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rs_rtabmap.launch problem #1075

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dschnabel opened this issue Feb 10, 2020 · 1 comment
Closed

rs_rtabmap.launch problem #1075

dschnabel opened this issue Feb 10, 2020 · 1 comment

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@dschnabel
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OS: Ubuntu 16.04.6 LTS
ROS version: Lunar
RTAB-Map: 0.17.6
Cameras: D435 and T265

If I launch each camera individually it works fine, meaning RViz opens up and shows me the data I would expect.

For the D435: roslaunch realsense2_camera demo_pointcloud.launch <-- works
For the T265: roslaunch realsense2_camera demo_t265.launch <-- works

But when I launch rs_rtabmap with both cameras, it can't get data (even though both cameras launched fine): roslaunch realsense2_camera rs_rtabmap.launch <-- doesn't work

Log:

$ roslaunch realsense2_camera rs_rtabmap.launch
... logging to /home/daniel/.ros/log/0a5ba4be-4bbe-11ea-b806-6c8814d38b74/roslaunch-t430-24588.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://t430:36579/

SUMMARY
========

PARAMETERS
 * /d400/realsense2_camera/accel_fps: 0
 * /d400/realsense2_camera/accel_frame_id: d400_accel_frame
 * /d400/realsense2_camera/accel_optical_frame_id: d400_accel_optica...
 * /d400/realsense2_camera/align_depth: True
 * /d400/realsense2_camera/aligned_depth_to_color_frame_id: d400_aligned_dept...
 * /d400/realsense2_camera/aligned_depth_to_fisheye1_frame_id: d400_aligned_dept...
 * /d400/realsense2_camera/aligned_depth_to_fisheye2_frame_id: d400_aligned_dept...
 * /d400/realsense2_camera/aligned_depth_to_fisheye_frame_id: d400_aligned_dept...
 * /d400/realsense2_camera/aligned_depth_to_infra1_frame_id: d400_aligned_dept...
 * /d400/realsense2_camera/aligned_depth_to_infra2_frame_id: d400_aligned_dept...
 * /d400/realsense2_camera/allow_no_texture_points: False
 * /d400/realsense2_camera/base_frame_id: d400_link
 * /d400/realsense2_camera/calib_odom_file: 
 * /d400/realsense2_camera/clip_distance: -2.0
 * /d400/realsense2_camera/color_fps: 30
 * /d400/realsense2_camera/color_frame_id: d400_color_frame
 * /d400/realsense2_camera/color_height: 480
 * /d400/realsense2_camera/color_optical_frame_id: d400_color_optica...
 * /d400/realsense2_camera/color_width: 640
 * /d400/realsense2_camera/depth_fps: 30
 * /d400/realsense2_camera/depth_frame_id: d400_depth_frame
 * /d400/realsense2_camera/depth_height: 480
 * /d400/realsense2_camera/depth_optical_frame_id: d400_depth_optica...
 * /d400/realsense2_camera/depth_width: 640
 * /d400/realsense2_camera/device_type: d4.5
 * /d400/realsense2_camera/enable_accel: True
 * /d400/realsense2_camera/enable_color: True
 * /d400/realsense2_camera/enable_depth: True
 * /d400/realsense2_camera/enable_fisheye1: True
 * /d400/realsense2_camera/enable_fisheye2: True
 * /d400/realsense2_camera/enable_fisheye: True
 * /d400/realsense2_camera/enable_gyro: True
 * /d400/realsense2_camera/enable_infra1: True
 * /d400/realsense2_camera/enable_infra2: True
 * /d400/realsense2_camera/enable_pointcloud: False
 * /d400/realsense2_camera/enable_sync: False
 * /d400/realsense2_camera/filters: pointcloud
 * /d400/realsense2_camera/fisheye1_frame_id: d400_fisheye1_frame
 * /d400/realsense2_camera/fisheye1_optical_frame_id: d400_fisheye1_opt...
 * /d400/realsense2_camera/fisheye2_frame_id: d400_fisheye2_frame
 * /d400/realsense2_camera/fisheye2_optical_frame_id: d400_fisheye2_opt...
