.3
/realsense_ros_slam/hoi_max: 0.1
/realsense_ros_slam/hoi_min: -0.5
/realsense_ros_slam/load_occupancy_map:
/realsense_ros_slam/load_relocalization_map:
/realsense_ros_slam/map_resolution: 0.05
/realsense_ros_slam/occupancyFilename: occupancy_1019.bin
/realsense_ros_slam/publish_odometry: True
/realsense_ros_slam/relocalizationFilename: relocalization_10...
/realsense_ros_slam/resolution: 0.1
/realsense_ros_slam/topic_camera_pose: camera_pose
/realsense_ros_slam/topic_map: map
/realsense_ros_slam/topic_odom: odom
/realsense_ros_slam/topic_pose2d: pose2d
/realsense_ros_slam/topic_reloc_pose: reloc_pose
/realsense_ros_slam/topic_tracking_accuracy: tracking_accuracy
/realsense_ros_slam/trajectoryFilename: trajectory_1019.ppm
/rosdistro: kinetic
/rosversion: 1.12.13

NODES

/

base_link_to_camera_link (tf2_ros/static_transform_publisher)

map_to_odom (tf2_ros/static_transform_publisher)

odom_to_base_link (tf2_ros/static_transform_publisher)

realsense_ros_camera (nodelet/nodelet)

realsense_ros_camera_manager (nodelet/nodelet)

realsense_ros_slam (nodelet/nodelet)

rviz_demo (rviz/rviz)auto-starting new master

process[master]: started with pid [2926]

ROS_MASTER_URI=http://localhost:11311/ http://localhost:11311setting /run_id to ce3f41f2-63b1-11e8-9c51-1c1b0d61bf22

process[rosout-1]: started with pid [2939]

started core service [/rosout]

process[realsense_ros_camera_manager-2]: started with pid [2957]

process[realsense_ros_camera-3]: started with pid [2958]

process[map_to_odom-4]: started with pid [2959]

process[base_link_to_camera_link-5]: started with pid [2967]

[ INFO] [1527647595.983569884]: Loading nodelet /realsense_ros_camera of type realsense_ros_camera/NodeletCamera to manager realsense_ros_camera_manager with the following remappings:

process[odom_to_base_link-6]: started with pid [2969]

process[rviz_demo-7]: started with pid [2982]

process[realsense_ros_slam-8]: started with pid [2995]

[ INFO] [1527647596.006325421]: waitForService: Service [/realsense_ros_camera_manager/load_nodelet] has not been advertised, waiting...

X...

MartyG · ‎05-31-2018

It was difficult to tell what was happening from looking at the logs. The problems seem to start when this error occurs:

terminate called after throwing an instance of 'std::runtime_error' what(): Duration is out of dual 32-bit range

This can cause a 'No map received' error to occur in Rviz, like in this case:

https://github.com/ROBOTIS-GIT/turtlebot3/issues/83 No map error in RVIZ · Issue # 83 · ROBOTIS-GIT/turtlebot3 · GitHub

This error apparently occurs when a timestamp is out of sync (for example, when connecting two machines, and one is not in sync with the other).

LYuan5 · ‎05-31-2018

MartyG

Thanks for your quick reply. I have tried the method from the link, however, it does not work.

In addition, my dual system includes Ubuntu 16.04 and Windows 10.

Libin

MartyG · ‎05-31-2018

This question of dual systems is outside of my field of knowledge, unfortunately. I will link this conversation to McCool who is a SLAM and robotics expert who may have a better idea about what the problem with your project is. Good luck!

LYuan5 · ‎05-31-2018

MartyG

Thank you very much. And there is a similar issue at this link: https://github.com/IntelRealSense/realsense_samples_ros/issues/14 SLAM Problem · Issue # 14 · IntelRealSense/realsense_samples_ros · GitHub

Libin