aftre try to running rtab mab on ubuntu 22.04 i got this long message and nothing happend #1082

damavand1 · 2023-07-04T04:16:27Z

damavand1
Jul 4, 2023

after try to running rtab mab on ubuntu 22.04 i got this long message and nothing happend
how can i solve the problem ?
i'm using xbox 360 kinect

`pirooz@pirooz-desktop:~$ ros2 launch rtabmap_launch rtabmap.launch.py
[INFO] [launch]: All log files can be found below /home/pirooz/.ros/log/2023-07-01-18-17-28-293236-pirooz-desktop-2696
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [rgbd_odometry-1]: process started with pid [2697]
[INFO] [rtabmap-2]: process started with pid [2699]
[INFO] [rtabmap_viz-3]: process started with pid [2701]
[rtabmap-2] [INFO] [1688222860.600257114] [rtabmap.rtabmap]: rtabmap(maps): map_filter_radius = 0.000000
[rtabmap-2] [INFO] [1688222860.606101658] [rtabmap.rtabmap]: rtabmap(maps): map_filter_angle = 30.000000
[rtabmap-2] [INFO] [1688222860.606586552] [rtabmap.rtabmap]: rtabmap(maps): map_cleanup = true
[rtabmap-2] [INFO] [1688222860.606714090] [rtabmap.rtabmap]: rtabmap(maps): map_always_update = false
[rtabmap-2] [INFO] [1688222860.606825332] [rtabmap.rtabmap]: rtabmap(maps): map_empty_ray_tracing = true
[rtabmap-2] [INFO] [1688222860.606918482] [rtabmap.rtabmap]: rtabmap(maps): cloud_output_voxelized = true
[rtabmap-2] [INFO] [1688222860.607008094] [rtabmap.rtabmap]: rtabmap(maps): cloud_subtract_filtering = false
[rtabmap-2] [INFO] [1688222860.607099780] [rtabmap.rtabmap]: rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[rtabmap-2] [INFO] [1688222860.608536777] [rtabmap.rtabmap]: rtabmap(maps): octomap_tree_depth = 16
[rtabmap-2] [INFO] [1688222861.068872511] [rtabmap.rtabmap]: rtabmap: frame_id = base_link
[rtabmap-2] [INFO] [1688222861.069094218] [rtabmap.rtabmap]: rtabmap: map_frame_id = map
[rtabmap-2] [INFO] [1688222861.069219256] [rtabmap.rtabmap]: rtabmap: log_to_rosout_level = 4
[rtabmap-2] [INFO] [1688222861.069333239] [rtabmap.rtabmap]: rtabmap: initial_pose =
[rtabmap-2] [INFO] [1688222861.069443037] [rtabmap.rtabmap]: rtabmap: use_action_for_goal = false
[rtabmap-2] [INFO] [1688222861.069550946] [rtabmap.rtabmap]: rtabmap: tf_delay = 0.050000
[rtabmap-2] [INFO] [1688222861.069748486] [rtabmap.rtabmap]: rtabmap: tf_tolerance = 0.100000
[rtabmap-2] [INFO] [1688222861.069873043] [rtabmap.rtabmap]: rtabmap: odom_sensor_sync = false
[rtabmap-2] [INFO] [1688222861.069981452] [rtabmap.rtabmap]: rtabmap: gen_scan = false
[rtabmap-2] [INFO] [1688222861.070080564] [rtabmap.rtabmap]: rtabmap: gen_depth = false
[rgbd_odometry-1] [INFO] [1688222861.217358943] [rtabmap.rgbd_odometry]: Odometry: frame_id = base_link
[rgbd_odometry-1] [INFO] [1688222861.221975394] [rtabmap.rgbd_odometry]: Odometry: odom_frame_id = odom
[rgbd_odometry-1] [INFO] [1688222861.222945370] [rtabmap.rgbd_odometry]: Odometry: publish_tf = true
[rgbd_odometry-1] [INFO] [1688222861.223165133] [rtabmap.rgbd_odometry]: Odometry: wait_for_transform = 0.200000
[rgbd_odometry-1] [INFO] [1688222861.223414192] [rtabmap.rgbd_odometry]: Odometry: log_to_rosout_level = 4