 * /d400/realsense2_camera/fisheye_fps: 30
 * /d400/realsense2_camera/fisheye_frame_id: d400_fisheye_frame
 * /d400/realsense2_camera/fisheye_height: 0
 * /d400/realsense2_camera/fisheye_optical_frame_id: d400_fisheye_opti...
 * /d400/realsense2_camera/fisheye_width: 0
 * /d400/realsense2_camera/gyro_fps: 0
 * /d400/realsense2_camera/gyro_frame_id: d400_gyro_frame
 * /d400/realsense2_camera/gyro_optical_frame_id: d400_gyro_optical...
 * /d400/realsense2_camera/imu_optical_frame_id: d400_imu_optical_...
 * /d400/realsense2_camera/infra1_frame_id: d400_infra1_frame
 * /d400/realsense2_camera/infra1_optical_frame_id: d400_infra1_optic...
 * /d400/realsense2_camera/infra2_frame_id: d400_infra2_frame
 * /d400/realsense2_camera/infra2_optical_frame_id: d400_infra2_optic...
 * /d400/realsense2_camera/infra_fps: 30
 * /d400/realsense2_camera/infra_height: 480
 * /d400/realsense2_camera/infra_width: 640
 * /d400/realsense2_camera/initial_reset: False
 * /d400/realsense2_camera/json_file_path: 
 * /d400/realsense2_camera/linear_accel_cov: 0.01
 * /d400/realsense2_camera/odom_frame_id: d400_odom_frame
 * /d400/realsense2_camera/pointcloud_texture_index: 0
 * /d400/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
 * /d400/realsense2_camera/pose_frame_id: d400_pose_frame
 * /d400/realsense2_camera/pose_optical_frame_id: d400_pose_optical...
 * /d400/realsense2_camera/publish_odom_tf: True
 * /d400/realsense2_camera/publish_tf: True
 * /d400/realsense2_camera/rosbag_filename: 
 * /d400/realsense2_camera/serial_no: 
 * /d400/realsense2_camera/tf_publish_rate: 0.0
 * /d400/realsense2_camera/topic_odom_in: d400/odom_in
 * /d400/realsense2_camera/unite_imu_method: none
 * /d400/realsense2_camera/usb_port_id: 
 * /points_xyzrgb/approx_sync: True
 * /points_xyzrgb/decimation: 4.0
 * /points_xyzrgb/voxel_size: 0.0
 * /rosdistro: lunar
 * /rosversion: 1.13.7
 * /rtabmap/rtabmap/Mem/IncrementalMemory: true
 * /rtabmap/rtabmap/Mem/InitWMWithAllNodes: false
 * /rtabmap/rtabmap/approx_sync: True
 * /rtabmap/rtabmap/config_path: 
 * /rtabmap/rtabmap/database_path: ~/.ros/rtabmap.db
 * /rtabmap/rtabmap/frame_id: d400_link
 * /rtabmap/rtabmap/ground_truth_base_frame_id: 
 * /rtabmap/rtabmap/ground_truth_frame_id: 
 * /rtabmap/rtabmap/map_frame_id: map
 * /rtabmap/rtabmap/odom_frame_id: 
 * /rtabmap/rtabmap/odom_sensor_sync: False
 * /rtabmap/rtabmap/odom_tf_angular_variance: 1.0
 * /rtabmap/rtabmap/odom_tf_linear_variance: 1.0
 * /rtabmap/rtabmap/queue_size: 200
 * /rtabmap/rtabmap/scan_normal_k: 0
 * /rtabmap/rtabmap/subscribe_depth: True
 * /rtabmap/rtabmap/subscribe_rgbd: False
 * /rtabmap/rtabmap/subscribe_scan: False
 * /rtabmap/rtabmap/subscribe_scan_cloud: False
 * /rtabmap/rtabmap/subscribe_stereo: False
 * /rtabmap/rtabmap/subscribe_user_data: False
 * /rtabmap/rtabmap/wait_for_transform_duration: 0.2
 * /t265/realsense2_camera/accel_fps: 0
 * /t265/realsense2_camera/accel_frame_id: t265_accel_frame
 * /t265/realsense2_camera/accel_optical_frame_id: t265_accel_optica...
 * /t265/realsense2_camera/align_depth: False
 * /t265/realsense2_camera/aligned_depth_to_color_frame_id: t265_aligned_dept...
 * /t265/realsense2_camera/aligned_depth_to_fisheye1_frame_id: t265_aligned_dept...
 * /t265/realsense2_camera/aligned_depth_to_fisheye2_frame_id: t265_aligned_dept...
 * /t265/realsense2_camera/aligned_depth_to_fisheye_frame_id: t265_aligned_dept...
