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    【已解决】ros2 galactic 使用astra s相机运行rtabmap无法建图（可以生成单帧点云）

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    galactic rtabmap 无法建图
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    • 张宏瑞张
      张宏瑞
      最后由 张宏瑞 编辑

      这边单独运行相机节点发布了rgb和depth数据，然后修改rtabmap.launch.py内部参数如下

      # Arguments
        DeclareLaunchArgument('stereo', default_value='false', description='Use stereo input instead of RGB-D.'),

        DeclareLaunchArgument('localization', default_value='false', description='Launch in localization mode.'),
        DeclareLaunchArgument('rtabmapviz',   default_value='true',  description='Launch RTAB-Map UI (optional).'),
        DeclareLaunchArgument('rviz',         default_value='false', description='Launch RVIZ (optional).'),

        DeclareLaunchArgument('use_sim_time', default_value='false', description='Use simulation (Gazebo) clock if true'),

        # Config files
        DeclareLaunchArgument('cfg',      default_value='',                        description='To change RTAB-Map\'s parameters, set the path of config file (*.ini) generated by the standalone app.'),
        DeclareLaunchArgument('gui_cfg',  default_value='~/.ros/rtabmap_gui.ini',  description='Configuration path of rtabmapviz.'),
        DeclareLaunchArgument('rviz_cfg', default_value=config_rviz,               description='Configuration path of rviz2.'),

        DeclareLaunchArgument('frame_id',       default_value='camera_link',          description='Fixed frame id of the robot (base frame), you may set "base_link" or "base_footprint" if they are published. For camera-only config, this could be "camera_link".'),
        DeclareLaunchArgument('odom_frame_id',  default_value='',                   description='If set, TF is used to get odometry instead of the topic.'),
        DeclareLaunchArgument('map_frame_id',   default_value='map',                description='Output map frame id (TF).'),
        DeclareLaunchArgument('publish_tf_map', default_value='true',               description='Publish TF between map and odomerty.'),
        DeclareLaunchArgument('namespace',      default_value='rtabmap',            description=''),
        DeclareLaunchArgument('database_path',  default_value='~/.ros/rtabmap.db',  description='Where is the map saved/loaded.'),
        DeclareLaunchArgument('queue_size',     default_value='20',                 description=''),
        DeclareLaunchArgument('qos',            default_value='2',                  description='General QoS used for sensor input data: 0=system default, 1=Reliable, 2=Best Effort.'),
        DeclareLaunchArgument('wait_for_transform', default_value='0.2',            description=''),
        DeclareLaunchArgument('rtabmap_args',   default_value='',                   description='Backward compatibility, use "args" instead.'),
        DeclareLaunchArgument('launch_prefix',  default_value='',                   description='For debugging purpose, it fills prefix tag of the nodes, e.g., "xterm -e gdb -ex run --args"'),
        DeclareLaunchArgument('output',         default_value='screen',             description='Control node output (screen or log).'),
        
        DeclareLaunchArgument('ground_truth_frame_id',      default_value='', description='e.g., "world"'),
        DeclareLaunchArgument('ground_truth_base_frame_id', default_value='', description='e.g., "tracker", a fake frame matching the frame "frame_id" (but on different TF tree)'),
        
        DeclareLaunchArgument('approx_sync',  default_value='true',       description='If timestamps of the input topics should be synchronized using approximate or exact time policy.'),

        # RGB-D related topics
        DeclareLaunchArgument('rgb_topic',           default_value='/camera/color/image_raw', description=''),
        DeclareLaunchArgument('depth_topic',         default_value='/camera/depth/image_raw', description=''),
        DeclareLaunchArgument('camera_info_topic',   default_value='/camera/depth/camera_info',description=''),
        
        # Stereo related topics
        DeclareLaunchArgument('stereo_namespace',        default_value='/stereo_camera', description=''),
        DeclareLaunchArgument('left_image_topic',        default_value=[LaunchConfiguration('stereo_namespace'), '/left/image_rect_color'], description=''),
        DeclareLaunchArgument('right_image_topic',       default_value=[LaunchConfiguration('stereo_namespace'), '/right/image_rect'], description='Use grayscale image for efficiency'),
        DeclareLaunchArgument('left_camera_info_topic',  default_value=[LaunchConfiguration('stereo_namespace'), '/left/camera_info'], description=''),
        DeclareLaunchArgument('right_camera_info_topic', default_value=[LaunchConfiguration('stereo_namespace'), '/right/camera_info'], description=''),
        
