Hi,
Mr. Labbe
Thank you for giving attention to turtlebot platform 2, tested the launchs up but had the sequintes results when running demo_turtlebot_mapping.launch and rviz not visualized anything!
turtlebot@turtlebot:~/rgbdslam_catkin_ws$ roslaunch rtabmap_ros demo_turtlebot_mapping.launch args:="--delete_db_on_start"
... logging to /home/turtlebot/.ros/log/5434decc-02fb-11e5-8cff-40167ee4ef9e/roslaunch-turtlebot-5677.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://localhost:59642/SUMMARY
========
PARAMETERS
* /camera/camera_nodelet_manager/num_worker_threads
* /camera/depth_rectify_depth/interpolation
* /camera/depth_registered_rectify_depth/interpolation
* /camera/disparity_depth/max_range
* /camera/disparity_depth/min_range
* /camera/disparity_registered_hw/max_range
* /camera/disparity_registered_hw/min_range
* /camera/disparity_registered_sw/max_range
* /camera/disparity_registered_sw/min_range
* /camera/driver/depth_camera_info_url
* /camera/driver/depth_frame_id
* /camera/driver/depth_registration
* /camera/driver/device_id
* /camera/driver/rgb_camera_info_url
* /camera/driver/rgb_frame_id
* /depthimage_to_laserscan/output_frame_id
* /depthimage_to_laserscan/range_min
* /depthimage_to_laserscan/scan_height
* /move_base/TrajectoryPlannerROS/acc_lim_theta
* /move_base/TrajectoryPlannerROS/acc_lim_x
* /move_base/TrajectoryPlannerROS/acc_lim_y
* /move_base/TrajectoryPlannerROS/dwa
* /move_base/TrajectoryPlannerROS/gdist_scale
* /move_base/TrajectoryPlannerROS/heading_lookahead
* /move_base/TrajectoryPlannerROS/holonomic_robot
* /move_base/TrajectoryPlannerROS/max_vel_theta
* /move_base/TrajectoryPlannerROS/max_vel_x
* /move_base/TrajectoryPlannerROS/max_vel_y
* /move_base/TrajectoryPlannerROS/meter_scoring
* /move_base/TrajectoryPlannerROS/min_in_place_vel_theta
* /move_base/TrajectoryPlannerROS/min_vel_theta
* /move_base/TrajectoryPlannerROS/min_vel_x
* /move_base/TrajectoryPlannerROS/min_vel_y
* /move_base/TrajectoryPlannerROS/occdist_scale
* /move_base/TrajectoryPlannerROS/oscillation_reset_dist
* /move_base/TrajectoryPlannerROS/pdist_scale
* /move_base/TrajectoryPlannerROS/sim_time
* /move_base/TrajectoryPlannerROS/vtheta_samples
* /move_base/TrajectoryPlannerROS/vx_samples
* /move_base/TrajectoryPlannerROS/vy_samples
* /move_base/TrajectoryPlannerROS/xy_goal_tolerance
* /move_base/TrajectoryPlannerROS/yaw_goal_tolerance
* /move_base/controller_frequency
* /move_base/controller_patience
* /move_base/global_costmap/bump/clearing
* /move_base/global_costmap/bump/data_type
* /move_base/global_costmap/bump/marking
* /move_base/global_costmap/bump/max_obstacle_height
* /move_base/global_costmap/bump/min_obstacle_height
* /move_base/global_costmap/bump/topic
* /move_base/global_costmap/global_frame
* /move_base/global_costmap/inflation_radius
* /move_base/global_costmap/map_type
* /move_base/global_costmap/max_obstacle_height
* /move_base/global_costmap/observation_sources
* /move_base/global_costmap/obstacle_range
* /move_base/global_costmap/origin_z
* /move_base/global_costmap/publish_frequency
* /move_base/global_costmap/publish_voxel_map
* /move_base/global_costmap/raytrace_range
* /move_base/global_costmap/robot_base_frame
* /move_base/global_costmap/robot_radius
* /move_base/global_costmap/scan/clearing
* /move_base/global_costmap/scan/data_type
* /move_base/global_costmap/scan/marking
* /move_base/global_costmap/scan/max_obstacle_height
* /move_base/global_costmap/scan/min_obstacle_height
* /move_base/global_costmap/scan/topic
* /move_base/global_costmap/static_map
* /move_base/global_costmap/transform_tolerance
* /move_base/global_costmap/update_frequency
* /move_base/global_costmap/z_resolution
