/rtabmap/rtabmap_viz: Did not receive data since 5 seconds!

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于 2024-12-06 15:29:07 发布

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分类专栏： slam 文章标签：图像处理

本文链接：https://blog.youkuaiyun.com/gsgs1234/article/details/144291996

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/rtabmap/rtabmap_viz: Did not receive data since 5 seconds!

rtabmap的一个错误
[ WARN] [1733466989.391989800]: /rtabmap/rtabmap_viz: 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 “sync_queue_size” and/or “topic_queue_size” parameters (current=100 and 10 respectively).
/rtabmap/rtabmap_viz subscribed to (approx sync):
/rtabmap/odom
/camera/infra1/image_rect_raw
/camera/infra2/image_rect_raw
/camera/infra1/camera_info
/camera/infra2/camera_info
/rtabmap/odom_info

在这里插入图片描述运行

roslaunch rtabmap_launch rtabmap.launch

后就一直报错Did not receive data since 5 seconds!，但使用rostopic list查看话题，相关话题是发布了的，使用rostopic hz查看相关话题的发布频率也不是这个问题

rostopic hz /rtabmap/odom /camera/infra1/image_rect_raw /camera/infra2/image_rect_raw /camera/infra1/camera_info /camera/infra2/camera_info /rtabmap/odom_info

github上有很多相关的issue，不同的原因导致的解决方法可能是不同的。
我的问题：
运行默认的rtabmap时没有问题，在使用vins作为rtabmap的视觉里程计时就会报这个错误。
解决方法：
若.bashrc文件中，LD_LIBRARY_PATH有rosmap_ros工作空间下的/devel/lib，删掉！！！
这是在编译支持vins/orb_slam2的rtabmap时，我看其他人的教程，给LD_LIBRARY_PATH加了这个lib路径，这个该死的动作之前还一度导致我rosrun vins vins_node 出现段错误（核心已转储）

解决：

sudo gedit .bashrc
#删除 export LD_LIBRARY_PATH=工作空间的/devel/lib:
source .bashrc