[rgbd_odometry-1] [INFO] [1688222861.223995070] [rtabmap.rgbd_odometry]: Odometry: initial_pose = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000
[rgbd_odometry-1] [INFO] [1688222861.224426650] [rtabmap.rgbd_odometry]: Odometry: ground_truth_frame_id =
[rgbd_odometry-1] [INFO] [1688222861.224774321] [rtabmap.rgbd_odometry]: Odometry: ground_truth_base_frame_id =
[rgbd_odometry-1] [INFO] [1688222861.225033751] [rtabmap.rgbd_odometry]: Odometry: config_path =
[rgbd_odometry-1] [INFO] [1688222861.225200160] [rtabmap.rgbd_odometry]: Odometry: publish_null_when_lost = true
[rgbd_odometry-1] [INFO] [1688222861.225325495] [rtabmap.rgbd_odometry]: Odometry: guess_frame_id =
[rgbd_odometry-1] [INFO] [1688222861.225418904] [rtabmap.rgbd_odometry]: Odometry: guess_min_translation = 0.000000
[rgbd_odometry-1] [INFO] [1688222861.225569017] [rtabmap.rgbd_odometry]: Odometry: guess_min_rotation = 0.000000
[rgbd_odometry-1] [INFO] [1688222861.225678648] [rtabmap.rgbd_odometry]: Odometry: guess_min_time = 0.000000
[rgbd_odometry-1] [INFO] [1688222861.225788464] [rtabmap.rgbd_odometry]: Odometry: expected_update_rate = 0.000000 Hz
[rgbd_odometry-1] [INFO] [1688222861.225890540] [rtabmap.rgbd_odometry]: Odometry: max_update_rate = 0.000000 Hz
[rgbd_odometry-1] [INFO] [1688222861.225994615] [rtabmap.rgbd_odometry]: Odometry: min_update_rate = 0.000000 Hz
[rgbd_odometry-1] [INFO] [1688222861.226098950] [rtabmap.rgbd_odometry]: Odometry: wait_imu_to_init = false
[rgbd_odometry-1] [INFO] [1688222861.226428732] [rtabmap.rgbd_odometry]: Odometry: stereoParams_=0 visParams_=1 icpParams_=0
[rgbd_odometry-1] [INFO] [1688222861.497520321] [rtabmap.rgbd_odometry]: RGBDOdometry: approx_sync = false
[rgbd_odometry-1] [INFO] [1688222861.497857011] [rtabmap.rgbd_odometry]: RGBDOdometry: queue_size = 10
[rgbd_odometry-1] [INFO] [1688222861.498005920] [rtabmap.rgbd_odometry]: RGBDOdometry: qos = 1
[rgbd_odometry-1] [INFO] [1688222861.498106422] [rtabmap.rgbd_odometry]: RGBDOdometry: qos_camera_info = 1
[rgbd_odometry-1] [INFO] [1688222861.498207756] [rtabmap.rgbd_odometry]: RGBDOdometry: subscribe_rgbd = false
[rgbd_odometry-1] [INFO] [1688222861.498314239] [rtabmap.rgbd_odometry]: RGBDOdometry: rgbd_cameras = 1
[rgbd_odometry-1] [INFO] [1688222861.498412204] [rtabmap.rgbd_odometry]: RGBDOdometry: keep_color = false
[rgbd_odometry-1] [INFO] [1688222861.647712369] [rtabmap.rgbd_odometry]:
[rgbd_odometry-1] rgbd_odometry subscribed to (exact sync):
[rgbd_odometry-1] /camera/rgb/image_rect_color,
[rgbd_odometry-1] /camera/depth_registered/image_raw,
[rgbd_odometry-1] /camera/rgb/camera_info
[rtabmap-2] [INFO] [1688222862.120429984] [rtabmap.rtabmap]: RTAB-Map detection rate = 1.000000 Hz
[rtabmap-2] [INFO] [1688222862.121378037] [rtabmap.rtabmap]: rtabmap: Using database from "/home/pirooz/.ros/rtabmap.db" (0 MB).
[rtabmap-2] [INFO] [1688222862.255393978] [rtabmap.rtabmap]: rtabmap: Database version = "0.21.1".
[rtabmap-2] [INFO] [1688222862.256946430] [rtabmap.rtabmap]: rtabmap: SLAM mode (Mem/IncrementalMemory=true)
[rtabmap-2] [INFO] [1688222862.420085364] [rtabmap.rtabmap]: Setup callbacks
[rtabmap-2] [INFO] [1688222862.425331116] [rtabmap.rtabmap]: rtabmap: subscribe_depth = true