* /move_base/global_costmap/z_voxels
* /move_base/local_costmap/bump/clearing
* /move_base/local_costmap/bump/data_type
* /move_base/local_costmap/bump/marking
* /move_base/local_costmap/bump/max_obstacle_height
* /move_base/local_costmap/bump/min_obstacle_height
* /move_base/local_costmap/bump/topic
* /move_base/local_costmap/global_frame
* /move_base/local_costmap/height
* /move_base/local_costmap/inflation_radius
* /move_base/local_costmap/map_type
* /move_base/local_costmap/max_obstacle_height
* /move_base/local_costmap/observation_sources
* /move_base/local_costmap/obstacle_range
* /move_base/local_costmap/origin_z
* /move_base/local_costmap/publish_frequency
* /move_base/local_costmap/publish_voxel_map
* /move_base/local_costmap/raytrace_range
* /move_base/local_costmap/resolution
* /move_base/local_costmap/robot_base_frame
* /move_base/local_costmap/robot_radius
* /move_base/local_costmap/rolling_window
* /move_base/local_costmap/scan/clearing
* /move_base/local_costmap/scan/data_type
* /move_base/local_costmap/scan/marking
* /move_base/local_costmap/scan/max_obstacle_height
* /move_base/local_costmap/scan/min_obstacle_height
* /move_base/local_costmap/scan/topic
* /move_base/local_costmap/static_map
* /move_base/local_costmap/transform_tolerance
* /move_base/local_costmap/update_frequency
* /move_base/local_costmap/width
* /move_base/local_costmap/z_resolution
* /move_base/local_costmap/z_voxels
* /move_base/oscillation_distance
* /move_base/oscillation_timeout
* /move_base/planner_frequency
* /move_base/planner_patience
* /move_base/shutdown_costmaps
* /navigation_velocity_smoother/accel_lim_v
* /navigation_velocity_smoother/accel_lim_w
* /navigation_velocity_smoother/decel_factor
* /navigation_velocity_smoother/frequency
* /navigation_velocity_smoother/robot_feedback
* /navigation_velocity_smoother/speed_lim_v
* /navigation_velocity_smoother/speed_lim_w
* /rosdistro
* /rosversion
* /rtabmap/rtabmap/Kp/MaxDepth
* /rtabmap/rtabmap/LccBow/InlierDistance
* /rtabmap/rtabmap/LccBow/MinInliers
* /rtabmap/rtabmap/LccIcp/Type
* /rtabmap/rtabmap/LccIcp2/CorrespondenceRatio
* /rtabmap/rtabmap/Mem/IncrementalMemory
* /rtabmap/rtabmap/Mem/InitWMWithAllNodes
* /rtabmap/rtabmap/Mem/RehearsalSimilarity
* /rtabmap/rtabmap/RGBD/AngularUpdate
* /rtabmap/rtabmap/RGBD/LinearUpdate
* /rtabmap/rtabmap/RGBD/LocalLoopDetectionSpace
* /rtabmap/rtabmap/RGBD/OptimizeFromGraphEnd
* /rtabmap/rtabmap/Rtabmap/TimeThr
* /rtabmap/rtabmap/database_path
* /rtabmap/rtabmap/frame_id
* /rtabmap/rtabmap/odom_frame_id
* /rtabmap/rtabmap/subscribe_depth
* /rtabmap/rtabmap/subscribe_laserScan
* /rtabmap/rtabmap/wait_for_transform
NODES
/camera/
camera_nodelet_manager (nodelet/nodelet)
debayer (nodelet/nodelet)
depth_metric (nodelet/nodelet)
depth_metric_rect (nodelet/nodelet)
depth_points (nodelet/nodelet)
depth_rectify_depth (nodelet/nodelet)
depth_registered_rectify_depth (nodelet/nodelet)
disparity_depth (nodelet/nodelet)
disparity_registered_hw (nodelet/nodelet)
disparity_registered_sw (nodelet/nodelet)
driver (nodelet/nodelet)
points_xyzrgb_hw_registered (nodelet/nodelet)
points_xyzrgb_sw_registered (nodelet/nodelet)
rectify_color (nodelet/nodelet)
rectify_ir (nodelet/nodelet)
rectify_mono (nodelet/nodelet)
register_depth_rgb (nodelet/nodelet)
/rtabmap/
rtabmap (rtabmap_ros/rtabmap)
/
depthimage_to_laserscan (nodelet/nodelet)
kobuki_safety_controller (nodelet/nodelet)
move_base (move_base/move_base)
navigation_velocity_smoother (nodelet/nodelet)
ROS_MASTER_URI=
http://localhost:11311core service [/rosout] found
process[camera/camera_nodelet_manager-1]: started with pid [5695]
[ INFO] [1432572014.859180579]: Initializing nodelet with 4 worker threads.
