roslaunch cozmo_driver ratslam.launch: The process starts but with three empty windows and nothing happens

[PhilippeLC92]

Hello,
I have an error executing roslaunch cozmo_driver ratslam.launch:
The process starts but with three empty windows and nothing happens

Ubuntu 16.04.3 LTS
ros kinetic
tested with ratlsam ros :

• https://github.com/sem23/ratslam ratslam_ros
  or
• https://github.com/davidmball/ratslam.git ratslam_ros

roslaunch cozmo_driver ratslam.launch
... logging to /root/.ros/log/86ac9698-0f54-11e8-913c-00269ebef34c/roslaunch-mexico-5976.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://mexico:38960/

SUMMARY

PARAMETERS

• /RatSLAMExperienceMap/map_file_path: /opt/ros/kinetic/...
• /RatSLAMLocalViewCells/lvm_file_path: /opt/ros/kinetic/...
• /RatSLAMPoseCells/pcn_file_path: /opt/ros/kinetic/...
• /path_follower/max_lin_vel: 0.2
• /path_follower/min_lin_vel: 0.05
• /rosdistro: kinetic
• /rosversion: 1.12.12

NODES
/
RatSLAMExperienceMap (ratslam_ros/ratslam_em)
RatSLAMLocalViewCells (ratslam_ros/ratslam_lv)
RatSLAMPoseCells (ratslam_ros/ratslam_pc)
path_follower (ratslam_ros/path_follower.py)

ROS_MASTER_URI=http://localhost:11311

process[RatSLAMLocalViewCells-1]: started with pid [5993]
process[RatSLAMPoseCells-2]: started with pid [5994]
process[RatSLAMExperienceMap-3]: started with pid [5995]
process[path_follower-4]: started with pid [5996]
[ INFO] [1518371651.504322720]: /root/catkin_ws/devel/lib/ratslam_ros/ratslam_pc - openRatSLAM Copyright (C) 2012 David Ball and Scott Heath
[ INFO] [1518371651.504423158]: RatSLAM algorithm by Michael Milford and Gordon Wyeth
[ INFO] [1518371651.504461110]: Distributed under the GNU GPL v3, see the included license file.
[ INFO] [1518371651.504900711]: /root/catkin_ws/devel/lib/ratslam_ros/ratslam_em - openRatSLAM Copyright (C) 2012 David Ball and Scott Heath
[ INFO] [1518371651.504992340]: RatSLAM algorithm by Michael Milford and Gordon Wyeth
[ INFO] [1518371651.505030477]: Distributed under the GNU GPL v3, see the included license file.
SETTINGS(warning): exp_correction not found so default (0.5) used.
SETTINGS(warning): pc_dim_th not found so default (36) used.
SETTINGS(warning): pc_w_e_dim not found so default (7) used.
SETTINGS(warning): pc_w_i_dim not found so default (5) used.
SETTINGS(warning): pc_w_e_var not found so default (1) used.
SETTINGS(warning): pc_w_i_var not found so default (2) used.
SETTINGS(warning): pc_global_inhib not found so default (2e-05) used.
SETTINGS(warning): pc_vt_restore not found so default (0.05) used.
Irrlicht Engine version 1.8.3
Linux 4.4.6-custom #3 SMP Fri Apr 29 18:30:17 CEST 2016 x86_64
Irrlicht Engine version 1.8.3
Linux 4.4.6-custom #3 SMP Fri Apr 29 18:30:17 CEST 2016 x86_64
Using renderer: OpenGL 3.0
NVA5: nouveau
OpenGL driver version is 1.2 or better.
GLSL version: 1.3
Using renderer: OpenGL 3.0
NVA5: nouveau
OpenGL driver version is 1.2 or better.
GLSL version: 1.3
Loaded texture: /opt/ros/kinetic/share/ratslam/src/media/particle.bmp
Loaded texture: /opt/ros/kinetic/share/ratslam/src/media/irat_sm.tga

[OTL]

Hi, than you for feedback!

I actually don't know a lot about ratslam.launch, and i'm not using cozmo now.
@sem23 might be possible to help you.

[TTeTbP]

I have the same issue.

Did you find a solution for it?

[erictodd]

Same here. Any luck?

[wangvnn]

OK, I took a deep dive and found that if you remove the topic_root in ratslam.txt, it will work.
Tips: read code and use these commands to debug. Have fun.
This RatSlam is really cool.
Special thanks to @sem23 and @OTL.

e.g.
rosrun tf tf_echo odom base_link
rostopic echo o/cozmo/ratslam/camera/image

[general]
topic_root=