[rtabmap-2] [INFO] [1688222862.425689140] [rtabmap.rtabmap]: rtabmap: subscribe_rgb = true
[rtabmap-2] [INFO] [1688222862.425864273] [rtabmap.rtabmap]: rtabmap: subscribe_stereo = false
[rtabmap-2] [INFO] [1688222862.425989238] [rtabmap.rtabmap]: rtabmap: subscribe_rgbd = false (rgbd_cameras=1)
[rtabmap-2] [INFO] [1688222862.426118851] [rtabmap.rtabmap]: rtabmap: subscribe_odom_info = true
[rtabmap-2] [INFO] [1688222862.426241723] [rtabmap.rtabmap]: rtabmap: subscribe_user_data = false
[rtabmap-2] [INFO] [1688222862.426367707] [rtabmap.rtabmap]: rtabmap: subscribe_scan = false
[rtabmap-2] [INFO] [1688222862.426489005] [rtabmap.rtabmap]: rtabmap: subscribe_scan_cloud = false
[rtabmap-2] [INFO] [1688222862.426607044] [rtabmap.rtabmap]: rtabmap: subscribe_scan_descriptor = false
[rtabmap-2] [INFO] [1688222862.426723157] [rtabmap.rtabmap]: rtabmap: queue_size = 10
[rtabmap-2] [INFO] [1688222862.426839659] [rtabmap.rtabmap]: rtabmap: qos_image = 1
[rtabmap-2] [INFO] [1688222862.426950864] [rtabmap.rtabmap]: rtabmap: qos_camera_info = 1
[rtabmap-2] [INFO] [1688222862.427052996] [rtabmap.rtabmap]: rtabmap: qos_scan = 1
[rtabmap-2] [INFO] [1688222862.427161294] [rtabmap.rtabmap]: rtabmap: qos_odom = 1
[rtabmap-2] [INFO] [1688222862.427278073] [rtabmap.rtabmap]: rtabmap: qos_user_data = 1
[rtabmap-2] [INFO] [1688222862.427379464] [rtabmap.rtabmap]: rtabmap: approx_sync = false
[rtabmap-2] [INFO] [1688222862.431987743] [rtabmap.rtabmap]: Setup depth callback
[rtabmap-2] [INFO] [1688222862.540556899] [rtabmap.rtabmap]:
[rtabmap-2] rtabmap subscribed to (exact sync):
[rtabmap-2] /rtabmap/odom
[rtabmap-2] /camera/rgb/image_rect_color
[rtabmap-2] /camera/depth_registered/image_raw
[rtabmap-2] /camera/rgb/camera_info
[rtabmap-2] /rtabmap/odom_info
[rtabmap_viz-3] [INFO] [1688222863.555122033] [rtabmap.rtabmap_viz]: rtabmap_viz: Using configuration from "/home/pirooz/.ros/rtabmapGUI.ini"
[rgbd_odometry-1] [WARN] [1688222866.675640476] [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-1] rgbd_odometry subscribed to (exact sync):
[rgbd_odometry-1] /camera/rgb/image_rect_color,
[rgbd_odometry-1] /camera/depth_registered/image_raw,
[rgbd_odometry-1] /camera/rgb/camera_info
[rtabmap-2] [WARN] [1688222867.540987924] [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-2] rtabmap subscribed to (exact sync):
[rtabmap-2] /rtabmap/odom
[rtabmap-2] /camera/rgb/image_rect_color
[rtabmap-2] /camera/depth_registered/image_raw
[rtabmap-2] /camera/rgb/camera_info
[rtabmap-2] /rtabmap/odom_info
[rtabmap_viz-3] libpng warning: iCCP: known incorrect sRGB profile
[rtabmap_viz-3] libpng warning: iCCP: known incorrect sRGB profile
[rtabmap_viz-3] libpng warning: iCCP: known incorrect sRGB profile
[rtabmap_viz-3] [WARN] [1688222871.507569425] [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.
[rtabmap_viz-3] [INFO] [1688222871.548842883] [rtabmap.rtabmap_viz]: Reading parameters from the ROS server...
[rgbd_odometry-1] [WARN] [1688222871.675455810] [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-1] rgbd_odometry subscribed to (exact sync):
[rgbd_odometry-1] /camera/rgb/image_rect_color,
[rgbd_odometry-1] /camera/depth_registered/image_raw,