process[camera/driver-2]: started with pid [5717]
process[camera/debayer-3]: started with pid [5734]
process[camera/rectify_mono-4]: started with pid [5749]
process[camera/rectify_color-5]: started with pid [5764]
process[camera/rectify_ir-6]: started with pid [5779]
process[camera/depth_rectify_depth-7]: started with pid [5796]
process[camera/depth_metric_rect-8]: started with pid [5811]
process[camera/depth_metric-9]: started with pid [5826]
process[camera/depth_points-10]: started with pid [5841]
process[camera/register_depth_rgb-11]: started with pid [5856]
process[camera/points_xyzrgb_sw_registered-12]: started with pid [5871]
process[camera/depth_registered_rectify_depth-13]: started with pid [5886]
process[camera/points_xyzrgb_hw_registered-14]: started with pid [5903]
process[camera/disparity_depth-15]: started with pid [5918]
[ INFO] [1432572017.812030875]: Number devices connected: 1
[ INFO] [1432572017.813122455]: 1. device on bus 001:11 is a SensorV2 (2ae) from PrimeSense (45e) with serial id '0000000000000000'
[ INFO] [1432572017.816085871]: Searching for device with index = 1
[ INFO] [1432572017.910283420]: Opened 'SensorV2' on bus 1:11 with serial number '0000000000000000'
process[camera/disparity_registered_sw-16]: started with pid [5959]
process[camera/disparity_registered_hw-17]: started with pid [5996]
process[depthimage_to_laserscan-18]: started with pid [6011]
process[navigation_velocity_smoother-19]: started with pid [6026]
process[kobuki_safety_controller-20]: started with pid [6084]
process[move_base-21]: started with pid [6110]
process[rtabmap/rtabmap-22]: started with pid [6124]
[ INFO] [1432572020.522267455]: rgb_frame_id = '/camera_rgb_optical_frame'
[ INFO] [1432572020.530454428]: depth_frame_id = '/camera_depth_optical_frame'
[ WARN] [1432572020.575064484]: Camera calibration file /home/turtlebot/.ros/camera_info/rgb_0000000000000000.yaml not found.
[ WARN] [1432572020.575249487]: Using default parameters for RGB camera calibration.
[ WARN] [1432572020.576240192]: Camera calibration file /home/turtlebot/.ros/camera_info/depth_0000000000000000.yaml not found.
[ WARN] [1432572020.577015430]: Using default parameters for IR camera calibration.
[ INFO] [1432572021.071749714]: Starting node...
[ INFO] [1432572021.245423364]: rtabmap: frame_id = base_footprint
[ INFO] [1432572021.245580339]: rtabmap: map_frame_id = map
[ INFO] [1432572021.245647321]: rtabmap: queue_size = 10
[ INFO] [1432572021.245712901]: rtabmap: tf_delay = 0.050000
[ INFO] [1432572021.738225145]: Setting RTAB-Map parameter "Kp/MaxDepth"="4.0"
[ INFO] [1432572021.925760292]: Setting RTAB-Map parameter "LccBow/InlierDistance"="0.1"
[ INFO] [1432572021.972854207]: Setting RTAB-Map parameter "LccBow/MinInliers"="5"
[ INFO] [1432572022.014460826]: Setting RTAB-Map parameter "LccIcp/Type"="2"
[ INFO] [1432572022.025842899]: Setting RTAB-Map parameter "LccIcp2/CorrespondenceRatio"="0.05"
[ INFO] [1432572022.553437127]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1432572022.556014180]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[ INFO] [1432572022.596886970]: Setting RTAB-Map parameter "Mem/RehearsalSimilarity"="0.30"
[ INFO] [1432572023.230113896]: Setting RTAB-Map parameter "RGBD/AngularUpdate"="0.1"
[ INFO] [1432572023.248104116]: Setting RTAB-Map parameter "RGBD/LinearUpdate"="0.1"
[ INFO] [1432572023.342643373]: Setting RTAB-Map parameter "RGBD/LocalLoopDetectionSpace"="true"
[ INFO] [1432572023.394048949]: Setting RTAB-Map parameter "RGBD/OptimizeFromGraphEnd"="false"
[ INFO] [1432572023.717671503]: Setting RTAB-Map parameter "Rtabmap/TimeThr"="700"
[ INFO] [1432572024.823675930]: RTAB-Map rate detection = 1.000000 Hz
[FATAL] (2015-05-26 01:40:24.825) DBDriverSqlite3.cpp:343::connectDatabaseQuery() DB error : unable to open database file
*******
FATAL message occurred! Application will now exit.
*******
[rtabmap/rtabmap-22] process has died [pid 6124, exit code 1, cmd /home/turtlebot/rgbdslam_catkin_ws/devel/lib/rtabmap_ros/rtabmap --delete_db_on_start scan:=/scan rgb/image:=/camera/rgb/image_rect_color depth/image:=/camera/depth_registered/image_raw rgb/camera_info:=/camera/rgb/camera_info grid_map:=/map __name:=rtabmap __log:=/home/turtlebot/.ros/log/5434decc-02fb-11e5-8cff-40167ee4ef9e/rtabmap-rtabmap-22.log].
log file: /home/turtlebot/.ros/log/5434decc-02fb-11e5-8cff-40167ee4ef9e/rtabmap-rtabmap-22*.log
[ WARN] [1432572025.562526780]: Waiting on transform from base_footprint to map to become available before running costmap, tf error:
[ WARN] [1432572030.648655232]: Waiting on transform from base_footprint to map to become available before running costmap, tf error:
[ WARN] [1432572035.731965490]: Waiting on transform from base_footprint to map to become available before running costmap, tf error:
And After running Rosbag play --clock demo_mapping.bag i receive the warnings in terminals of rviz and demo_turtlebot_mapping.launch:
Warning: TF_OLD_DATA ignoring data from the past for frame base_footprint at time 1.36873e+09 according to authority /play_1432574762913009039
Possible reasons are listed at
http://wiki.ros.org/tf/Errors%20explained at line 260 in /tmp/buildd/ros-hydro-tf2-0.4.11-0precise-20140617-0510/src/buffer_core.cpp
graciously