 * /t265/realsense2_camera/aligned_depth_to_infra1_frame_id: t265_aligned_dept...
 * /t265/realsense2_camera/aligned_depth_to_infra2_frame_id: t265_aligned_dept...
 * /t265/realsense2_camera/allow_no_texture_points: False
 * /t265/realsense2_camera/base_frame_id: t265_link
 * /t265/realsense2_camera/calib_odom_file: 
 * /t265/realsense2_camera/clip_distance: -1.0
 * /t265/realsense2_camera/color_fps: 30
 * /t265/realsense2_camera/color_frame_id: t265_color_frame
 * /t265/realsense2_camera/color_height: 480
 * /t265/realsense2_camera/color_optical_frame_id: t265_color_optica...
 * /t265/realsense2_camera/color_width: 640
 * /t265/realsense2_camera/depth_fps: 30
 * /t265/realsense2_camera/depth_frame_id: t265_depth_frame
 * /t265/realsense2_camera/depth_height: 480
 * /t265/realsense2_camera/depth_optical_frame_id: t265_depth_optica...
 * /t265/realsense2_camera/depth_width: 640
 * /t265/realsense2_camera/device_type: t265
 * /t265/realsense2_camera/enable_accel: True
 * /t265/realsense2_camera/enable_color: True
 * /t265/realsense2_camera/enable_depth: True
 * /t265/realsense2_camera/enable_fisheye1: False
 * /t265/realsense2_camera/enable_fisheye2: False
 * /t265/realsense2_camera/enable_fisheye: True
 * /t265/realsense2_camera/enable_gyro: True
 * /t265/realsense2_camera/enable_infra1: True
 * /t265/realsense2_camera/enable_infra2: True
 * /t265/realsense2_camera/enable_pointcloud: False
 * /t265/realsense2_camera/enable_sync: False
 * /t265/realsense2_camera/filters: 
 * /t265/realsense2_camera/fisheye1_frame_id: t265_fisheye1_frame
 * /t265/realsense2_camera/fisheye1_optical_frame_id: t265_fisheye1_opt...
 * /t265/realsense2_camera/fisheye2_frame_id: t265_fisheye2_frame
 * /t265/realsense2_camera/fisheye2_optical_frame_id: t265_fisheye2_opt...
 * /t265/realsense2_camera/fisheye_fps: 30
 * /t265/realsense2_camera/fisheye_frame_id: t265_fisheye_frame
 * /t265/realsense2_camera/fisheye_height: 0
 * /t265/realsense2_camera/fisheye_optical_frame_id: t265_fisheye_opti...
 * /t265/realsense2_camera/fisheye_width: 0
 * /t265/realsense2_camera/gyro_fps: 0
 * /t265/realsense2_camera/gyro_frame_id: t265_gyro_frame
 * /t265/realsense2_camera/gyro_optical_frame_id: t265_gyro_optical...
 * /t265/realsense2_camera/imu_optical_frame_id: t265_imu_optical_...
 * /t265/realsense2_camera/infra1_frame_id: t265_infra1_frame
 * /t265/realsense2_camera/infra1_optical_frame_id: t265_infra1_optic...
 * /t265/realsense2_camera/infra2_frame_id: t265_infra2_frame
 * /t265/realsense2_camera/infra2_optical_frame_id: t265_infra2_optic...
 * /t265/realsense2_camera/infra_fps: 30
 * /t265/realsense2_camera/infra_height: 480
 * /t265/realsense2_camera/infra_width: 640
 * /t265/realsense2_camera/initial_reset: False
 * /t265/realsense2_camera/json_file_path: 
 * /t265/realsense2_camera/linear_accel_cov: 0.01
 * /t265/realsense2_camera/odom_frame_id: t265_odom_frame
 * /t265/realsense2_camera/pointcloud_texture_index: 0
 * /t265/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
 * /t265/realsense2_camera/pose_frame_id: t265_pose_frame
 * /t265/realsense2_camera/pose_optical_frame_id: t265_pose_optical...
 * /t265/realsense2_camera/publish_odom_tf: True
 * /t265/realsense2_camera/publish_tf: True
 * /t265/realsense2_camera/rosbag_filename: 
 * /t265/realsense2_camera/serial_no: 
 * /t265/realsense2_camera/tf_publish_rate: 0.0
 * /t265/realsense2_camera/topic_odom_in: odom_in
 * /t265/realsense2_camera/unite_imu_method: none
 * /t265/realsense2_camera/usb_port_id: 