[rgbd_odometry-1] /camera/rgb/camera_info
[rtabmap_viz-3] [INFO] [1688222872.386288615] [rtabmap.rtabmap_viz]: Parameters read = 360
[rtabmap_viz-3] [INFO] [1688222872.386596665] [rtabmap.rtabmap_viz]: Parameters successfully read.
[rtabmap-2] [WARN] [1688222872.540890380] [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-2] rtabmap subscribed to (exact sync):
[rtabmap-2] /rtabmap/odom
[rtabmap-2] /camera/rgb/image_rect_color
[rtabmap-2] /camera/depth_registered/image_raw
[rtabmap-2] /camera/rgb/camera_info
[rtabmap-2] /rtabmap/odom_info
[rtabmap_viz-3] 2023-07-01 18:17:54.330 ( 15.667s) [ A6D60020]vtkOpenGLRenderWindow.c:499 ERR| vtkGenericOpenGLRenderWindow (0xaaaae208d2c0): Unable to find a valid OpenGL 3.2 or later implementation. Please update your video card driver to the latest version. If you are using Mesa please make sure you have version 11.2 or later and make sure your driver in Mesa supports OpenGL 3.2 such as llvmpipe or openswr. If you are on windows and using Microsoft remote desktop note that it only supports OpenGL 3.2 with nvidia quadro cards. You can use other remoting software such as nomachine to avoid this issue.
[rtabmap_viz-3] 2023-07-01 18:17:54.378 ( 15.715s) [ A6D60020]vtkOpenGLRenderWindow.c:499 ERR| vtkGenericOpenGLRenderWindow (0xaaaae208d2c0): Unable to find a valid OpenGL 3.2 or later implementation. Please update your video card driver to the latest version. If you are using Mesa please make sure you have version 11.2 or later and make sure your driver in Mesa supports OpenGL 3.2 such as llvmpipe or openswr. If you are on windows and using Microsoft remote desktop note that it only supports OpenGL 3.2 with nvidia quadro cards. You can use other remoting software such as nomachine to avoid this issue.
[rtabmap_viz-3] 2023-07-01 18:17:54.506 ( 15.843s) [ A6D60020]vtkOpenGLPolyDataMapper:306 WARN| vtkOpenGLPolyDataMapper::GetVertexShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::GetVertexShaderCode instead.
[rtabmap_viz-3] 2023-07-01 18:17:54.507 ( 15.844s) [ A6D60020]vtkOpenGLPolyDataMapper:298 WARN| vtkOpenGLPolyDataMapper::SetVertexShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::SetVertexShaderCode instead.
[rtabmap_viz-3] 2023-07-01 18:17:54.507 ( 15.844s) [ A6D60020]vtkOpenGLPolyDataMapper:336 WARN| vtkOpenGLPolyDataMapper::GetGeometryShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::GetGeometryShaderCode instead.
[rtabmap_viz-3] 2023-07-01 18:17:54.507 ( 15.844s) [ A6D60020]vtkOpenGLPolyDataMapper:328 WARN| vtkOpenGLPolyDataMapper::SetGeometryShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::SetGeometryShaderCode instead.
[rtabmap_viz-3] 2023-07-01 18:17:54.507 ( 15.844s) [ A6D60020]vtkOpenGLPolyDataMapper:321 WARN| vtkOpenGLPolyDataMapper::GetFragmentShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::GetFragmentShaderCode instead.
[rtabmap_viz-3] 2023-07-01 18:17:54.507 ( 15.844s) [ A6D60020]vtkOpenGLPolyDataMapper:313 WARN| vtkOpenGLPolyDataMapper::SetFragmentShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::SetFragmentShaderCode instead.
