online mapping

[sunt40]

Here is my steps to run ratslam for online mapping:
1.I modified the config file:
Change the first line "topic_root=stlucia" to "topic_root=/usb_cam/image_raw/compressed"
2.I modified the launch file :
Replace all references to "$(find ratslam_ros)/config/config_stlucia.txt" with "$(find ratslam_ros)/config/config_my_robot.txt.in"
Replace with
3.Then I typed in the terminal as follows:
roslaunch usb_cam usb_cam-test.launch
roslaunch ratslam_ros my_robot.launch
After that,four blank windows popped up,but they are not wok.
What mistakes did I make?

[scott--]

It's hard to diagnose issues without being able to test the running system.

There are a couple of issues with your steps though:

Change the first line "topic_root=stlucia" to "topic_root=/usb_cam/image_raw/compressed"

OpenRatSLAM adds the topic root to "/camera/image", so in your case your topic root should just be "usb_cam" (see lines below)

  image_transport::ImageTransport it(node);
  image_transport::Subscriber sub = it.subscribe(topic_root + "/camera/image", 0, boost::bind(image_callback, _1, &pub_vt));

You might need to remap your topic to what RatSLAM expects:
rosrun topic_tools relay /usb_cam/image_raw/compressed /usb_cam/camera/image/compressed
(You'll need topic_tools installed for this to work)

Replace all references to "$(find ratslam_ros)/config/config_stlucia.txt" with "$(find ratslam_ros)/config/config_my_robot.txt.in"

The build process for OpenRatSLAM takes all the files (*.txt.in) in the src/ratslam_ros/config directory, fills in templates, and then produces an output config (*.txt) in devel/share/ratslam_ros/config. As long as you put your config file in the same folder, you can just change
$(find ratslam_ros)/config/config_stlucia.txt to
$(find ratslam_ros)/config/config_my_robot.txt

Then I typed in the terminal as follows:

This looks OK. After doing this step trying running
rosnode info /RatSLAMLocalViewCells
to see if the topics are connected as you expect.

[sunt40]

@scott--
I follow your advice and the errors are as follows:
ratslam_pc: /home/sunt/catkin_ratslam/src/ratslam_ros/src/ratslam/posecell_network.cpp:1034: void ratslam::PosecellNetwork::on_view_template(unsigned int, double): Assertion vt == visual_templates.size() - 1' failed. REQUIRED process [RatSLAMPoseCells-2] has died!
process has died [pid 7350, exit code -6, cmd /home/sunt/catkin_ratslam/devel/lib/ratslam_ros/ratslam_pc /home/sunt/catkin_ws/devel/share/ratslam_ros/config/config_my_robot.txt _image_transport:=compressed __name:=RatSLAMPoseCells __log:=/home/sunt/.ros/log/477d42b4-5a6d-11e9-a44d-54bf644811c1/RatSLAMPoseCells-2.log].
log file: /home/sunt/.ros/log/477d42b4-5a6d-11e9-a44d-54bf644811c1/RatSLAMPoseCells-2*.log
Initiating shutdown!`
What should I do?

[scott--]

That assertion is indicating that there is a sequencing error in messages sent. Do you get the same error when you run OpenRatSLAM from a bag file?

Try running the OpenRatSLAM launch files before publishing from the robot - it could be caused by a race condition where OpenRatSLAM connects to your robot before its own nodes connect to each other.

[sunt40]

When I run OpenRatSLAM from a bag file, it works well.
I just run OpenRatSLAM in my laptop.I just provide images for OpenRatSLAM,but the posecell_network needs odometry infomation.
Do I have to provide odometer information？

[scott--]

You can either provide odometry directly from your robot, if you have encoders, or use the RatSLAMVisualOdometry node to provide odometry from the images (see the stlucia.launch file).

[sunt40]

I followed your advice and opened the launch file first . The errors are as follows:

ratslam_pc: /home/sunt/catkin_ratslam/src/ratslam_ros/src/ratslam/posecell_network.cpp:1034: void ratslam::PosecellNetwork::on_view_template(unsigned int, double): Assertion `vt == visual_templates.size() - 1' failed.
================================================================================REQUIRED process [RatSLAMPoseCells-3] has died!
process has died [pid 4561, exit code -6, cmd /home/sunt/catkin_ratslam/devel/lib/ratslam_ros/ratslam_pc /home/sunt/catkin_ws/devel/share/ratslam_ros/config/config_my_robot.txt _image_transport:=compressed __name:=RatSLAMPoseCells __log:=/home/sunt/.ros/log/264d37da-5b2a-11e9-bc88-54bf644811c1/RatSLAMPoseCells-3.log].
log file: /home/sunt/.ros/log/264d37da-5b2a-11e9-bc88-54bf644811c1/RatSLAMPoseCells-3*.log
Initiating shutdown!

[sunt40]

I made it !!! Thank you very much!!!