NODES
  /rtabmap/
    rtabmap (rtabmap_ros/rtabmap)
  /d400/
    realsense2_camera (nodelet/nodelet)
    realsense2_camera_manager (nodelet/nodelet)
  /
    points_xyzrgb (nodelet/nodelet)
    rviz (rviz/rviz)
    t265_to_d400 (tf/static_transform_publisher)
  /t265/
    realsense2_camera (nodelet/nodelet)
    realsense2_camera_manager (nodelet/nodelet)

ROS_MASTER_URI=http://localhost:11311

process[t265/realsense2_camera_manager-1]: started with pid [24605]
process[t265/realsense2_camera-2]: started with pid [24606]
process[d400/realsense2_camera_manager-3]: started with pid [24607]
process[d400/realsense2_camera-4]: started with pid [24609]
process[t265_to_d400-5]: started with pid [24620]
process[rtabmap/rtabmap-6]: started with pid [24625]
process[rviz-7]: started with pid [24641]
[ INFO] [1581323515.224269512]: Initializing nodelet with 4 worker threads.
process[points_xyzrgb-8]: started with pid [24652]
type is rtabmap_ros/point_cloud_xyzrgb
[ INFO] [1581323515.264056395]: Initializing nodelet with 4 worker threads.
[ INFO] [1581323515.313339877]: RealSense ROS v2.2.12
[ INFO] [1581323515.313466363]: Running with LibRealSense v2.31.0
[ INFO] [1581323515.351431918]: RealSense ROS v2.2.12
[ INFO] [1581323515.351669946]: Running with LibRealSense v2.31.0
[ INFO] [1581323515.405805802]: Starting node...
[ INFO] [1581323515.467128289]: Initializing nodelet with 4 worker threads.
00:31:55.569 [24802] [E] Device-8510: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
00:31:55.580 [24802] [E] Device-8510: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
00:31:55.590 [24802] [E] Device-8510: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
00:31:55.600 [24802] [E] Device-8510: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
00:31:55.610 [24802] [E] Device-8510: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
00:31:55.621 [24802] [E] Device-8510: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
00:31:55.631 [24802] [E] Device-8510: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
00:31:55.641 [24802] [E] Device-8510: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
00:31:55.651 [24802] [E] Device-8510: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
00:31:55.662 [24802] [E] Device-8510: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
00:31:55.672 [24802] [E] Device-8510: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
00:31:55.682 [24802] [E] Device-8510: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
00:31:55.692 [24802] [E] Device-8510: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
00:31:55.702 [24802] [E] Device-8510: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
00:31:55.713 [24802] [E] Device-8510: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
00:31:55.723 [24802] [E] Device-8510: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
00:31:55.733 [24802] [E] Device-8510: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
00:31:55.744 [24802] [E] Device-8510: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
[ INFO] [1581323515.748561479]: Approximate time sync = true
00:31:55.754 [24802] [E] Device-8510: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
00:31:55.765 [24802] [E] Device-8510: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
00:31:55.775 [24802] [E] Device-8510: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
00:31:55.785 [24802] [E] Device-8510: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
00:31:55.795 [24802] [E] Device-8510: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
00:31:55.806 [24802] [E] Device-8510: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
00:31:55.816 [24802] [E] Device-8510: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
00:31:55.826 [24802] [E] Device-8510: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
00:31:55.838 [24802] [E] Device-8510: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
00:31:55.848 [24802] [E] Device-8510: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
00:31:55.858 [24802] [E] Device-8510: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
00:31:55.869 [24802] [E] Device-8510: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
[ INFO] [1581323515.873285246]:  
00:31:55.879 [24802] [E] Device-8510: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY)
[ INFO] [1581323515.884901429]: Device with serial number 923322071771 was found.