        # Use Pre-sync RGBDImage format
        DeclareLaunchArgument('rgbd_sync',        default_value='false',      description='Pre-sync rgb_topic, depth_topic, camera_info_topic.'),
        DeclareLaunchArgument('approx_rgbd_sync', default_value='true',       description='false=exact synchronization.'),
        DeclareLaunchArgument('subscribe_rgbd',   default_value=LaunchConfiguration('rgbd_sync'), description='Already synchronized RGB-D related topic, e.g., with rtabmap_ros/rgbd_sync nodelet.'),
        DeclareLaunchArgument('rgbd_topic',       default_value='rgbd_image', description=''),
        DeclareLaunchArgument('depth_scale',      default_value='1.0',        description=''),
        
        # Image topic compression
        DeclareLaunchArgument('compressed',            default_value='false', description='If you want to subscribe to compressed image topics'),
        DeclareLaunchArgument('rgb_image_transport',   default_value='compressed', description='Common types: compressed, theora (see "rosrun image_transport list_transports")'),
        DeclareLaunchArgument('depth_image_transport', default_value='compressedDepth', description='Depth compatible types: compressedDepth (see "rosrun image_transport list_transports")'),
       
        # LiDAR
        DeclareLaunchArgument('subscribe_scan',       default_value='false',       description=''),
        DeclareLaunchArgument('scan_topic',           default_value='/scan',       description=''),
        DeclareLaunchArgument('subscribe_scan_cloud', default_value='false',       description=''),
        DeclareLaunchArgument('scan_cloud_topic',     default_value='/scan_cloud', description=''),
        DeclareLaunchArgument('scan_normal_k',        default_value='0',           description=''),
        
        # Odometry
        DeclareLaunchArgument('visual_odometry',            default_value='true',  description='Launch rtabmap visual odometry node.'),
        DeclareLaunchArgument('icp_odometry',               default_value='false', description='Launch rtabmap icp odometry node.'),
        DeclareLaunchArgument('odom_topic',                 default_value='odom',  description='Odometry topic name.'),
        DeclareLaunchArgument('vo_frame_id',                default_value=LaunchConfiguration('odom_topic'), description='Visual/Icp odometry frame ID for TF.'),
        DeclareLaunchArgument('publish_tf_odom',            default_value='true',  description=''),
        DeclareLaunchArgument('odom_tf_angular_variance',   default_value='0.01',    description='If TF is used to get odometry, this is the default angular variance'),
        DeclareLaunchArgument('odom_tf_linear_variance',    default_value='0.001',   description='If TF is used to get odometry, this is the default linear variance'),
        DeclareLaunchArgument('odom_args',                  default_value='',      description='More arguments for odometry (overwrite same parameters in rtabmap_args).'),
        DeclareLaunchArgument('odom_sensor_sync',           default_value='false', description=''),
        DeclareLaunchArgument('odom_guess_frame_id',        default_value='',      description=''),
        DeclareLaunchArgument('odom_guess_min_translation', default_value='0.0',   description=''),
        DeclareLaunchArgument('odom_guess_min_rotation',    default_value='0.0',   description=''),