[rtabmap_viz-3] 2023-07-01 18:17:54.508 ( 15.845s) [ A6D60020]vtkOpenGLPolyDataMapper:306 WARN| vtkOpenGLPolyDataMapper::GetVertexShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::GetVertexShaderCode instead.
[rtabmap_viz-3] 2023-07-01 18:17:54.508 ( 15.845s) [ A6D60020]vtkOpenGLPolyDataMapper:298 WARN| vtkOpenGLPolyDataMapper::SetVertexShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::SetVertexShaderCode instead.
[rtabmap_viz-3] 2023-07-01 18:17:54.508 ( 15.845s) [ A6D60020]vtkOpenGLPolyDataMapper:336 WARN| vtkOpenGLPolyDataMapper::GetGeometryShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::GetGeometryShaderCode instead.
[rtabmap_viz-3] 2023-07-01 18:17:54.508 ( 15.845s) [ A6D60020]vtkOpenGLPolyDataMapper:328 WARN| vtkOpenGLPolyDataMapper::SetGeometryShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::SetGeometryShaderCode instead.
[rtabmap_viz-3] 2023-07-01 18:17:54.508 ( 15.845s) [ A6D60020]vtkOpenGLPolyDataMapper:321 WARN| vtkOpenGLPolyDataMapper::GetFragmentShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::GetFragmentShaderCode instead.
[rtabmap_viz-3] 2023-07-01 18:17:54.508 ( 15.845s) [ A6D60020]vtkOpenGLPolyDataMapper:313 WARN| vtkOpenGLPolyDataMapper::SetFragmentShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::SetFragmentShaderCode instead.
[rtabmap_viz-3] 2023-07-01 18:17:54.600 ( 15.937s) [ A6D60020] vtkShaderProgram.cxx:437 ERR| vtkShaderProgram (0xaaaae328dfe0): 1: #version 150
[rtabmap_viz-3] 2: #ifndef GL_ES
[rtabmap_viz-3] 3: #define highp
[rtabmap_viz-3] 4: #define mediump
[rtabmap_viz-3] 5: #define lowp
[rtabmap_viz-3] 6: #endif // GL_ES
[rtabmap_viz-3] 7: #define attribute in
[rtabmap_viz-3] 8: #define varying out
[rtabmap_viz-3] 9:
[rtabmap_viz-3] 10:
[rtabmap_viz-3] 11: /=========================================================================
[rtabmap_viz-3] 12:
[rtabmap_viz-3] 13: Program: Visualization Toolkit
[rtabmap_viz-3] 14: Module: vtkPolyDataVS.glsl
[rtabmap_viz-3] 15:
[rtabmap_viz-3] 16: Copyright (c) Ken Martin, Will Schroeder, Bill Lorensen
[rtabmap_viz-3] 17: All rights reserved.
[rtabmap_viz-3] 18: See Copyright.txt or http://www.kitware.com/Copyright.htm for details.
[rtabmap_viz-3] 19:
[rtabmap_viz-3] 20: This software is distributed WITHOUT ANY WARRANTY; without even
[rtabmap_viz-3] 21: the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
[rtabmap_viz-3] 22: PURPOSE. See the above copyright notice for more information.
[rtabmap_viz-3] 23:
[rtabmap_viz-3] 24: =========================================================================/
[rtabmap_viz-3] 25:
[rtabmap_viz-3] 26: in vec4 vertexMC;
[rtabmap_viz-3] 27:
[rtabmap_viz-3] 28:
[rtabmap_viz-3] 29:
[rtabmap_viz-3] 30: // frag position in VC
[rtabmap_viz-3] 31: out vec4 vertexVCVSOutput;
[rtabmap_viz-3] 32:
[rtabmap_viz-3] 33: // optional normal declaration
[rtabmap_viz-3] 34: //VTK::Normal::Dec
[rtabmap_viz-3] 35: in vec3 normalMC;
[rtabmap_viz-3] 36: uniform mat3 normalMatrix;
[rtabmap_viz-3] 37: out vec3 normalVCVSOutput;
[rtabmap_viz-3] 38:
[rtabmap_viz-3] 39: // extra lighting parameters
[rtabmap_viz-3] 40: //VTK::Light::Dec
[rtabmap_viz-3] 41:
[rtabmap_viz-3] 42: // Texture coordinates