[ INFO] [1581323515.884950662]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb4/4-1/4-1:1.0/video4linux/video1 was found.
[ INFO] [1581323515.884977056]: Device with name Intel RealSense D435 was found.
[ INFO] [1581323515.885486376]: Device with port number 4-1 was found.
[ INFO] [1581323515.892694386]:  
[ INFO] [1581323515.906161359]: Device with serial number 923322071771 was found.

[ INFO] [1581323515.906218093]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb4/4-1/4-1:1.0/video4linux/video1 was found.
[ INFO] [1581323515.906243867]: Device with name Intel RealSense D435 was found.
[ INFO] [1581323515.907144988]: Device with port number 4-1 was found.
[ INFO] [1581323515.909506288]: getParameters...
[ERROR] [1581323515.915509586]: The requested device with device name containing t265 is NOT found. Will Try again.
[ INFO] [1581323515.938805050]: /rtabmap/rtabmap(maps): map_filter_radius          = 0.000000
[ INFO] [1581323515.938861183]: /rtabmap/rtabmap(maps): map_filter_angle           = 30.000000
[ INFO] [1581323515.938888083]: /rtabmap/rtabmap(maps): map_cleanup                = true
[ INFO] [1581323515.938912312]: /rtabmap/rtabmap(maps): map_negative_poses_ignored = true
[ INFO] [1581323515.938936186]: /rtabmap/rtabmap(maps): map_negative_scan_ray_tracing = true
[ INFO] [1581323515.938959580]: /rtabmap/rtabmap(maps): cloud_output_voxelized     = true
[ INFO] [1581323515.938983400]: /rtabmap/rtabmap(maps): cloud_subtract_filtering   = false
[ INFO] [1581323515.939014211]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1581323515.947385689]: /rtabmap/rtabmap(maps): octomap_tree_depth         = 16
[ INFO] [1581323516.027868536]: rtabmap: frame_id      = d400_link
[ INFO] [1581323516.027929736]: rtabmap: map_frame_id  = map
[ INFO] [1581323516.027963671]: rtabmap: tf_delay      = 0.050000
[ INFO] [1581323516.027992535]: rtabmap: tf_tolerance  = 0.100000
[ INFO] [1581323516.028018879]: rtabmap: odom_sensor_sync   = false
[ INFO] [1581323516.115007343]: setupDevice...
[ INFO] [1581323516.115058043]: JSON file is not provided
[ INFO] [1581323516.115085854]: ROS Node Namespace: d400
[ INFO] [1581323516.115108052]: Device Name: Intel RealSense D435
[ INFO] [1581323516.115125197]: Device Serial No: 923322071771
[ INFO] [1581323516.115142398]: Device physical port: /sys/devices/pci0000:00/0000:00:14.0/usb4/4-1/4-1:1.0/video4linux/video1
[ INFO] [1581323516.115159640]: Device FW version: 05.12.01.00
[ INFO] [1581323516.115179049]: Device Product ID: 0x0B07
[ INFO] [1581323516.115195439]: Enable PointCloud: On
[ INFO] [1581323516.115211076]: Align Depth: On
[ INFO] [1581323516.115226426]: Sync Mode: On
[ INFO] [1581323516.115271695]: Device Sensors: 
[ INFO] [1581323516.115313884]: Stereo Module was found.
[ INFO] [1581323516.115344147]: RGB Camera was found.
[ INFO] [1581323516.115377842]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1581323516.115395519]: (Fisheye, 1) sensor isn't supported by current device! -- Skipping...
[ INFO] [1581323516.115411676]: (Fisheye, 2) sensor isn't supported by current device! -- Skipping...