      运行的时候rtabmapiz控制台会报错

      util3d.cpp:1153::cloudRGBFromSensorData() Camera model 0 is invalid

      873196ed-7eed-4112-9137-cc039068b83b-image.png
      不建图 只显示单帧数据
      初学小菜鸟求解

      终端里面看起来视觉里程计也不太正常

      [rgbd_odometry-1] [INFO] [1663398187.567110256] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.010347s
[rgbd_odometry-1] [INFO] [1663398187.576459463] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.008404s
[rgbd_odometry-1] [INFO] [1663398187.659465616] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.012715s
[rgbd_odometry-1] [INFO] [1663398187.668895425] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.008550s
[rgbd_odometry-1] [INFO] [1663398187.677696538] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.007952s
[rgbd_odometry-1] [INFO] [1663398187.761097371] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.011698s
[rgbd_odometry-1] [INFO] [1663398187.770419207] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.008257s
[rgbd_odometry-1] [INFO] [1663398187.779528887] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.008267s
[rgbd_odometry-1] [INFO] [1663398187.859531168] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.012646s
[rgbd_odometry-1] [INFO] [1663398187.868233829] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.007911s
[rgbd_odometry-1] [INFO] [1663398187.877549215] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.008469s
[rgbd_odometry-1] [INFO] [1663398187.954169813] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.014044s
[rgbd_odometry-1] [INFO] [1663398187.966101802] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.010370s
[rgbd_odometry-1] [INFO] [1663398187.975220213] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.008089s
[rgbd_odometry-1] [INFO] [1663398188.061192398] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.013515s
[rgbd_odometry-1] [INFO] [1663398188.070477343] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.008116s
[rgbd_odometry-1] [INFO] [1663398188.154086911] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.013209s
[rgbd_odometry-1] [INFO] [1663398188.163276074] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.008290s
[rgbd_odometry-1] [INFO] [1663398188.171984495] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.008008s
[rgbd_odometry-1] [INFO] [1663398188.256393842] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.012317s
[rgbd_odometry-1] [INFO] [1663398188.266197199] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.008756s
[rgbd_odometry-1] [INFO] [1663398188.275826993] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.008637s
[rtabmap-2] [INFO] [1663398188.298330109] [rtabmap.rtabmap]: rtabmap (886): Rate=1.00s, Limit=0.000s, Conversion=0.0011s, RTAB-Map=0.0394s, Maps update=0.0011s pub=0.0000s (local map=1, WM=91)
[rgbd_odometry-1] [INFO] [1663398188.353489587] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.009776s
[rgbd_odometry-1] [INFO] [1663398188.365871727] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.011197s
[rgbd_odometry-1] [INFO] [1663398188.456308309] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.012305s
[rgbd_odometry-1] [INFO] [1663398188.465904362] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.008395s
[rgbd_odometry-1] [INFO] [1663398188.561805348] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.010105s
[rgbd_odometry-1] [INFO] [1663398188.570939979] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.007963s
[rgbd_odometry-1] [INFO] [1663398188.580873370] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.008837s
[rgbd_odometry-1] [INFO] [1663398188.656436723] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.011586s
[rgbd_odometry-1] [INFO] [1663398188.665989805] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.008765s
[rgbd_odometry-1] [INFO] [1663398188.674980852] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.008231s
[rgbd_odometry-1] [INFO] [1663398188.760119437] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.012440s
[rgbd_odometry-1] [INFO] [1663398188.769558146] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.008428s
[rgbd_odometry-1] [INFO] [1663398188.856946555] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.010834s
[rgbd_odometry-1] [INFO] [1663398188.866650130] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.008819s