[rtabmap_viz-3] 43: //VTK::TCoord::Dec
[rtabmap_viz-3] 44:
[rtabmap_viz-3] 45: // material property values
[rtabmap_viz-3] 46: in vec4 scalarColor;
[rtabmap_viz-3] 47: out vec4 vertexColorVSOutput;
[rtabmap_viz-3] 48:
[rtabmap_viz-3] 49: // clipping plane vars
[rtabmap_viz-3] 50: //VTK::Clip::Dec
[rtabmap_viz-3] 51:
[rtabmap_viz-3] 52: // camera and actor matrix values
[rtabmap_viz-3] 53: uniform mat4 MCDCMatrix;
[rtabmap_viz-3] 54: uniform mat4 MCVCMatrix;
[rtabmap_viz-3] 55:
[rtabmap_viz-3] 56: // Apple Bug
[rtabmap_viz-3] 57: //VTK::PrimID::Dec
[rtabmap_viz-3] 58:
[rtabmap_viz-3] 59: // Value raster
[rtabmap_viz-3] 60: //VTK::ValuePass::Dec
[rtabmap_viz-3] 61:
[rtabmap_viz-3] 62: // picking support
[rtabmap_viz-3] 63: //VTK::Picking::Dec
[rtabmap_viz-3] 64:
[rtabmap_viz-3] 65: void main()
[rtabmap_viz-3] 66: {
[rtabmap_viz-3] 67: //VTK::CustomBegin::Impl
[rtabmap_viz-3] 68:
[rtabmap_viz-3] 69: vertexColorVSOutput = scalarColor;
[rtabmap_viz-3] 70:
[rtabmap_viz-3] 71: normalVCVSOutput = normalMatrix * normalMC;
[rtabmap_viz-3] 72: //VTK::Normal::Impl
[rtabmap_viz-3] 73:
[rtabmap_viz-3] 74: //VTK::TCoord::Impl
[rtabmap_viz-3] 75:
[rtabmap_viz-3] 76: //VTK::Clip::Impl
[rtabmap_viz-3] 77:
[rtabmap_viz-3] 78: //VTK::PrimID::Impl
[rtabmap_viz-3] 79:
[rtabmap_viz-3] 80: vertexVCVSOutput = MCVCMatrix * vertexMC;
[rtabmap_viz-3] 81: gl_Position = MCDCMatrix * vertexMC;
[rtabmap_viz-3] 82:
[rtabmap_viz-3] 83:
[rtabmap_viz-3] 84: //VTK::ValuePass::Impl
[rtabmap_viz-3] 85:
[rtabmap_viz-3] 86: //VTK::Light::Impl
[rtabmap_viz-3] 87:
[rtabmap_viz-3] 88: //VTK::Picking::Impl
[rtabmap_viz-3] 89:
[rtabmap_viz-3] 90: //VTK::CustomEnd::Impl
[rtabmap_viz-3] 91: }
[rtabmap_viz-3]
[rtabmap_viz-3] 2023-07-01 18:17:54.601 ( 15.938s) [ A6D60020] vtkShaderProgram.cxx:438 ERR| vtkShaderProgram (0xaaaae328dfe0): 0:1(10): error: GLSL 1.50 is not supported. Supported versions are: 1.10, 1.20, 1.00 ES, and 3.00 ES
[rtabmap_viz-3]
[rgbd_odometry-1] [WARN] [1688222876.675434240] [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-1] rgbd_odometry subscribed to (exact sync):
[rgbd_odometry-1] /camera/rgb/image_rect_color,
[rgbd_odometry-1] /camera/depth_registered/image_raw,
[rgbd_odometry-1] /camera/rgb/camera_info
[ERROR] [rtabmap_viz-3]: process has died [pid 2701, exit code -11, cmd '/opt/ros/humble/lib/rtabmap_viz/rtabmap_viz ~/.ros/rtabmap_gui.ini --ros-args -r __ns:=/rtabmap -p use_sim_time:=False --params-file /tmp/launch_params_c6ohfdxn -r rgb/image:=/camera/rgb/image_rect_color -r depth/image:=/camera/depth_registered/image_raw -r rgb/camera_info:=/camera/rgb/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'].
[rtabmap-2] [WARN] [1688222877.540894256] [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-2] rtabmap subscribed to (exact sync):
[rtabmap-2] /rtabmap/odom
[rtabmap-2] /camera/rgb/image_rect_color
[rtabmap-2] /camera/depth_registered/image_raw
[rtabmap-2] /camera/rgb/camera_info
[rtabmap-2] /rtabmap/odom_info
[rgbd_odometry-1] [WARN] [1688222881.675397613] [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-1] rgbd_odometry subscribed to (exact sync):
[rgbd_odometry-1] /camera/rgb/image_rect_color,