[gaohao304]

I followed your advice and opened the launch file first . The errors are as follows:

ratslam_pc: /home/sunt/catkin_ratslam/src/ratslam_ros/src/ratslam/posecell_network.cpp:1034: void ratslam::PosecellNetwork::on_view_template(unsigned int, double): Assertion `vt == visual_templates.size() - 1' failed.
================================================================================REQUIRED process [RatSLAMPoseCells-3] has died!
process has died [pid 4561, exit code -6, cmd /home/sunt/catkin_ratslam/devel/lib/ratslam_ros/ratslam_pc /home/sunt/catkin_ws/devel/share/ratslam_ros/config/config_my_robot.txt _image_transport:=compressed __name:=RatSLAMPoseCells __log:=/home/sunt/.ros/log/264d37da-5b2a-11e9-bc88-54bf644811c1/RatSLAMPoseCells-3.log].
log file: /home/sunt/.ros/log/264d37da-5b2a-11e9-bc88-54bf644811c1/RatSLAMPoseCells-3*.log
Initiating shutdown!

hello,I met the same problem, I will appreciate it that you give some advice to solve this error

[sunt40]

打开你的my_robot.launch，看一下是否启动了里程计节点

[gaohao304]

打开你的my_robot.launch，看一下是否启动了里程计节点
ros小白一枚，在哪里打开my_robot.launch,求指点。感谢
可以加您QQ或者微信么，我的QQ974517314

[gaohao304]

打开你的my_robot.launch，看一下是否启动了里程计节点
hello,我输入rosnode list ，检查了启动的节点，如下：
/RatSLAMExperienceMap
/RatSLAMPoseCells
/play_1569552795086280425
/rosout
确实没有发现里程计节点，我跑的是openratslam里面irataus.launch，应该有一个名为:RatSLAMLocalView的节点来着，但是rosnode list之后发现并没有该节点。如下所示是我的运行结果：实在麻烦您给点建议，谢谢（如何启动RatSLAMLocalView，这个节点应该是在运行过程中被终止了）
roslaunch ratslam_ros irataus.launch
... logging to /home/gaohao/.ros/log/e7dbcfce-e0d1-11e9-b98f-74d43582a313/roslaunch-gaohao-pc-10669.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://gaohao-pc:45987/

SUMMARY

PARAMETERS

• /rosdistro: kinetic
• /rosversion: 1.12.14

NODES
/
RatSLAMExperienceMap (ratslam_ros/ratslam_em)
RatSLAMLocalViewCells (ratslam_ros/ratslam_lv)
RatSLAMPoseCells (ratslam_ros/ratslam_pc)
overhead (image_view/image_view)
plot_vt_em (rqt_plot/rqt_plot)
record (rosbag/record)

ROS_MASTER_URI=http://localhost:11311

process[RatSLAMLocalViewCells-1]: started with pid [10686]
process[RatSLAMPoseCells-2]: started with pid [10687]
process[RatSLAMExperienceMap-3]: started with pid [10688]
process[plot_vt_em-4]: started with pid [10689]
process[record-5]: started with pid [10705]
process[overhead-6]: started with pid [10723]
================================================================================REQUIRED process [RatSLAMPoseCells-2] has died!
process has died [pid 10687, exit code -11, cmd /home/gaohao/catkin_ws/devel/lib/ratslam_ros/ratslam_pc /home/gaohao/catkin_ws/devel/share/ratslam_ros/config/config_irataus.txt _image_transport:=compressed __name:=RatSLAMPoseCells __log:=/home/gaohao/.ros/log/e7dbcfce-e0d1-11e9-b98f-74d43582a313/RatSLAMPoseCells-2.log].
log file: /home/gaohao/.ros/log/e7dbcfce-e0d1-11e9-b98f-74d43582a313/RatSLAMPoseCells-2*.log
Initiating shutdown!

[overhead-6] killing on exit
[record-5] killing on exit
[plot_vt_em-4] killing on exit
[RatSLAMExperienceMap-3] killing on exit
[RatSLAMPoseCells-2] killing on exit
[RatSLAMLocalViewCells-1] killing on exit
Traceback (most recent call last):
File "/opt/ros/kinetic/lib/rqt_plot/rqt_plot", line 6, in
from rqt_plot.plot import Plot
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rqt_plot/plot.py", line 43, in
from .data_plot import DataPlot
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rqt_plot/data_plot/init.py", line 34, in
import numpy
File "/usr/lib/python2.7/dist-packages/numpy/init.py", line 203, in
from . import ma
File "/usr/lib/python2.7/dist-packages/numpy/ma/init.py", line 44, in
from . import core
File "/usr/lib/python2.7/dist-packages/numpy/ma/core.py", line 21, in
"""
KeyboardInterrupt
shutting down processing monitor...
... shutting down processing monitor complete
done

[sunt40]

我在工作空间编译成功后，直接运行 roslaunch ratslam_ros irataus.launch 然后在运行
rosbag play irat_aus_28112011.bag 可以运行成功