[rgbd_odometry-1] [INFO] [1663398188.958472057] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.010210s
[rgbd_odometry-1] [INFO] [1663398188.969012183] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.009272s
[rgbd_odometry-1] [INFO] [1663398188.977962460] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.008188s
[rgbd_odometry-1] [INFO] [1663398189.060579573] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.012241s
[rgbd_odometry-1] [INFO] [1663398189.070776441] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.008862s
[rgbd_odometry-1] [INFO] [1663398189.164213736] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.012140s
[rgbd_odometry-1] [INFO] [1663398189.173621654] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.008350s
[rgbd_odometry-1] [INFO] [1663398189.258661907] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.013464s
[rgbd_odometry-1] [INFO] [1663398189.267545912] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.007793s
[rgbd_odometry-1] [INFO] [1663398189.278019196] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.009486s
[rtabmap-2] [INFO] [1663398189.300369068] [rtabmap.rtabmap]: rtabmap (887): Rate=1.00s, Limit=0.000s, Conversion=0.0007s, RTAB-Map=0.0393s, Maps update=0.0014s pub=0.0000s (local map=1, WM=91)
[rgbd_odometry-1] [INFO] [1663398189.360101207] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.007820s
[rgbd_odometry-1] [INFO] [1663398189.416060394] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.013199s
[rgbd_odometry-1] [INFO] [1663398189.459732742] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.013063s
[rgbd_odometry-1] [INFO] [1663398189.564018531] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.012771s
[rgbd_odometry-1] [INFO] [1663398189.574200748] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.008654s
[rgbd_odometry-1] [INFO] [1663398189.583941935] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.008913s
[rgbd_odometry-1] [INFO] [1663398189.659493997] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.012491s
[rgbd_odometry-1] [INFO] [1663398189.668725600] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.008498s
[rtabmapviz-3] [ERROR] (2022-09-17 15:03:04.973) util3d.cpp:1153::cloudRGBFromSensorData() Camera model 0 is invalid
[rtabmapviz-3] [ERROR] (2022-09-17 15:03:05.154) util3d.cpp:1153::cloudRGBFromSensorData() Camera model 0 is invalid
[rtabmapviz-3] [ERROR] (2022-09-17 15:03:05.349) util3d.cpp:1153::cloudRGBFromSensorData() Camera model 0 is invalid
[rtabmapviz-3] [ERROR] (2022-09-17 15:03:05.454) util3d.cpp:1153::cloudRGBFromSensorData() Camera model 0 is invalid
[rtabmapviz-3] [ERROR] (2022-09-17 15:03:05.561) util3d.cpp:1153::cloudRGBFromSensorData() Camera model 0 is invalid
[rtabmapviz-3] [ERROR] (2022-09-17 15:03:05.671) util3d.cpp:1153::cloudRGBFromSensorData() Camera model 0 is invalid
[rtabmapviz-3] [ERROR] (2022-09-17 15:03:05.772) util3d.cpp:1153::cloudRGBFromSensorData() Camera model 0 is invalid
[rtabmapviz-3] [ERROR] (2022-09-17 15:03:05.951) util3d.cpp:1153::cloudRGBFromSensorData() Camera model 0 is invalid
[rtabmapviz-3] [ERROR] (2022-09-17 15:03:06.057) util3d.cpp:1153::cloudRGBFromSensorData() Camera model 0 is invalid
[rtabmapviz-3] [ERROR] (2022-09-17 15:03:06.170) util3d.cpp:1153::cloudRGBFromSensorData() Camera model 0 is invalid
[rtabmapviz-3] [ERROR] (2022-09-17 15:03:06.278) util3d.cpp:1153::cloudRGBFromSensorData() Camera model 0 is invalid
[rtabmapviz-3] [ERROR] (2022-09-17 15:03:06.378) util3d.cpp:1153::cloudRGBFromSensorData() Camera model 0 is invalid
[rtabmapviz-3] [ERROR] (2022-09-17 15:03:06.478) util3d.cpp:1153::cloudRGBFromSensorData() Camera model 0 is invalid
[rtabmapviz-3] [ERROR] (2022-09-17 15:03:06.653) util3d.cpp:1153::cloudRGBFromSensorData() Camera model 0 is invalid
[rtabmapviz-3] [ERROR] (2022-09-17 15:03:06.759) util3d.cpp:1153::cloudRGBFromSensorData() Camera model 0 is invalid
[rtabmapviz-3] [ERROR] (2022-09-17 15:03:06.864) util3d.cpp:1153::cloudRGBFromSensorData() Camera model 0 is invalid
[rtabmapviz-3] [ERROR] (2022-09-17 15:03:06.969) util3d.cpp:1153::cloudRGBFromSensorData() Camera model 0 is invalid
[rtabmapviz-3] [ERROR] (2022-09-17 15:03:07.071) util3d.cpp:1153::cloudRGBFromSensorData() Camera model 0 is invalid
[rtabmapviz-3] [ERROR] (2022-09-17 15:03:07.175) util3d.cpp:1153::cloudRGBFromSensorData() Camera model 0 is invalid