[rgbd_odometry-1] /camera/depth_registered/image_raw,
[rgbd_odometry-1] /camera/rgb/camera_info
[rtabmap-2] [WARN] [1688222882.540879719] [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-2] rtabmap subscribed to (exact sync):
[rtabmap-2] /rtabmap/odom
[rtabmap-2] /camera/rgb/image_rect_color
[rtabmap-2] /camera/depth_registered/image_raw
[rtabmap-2] /camera/rgb/camera_info
[rtabmap-2] /rtabmap/odom_info
[rgbd_odometry-1] [WARN] [1688222886.675413413] [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-1] rgbd_odometry subscribed to (exact sync):
[rgbd_odometry-1] /camera/rgb/image_rect_color,
[rgbd_odometry-1] /camera/depth_registered/image_raw,
[rgbd_odometry-1] /camera/rgb/camera_info
[rtabmap-2] [WARN] [1688222887.540871436] [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-2] rtabmap subscribed to (exact sync):
[rtabmap-2] /rtabmap/odom
[rtabmap-2] /camera/rgb/image_rect_color
[rtabmap-2] /camera/depth_registered/image_raw
[rtabmap-2] /camera/rgb/camera_info
[rtabmap-2] /rtabmap/odom_info
[rgbd_odometry-1] [WARN] [1688222891.675395691] [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-1] rgbd_odometry subscribed to (exact sync):
[rgbd_odometry-1] /camera/rgb/image_rect_color,
[rgbd_odometry-1] /camera/depth_registered/image_raw,
[rgbd_odometry-1] /camera/rgb/camera_info
[rtabmap-2] [WARN] [1688222892.540884092] [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-2] rtabmap subscribed to (exact sync):
[rtabmap-2] /rtabmap/odom
[rtabmap-2] /camera/rgb/image_rect_color
[rtabmap-2] /camera/depth_registered/image_raw
[rtabmap-2] /camera/rgb/camera_info
[rtabmap-2] /rtabmap/odom_info
[rgbd_odometry-1] [WARN] [1688222896.675382947] [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-1] rgbd_odometry subscribed to (exact sync):
[rgbd_odometry-1] /camera/rgb/image_rect_color,
[rgbd_odometry-1] /camera/depth_registered/image_raw,
[rgbd_odometry-1] /camera/rgb/camera_info
[rtabmap-2] [WARN] [1688222897.540888321] [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-2] rtabmap subscribed to (exact sync):
[rtabmap-2] /rtabmap/odom
[rtabmap-2] /camera/rgb/image_rect_color
[rtabmap-2] /camera/depth_registered/image_raw
[rtabmap-2] /camera/rgb/camera_info
[rtabmap-2] /rtabmap/odom_info
[rgbd_odometry-1] [WARN] [1688222901.675391261] [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-1] rgbd_odometry subscribed to (exact sync):
[rgbd_odometry-1] /camera/rgb/image_rect_color,
[rgbd_odometry-1] /camera/depth_registered/image_raw,
[rgbd_odometry-1] /camera/rgb/camera_info
[rtabmap-2] [WARN] [1688222902.540897953] [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-2] rtabmap subscribed to (exact sync):
[rtabmap-2] /rtabmap/odom
[rtabmap-2] /camera/rgb/image_rect_color
[rtabmap-2] /camera/depth_registered/image_raw
[rtabmap-2] /camera/rgb/camera_info
[rtabmap-2] /rtabmap/odom_info
[rgbd_odometry-1] [WARN] [1688222906.675396294] [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-1] rgbd_odometry subscribed to (exact sync):
[rgbd_odometry-1] /camera/rgb/image_rect_color,
[rgbd_odometry-1] /camera/depth_registered/image_raw,
[rgbd_odometry-1] /camera/rgb/camera_info