[ INFO] [1581323516.115427943]: (Gyro, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1581323516.115446145]: (Accel, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1581323516.115462419]: (Pose, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1581323516.115494421]: Add Filter: pointcloud
[ INFO] [1581323516.116067123]: num_filters: 1
[ INFO] [1581323516.116093965]: Setting Dynamic reconfig parameters.
[ INFO] [1581323516.226448880]: Done Setting Dynamic reconfig parameters.
[ INFO] [1581323516.229889010]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16
[ INFO] [1581323516.230410403]: infra1 stream is enabled - width: 640, height: 480, fps: 30, Format: Y8
[ INFO] [1581323516.230614335]: infra2 stream is enabled - width: 640, height: 480, fps: 30, Format: Y8
[ INFO] [1581323516.243369305]: color stream is enabled - width: 640, height: 480, fps: 30, Format: RGB8
[ INFO] [1581323516.245515479]: setupPublishers...
[ INFO] [1581323516.251723074]: Expected frequency for depth = 30.00000
[ INFO] [1581323516.336923959]: Expected frequency for infra1 = 30.00000
[ INFO] [1581323516.426485232]: Expected frequency for aligned_depth_to_infra1 = 30.00000
[ INFO] [1581323516.539308518]: Expected frequency for infra2 = 30.00000
[ INFO] [1581323516.650551518]: Expected frequency for color = 30.00000
[ INFO] [1581323516.716250350]: Expected frequency for aligned_depth_to_color = 30.00000
[ INFO] [1581323516.789712742]: setupStreams...
[ INFO] [1581323516.790545237]: insert Depth to Stereo Module
[ INFO] [1581323516.790631344]: insert Color to RGB Camera
[ INFO] [1581323516.790692473]: insert Infrared to Stereo Module
[ INFO] [1581323516.790738644]: insert Infrared to Stereo Module
[ INFO] [1581323516.803418009]: SELECTED BASE:Depth, 0
[ INFO] [1581323516.811871167]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1581323516.812893365]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[ INFO] [1581323516.835011881]: RealSense Node Is Up!
[ INFO] [1581323518.316059618]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1581323518.316231922]: rtabmap: Deleted database "/home/daniel/.ros/rtabmap.db" (--delete_db_on_start or -d are set).
[ INFO] [1581323518.316306239]: rtabmap: Using database from "/home/daniel/.ros/rtabmap.db" (0 MB).
[ INFO] [1581323518.359823626]: rtabmap: Database version = "0.17.6".
[ INFO] [1581323518.406394168]: /rtabmap/rtabmap: queue_size    = 200
[ INFO] [1581323518.406438922]: /rtabmap/rtabmap: rgbd_cameras = 1
[ INFO] [1581323518.406464057]: /rtabmap/rtabmap: approx_sync   = true
[ INFO] [1581323518.406551420]: Setup depth callback
[ INFO] [1581323518.440364447]: 
/rtabmap/rtabmap subscribed to (approx sync):
   /t265/odom/sample,
   /d400/color/image_raw,
   /d400/aligned_depth_to_color/image_raw,
   /d400/color/camera_info,
   /rtabmap/odom_info
[ INFO] [1581323518.451434181]: rtabmap 0.17.6 started...
[ INFO] [1581323521.919145599]:  
[ INFO] [1581323521.929985849]: Device with serial number 923322071771 was found.