[rtabmapviz-3] [ERROR] (2022-09-17 15:03:07.356) util3d.cpp:1153::cloudRGBFromSensorData() Camera model 0 is invalid
[rtabmapviz-3] [ERROR] (2022-09-17 15:03:07.459) util3d.cpp:1153::cloudRGBFromSensorData() Camera model 0 is invalid
[rtabmapviz-3] [ERROR] (2022-09-17 15:03:07.577) util3d.cpp:1153::cloudRGBFromSensorData() Camera model 0 is invalid
[rtabmapviz-3] [ERROR] (2022-09-17 15:03:07.762) util3d.cpp:1153::cloudRGBFromSensorData() Camera model 0 is invalid
[rtabmapviz-3] [ERROR] (2022-09-17 15:03:07.879) util3d.cpp:1153::cloudRGBFromSensorData() Camera model 0 is invalid
[rtabmapviz-3] [ERROR] (2022-09-17 15:03:08.062) util3d.cpp:1153::cloudRGBFromSensorData() Camera model 0 is invalid
[rtabmapviz-3] [ERROR] (2022-09-17 15:03:08.258) util3d.cpp:1153::cloudRGBFromSensorData() Camera model 0 is invalid
[rtabmapviz-3] [ERROR] (2022-09-17 15:03:08.457) util3d.cpp:1153::cloudRGBFromSensorData() Camera model 0 is invalid
[rtabmapviz-3] [ERROR] (2022-09-17 15:03:08.563) util3d.cpp:1153::cloudRGBFromSensorData() Camera model 0 is invalid
[rtabmapviz-3] [ERROR] (2022-09-17 15:03:08.676) util3d.cpp:1153::cloudRGBFromSensorData() Camera model 0 is invalid
[rtabmapviz-3] [ERROR] (2022-09-17 15:03:08.857) util3d.cpp:1153::cloudRGBFromSensorData() Camera model 0 is invalid
[rtabmapviz-3] [ERROR] (2022-09-17 15:03:08.959) util3d.cpp:1153::cloudRGBFromSensorData() Camera model 0 is invalid
[rtabmapviz-3] [ERROR] (2022-09-17 15:03:09.062) util3d.cpp:1153::cloudRGBFromSensorData() Camera model 0 is invalid
[rtabmapviz-3] [ERROR] (2022-09-17 15:03:09.165) util3d.cpp:1153::cloudRGBFromSensorData() Camera model 0 is invalid
[rtabmapviz-3] [ERROR] (2022-09-17 15:03:09.271) util3d.cpp:1153::cloudRGBFromSensorData() Camera model 0 is invalid
[rtabmapviz-3] [ERROR] (2022-09-17 15:03:09.417) util3d.cpp:1153::cloudRGBFromSensorData() Camera model 0 is invalid
[rtabmapviz-3] [ERROR] (2022-09-17 15:03:09.565) util3d.cpp:1153::cloudRGBFromSensorData() Camera model 0 is invalid
[rgbd_odometry-1] [INFO] [1663398189.678191080] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.008484s
[rgbd_odometry-1] [INFO] [1663398189.758836876] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.012958s
[rgbd_odometry-1] [INFO] [1663398189.768478489] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.008805s
[rgbd_odometry-1] [INFO] [1663398189.777609651] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.008430s
[rgbd_odometry-1] [INFO] [1663398189.862392836] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.013230s
[rgbd_odometry-1] [INFO] [1663398189.872169654] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.008953s
[rgbd_odometry-1] [INFO] [1663398189.881003328] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.007995s
[rgbd_odometry-1] [INFO] [1663398189.959873730] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.011876s
[rgbd_odometry-1] [INFO] [1663398189.969237688] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.008533s
[rgbd_odometry-1] [INFO] [1663398189.978436890] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.008343s
[rgbd_odometry-1] [INFO] [1663398190.064016056] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.013015s
[rgbd_odometry-1] [INFO] [1663398190.073340082] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.008528s
[rgbd_odometry-1] [INFO] [1663398190.082695849] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.008457s
[rgbd_odometry-1] [INFO] [1663398190.166727006] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.012962s
[rgbd_odometry-1] [INFO] [1663398190.177161550] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.009585s
[rgbd_odometry-1] [INFO] [1663398190.186435954] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.008062s
[rgbd_odometry-1] [INFO] [1663398190.266314901] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.013465s
[rgbd_odometry-1] [INFO] [1663398190.276995540] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.009441s
[rgbd_odometry-1] [INFO] [1663398190.287504845] [rtabmap.rgbd_odometry]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.009064s
[rtabmap-2] [INFO] [1663398190.308047364] [rtabmap.rtabmap]: rtabmap (888): Rate=1.00s, Limit=0.000s, Conversion=0.0006s, RTAB-Map=0.0400s, Maps update=0.0008s pub=0.0000s (local map=1, WM=91)
      小鱼小 1 条回复 最后回复 回复 引用 0
      • 张宏瑞张
        张宏瑞
        最后由 张宏瑞 编辑