[rtabmap-2] [WARN] [1688222907.540862132] [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-2] rtabmap subscribed to (exact sync):
[rtabmap-2] /rtabmap/odom
[rtabmap-2] /camera/rgb/image_rect_color
[rtabmap-2] /camera/depth_registered/image_raw
[rtabmap-2] /camera/rgb/camera_info
[rtabmap-2] /rtabmap/odom_info
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[rtabmap-2] [INFO] [1688222911.054495135] [rclcpp]: signal_handler(signum=2)
[rgbd_odometry-1] [INFO] [1688222911.055232994] [rclcpp]: signal_handler(signum=2)
[rgbd_odometry-1] [WARN] [1688222911.072431815] [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-1] rgbd_odometry subscribed to (exact sync):
[rgbd_odometry-1] /camera/rgb/image_rect_color,
[rgbd_odometry-1] /camera/depth_registered/image_raw,
[rgbd_odometry-1] /camera/rgb/camera_info
[rtabmap-2] [WARN] [1688222911.073067552] [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-2] rtabmap subscribed to (exact sync):
[rtabmap-2] /rtabmap/odom
[rtabmap-2] /camera/rgb/image_rect_color
[rtabmap-2] /camera/depth_registered/image_raw
[rtabmap-2] /camera/rgb/camera_info
[rtabmap-2] /rtabmap/odom_info
[rtabmap-2] [INFO] [1688222911.110889107] [rtabmap.rtabmap]: Parameters are not saved (No configuration file provided...)
[ERROR] [rtabmap-2]: process[rtabmap-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[ERROR] [rgbd_odometry-1]: process[rgbd_odometry-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [rtabmap-2]: sending signal 'SIGTERM' to process[rtabmap-2]
[INFO] [rgbd_odometry-1]: sending signal 'SIGTERM' to process[rgbd_odometry-1]
[rtabmap-2] [INFO] [1688222916.101523033] [rclcpp]: signal_handler(signum=15)
[rgbd_odometry-1] [INFO] [1688222916.116412357] [rclcpp]: signal_handler(signum=15)
[rtabmap-2] rtabmap: Saving database/long-term memory... (located at /home/pirooz/.ros/rtabmap.db)
[rtabmap-2] rtabmap: Saving database/long-term memory...done! (located at /home/pirooz/.ros/rtabmap.db, 0 MB)
[INFO] [rtabmap-2]: process has finished cleanly [pid 2699]
[INFO] [rgbd_odometry-1]: process has finished cleanly [pid 2697]

`

matlabbe · 2023-07-07T04:28:25Z

matlabbe
Jul 7, 2023
Maintainer

[rgbd_odometry-1] [WARN] [1688222906.675396294] [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-1] rgbd_odometry subscribed to (exact sync):
[rgbd_odometry-1] /camera/rgb/image_rect_color,
[rgbd_odometry-1] /camera/depth_registered/image_raw,
[rgbd_odometry-1] /camera/rgb/camera_info

With kinect for xbox 360, you should use approx_sync=true. Is the camera driver started? Check also if the topics are published, like the warning is saying:

ros2 topic hz /camera/rgb/image_rect_color
ros2 topic hz /camera/depth_registered/image_raw
ros2 topic hz /camera/rgb/camera_info

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aftre try to running rtab mab on ubuntu 22.04 i got this long message and nothing happend #1082

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aftre try to running rtab mab on ubuntu 22.04 i got this long message and nothing happend #1082

damavand1 Jul 4, 2023

Replies: 1 comment

matlabbe Jul 7, 2023 Maintainer

damavand1
Jul 4, 2023

matlabbe
Jul 7, 2023
Maintainer