        已解决，实际上是由于相机内参标定的问题，看了代码，Astra s相机内部默认使用了理想情况下针孔相机模型进行标定，默认没有坐标偏位，且fx=fy，这里由于我也是初学者，不是很了解（其实就相当于没有标定），此部分相关源代码如下所示：

          //以下为默认理想情况下相机内参计算方法，对于针孔相机模型，默认没有偏移，cx=cy=0，fx=fy，实际上这里发现投影矩阵p标定后差异较大
  // No distortion
  info->d.resize(5, 0.0);
  info->distortion_model = sensor_msgs::distortion_models::PLUMB_BOB;

  // Simple camera matrix: square pixels (fx = fy), principal point at center
  info->k.fill(0.0);
  info->k[0] = info->k[4] = f;

  info->k[2] = (static_cast<double>(width) / 2) - 0.5;
  // Aspect ratio for the camera center on Astra (and other devices?) is 4/3
  // This formula keeps the principal point the same in VGA and SXGA modes
  info->k[5] = (static_cast<double>(width) * (3. / 8.)) - 0.5;
  info->k[8] = 1.0;

  // No separate rectified image plane, so R = I
  info->r[0] = info->r[4] = info->r[8] = 1.0;

  // Then P=K(I|0) = (K|0)
  info->p.fill(0.0);
  info->p[0] = info->p[5] = f;  // fx, fy
  info->p[2] = info->p[2];      // cx
  info->p[6] = info->p[5];      // cy
  info->p[10] = 1.0;

        后续要先进行相机标定，使用camera-calibration标定相机后，修改参数
        351d28b8-3807-47b0-8202-b9423c6afede-image.png 替代文字

        rtabmap的视觉里程计即可正常运行
        ef434b0a-f93f-4b4b-8178-392329638c78-image.png

        1 条回复 最后回复 回复 引用 1
        • 小鱼小
          小鱼 技术大佬 @张宏瑞
          最后由 编辑

          @张宏瑞 在 ros2 galactic 使用astra s相机运行rtabmap无法建图（可以生成单帧点云） 中说：

          [rtabmapviz-3] [ERROR] (2022-09-17 15:03:09.565) util3d.cpp:1153::cloudRGBFromSensorData() Camera model 0 is invalid

          感觉是这个错误，没有点云数据

          小鱼 ROS 2 新书上线！书籍购买链接： https://m.tb.cn/h.gFDBx39
          新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

          张宏瑞张 1 条回复 最后回复 回复 引用 0
          • 张宏瑞张
            张宏瑞 @小鱼
            最后由 编辑

            @小鱼 是这个，后面查了下，是相机标定有问题，这里相当于判定内参错误，视觉里程计没运行，标定修改之后就正常了，感谢鱼哥😊

            L 1 条回复 最后回复 回复 引用 0
            • 张宏瑞张 张宏瑞 将这个主题转为问答主题，在
            • 张宏瑞张 张宏瑞 将这个主题标记为已解决，在
            • L
              liuxuA1 @张宏瑞
              最后由 编辑

              @张宏瑞 你好，想问下，相机标定了，还是无法建图，里程计出问题，会是什么原因。用的Astra s

              1 条回复 最后回复 回复 引用 0
              • 12235520201
                HPPEN FNISHER
                最后由 编辑

                大佬你好，请问我在ros1 noetic上使用astra pro运行rtapmap时初始化找不到相机是怎么回事呢：
                4392ac92-c102-4c88-b626-e9dc46ad3d20-image.png
                我已经安装了astra pro的openni2驱动，而且也按照官网文档运行了sample没有问题：
                926eb8ca-cd46-4547-8ecf-f8bec41ad7ba-image.png
                希望大佬能够解惑！

                1 条回复 最后回复 回复 引用 0
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