[ INFO] [1581323521.930027585]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb4/4-1/4-1:1.0/video4linux/video1 was found.
[ INFO] [1581323521.930053586]: Device with name Intel RealSense D435 was found.
[ INFO] [1581323521.930634087]: Device with port number 4-1 was found.
[ INFO] [1581323521.936482158]: Device with serial number 929122111878 was found.

[ INFO] [1581323521.936588334]: Device with physical ID vid_8087 pid_0B37 bus_4 port_2 was found.
[ INFO] [1581323521.936648723]: Device with name Intel RealSense T265 was found.
[ INFO] [1581323521.936920449]: Device with port number 4-2 was found.
[ INFO] [1581323521.944352454]: No calib_odom_file. No input odometry accepted.
[ INFO] [1581323521.944406454]: getParameters...
[ INFO] [1581323522.077911134]: setupDevice...
[ INFO] [1581323522.077951697]: JSON file is not provided
[ INFO] [1581323522.077971821]: ROS Node Namespace: t265
[ INFO] [1581323522.077994162]: Device Name: Intel RealSense T265
[ INFO] [1581323522.078011231]: Device Serial No: 929122111878
[ INFO] [1581323522.078028935]: Device physical port: vid_8087 pid_0B37 bus_4 port_2
[ INFO] [1581323522.078047360]: Device FW version: 0.2.0.879
[ INFO] [1581323522.078065001]: Device Product ID: 0x0B37
[ INFO] [1581323522.078079021]: Enable PointCloud: Off
[ INFO] [1581323522.078091797]: Align Depth: Off
[ INFO] [1581323522.078104568]: Sync Mode: Off
[ INFO] [1581323522.078132276]: Device Sensors: 
[ INFO] [1581323522.078173433]: Tracking Module was found.
[ INFO] [1581323522.078202914]: (Depth, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1581323522.078223842]: (Color, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1581323522.078242686]: (Infrared, 1) sensor isn't supported by current device! -- Skipping...
[ INFO] [1581323522.078256682]: (Infrared, 2) sensor isn't supported by current device! -- Skipping...
[ INFO] [1581323522.078269985]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1581323522.078295674]: num_filters: 0
[ INFO] [1581323522.078309296]: Setting Dynamic reconfig parameters.
[ INFO] [1581323522.098568078]: Done Setting Dynamic reconfig parameters.
[ INFO] [1581323522.098728705]: setupPublishers...
[ INFO] [1581323522.103126888]: setupStreams...
[ INFO] [1581323522.103186585]: insert Gyro to Tracking Module
[ INFO] [1581323522.103230683]: insert Accel to Tracking Module
[ INFO] [1581323522.103253201]: insert Pose to Tracking Module
[ INFO] [1581323522.129469707]: SELECTED BASE:Pose, 0
[ INFO] [1581323522.135682894]: RealSense Node Is Up!
[ WARN] [1581323523.440488035]: /rtabmap/rtabmap: 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 "queue_size" parameter (current=200).
/rtabmap/rtabmap subscribed to (approx sync):
   /t265/odom/sample,
   /d400/color/image_raw,
   /d400/aligned_depth_to_color/image_raw,
   /d400/color/camera_info,
   /rtabmap/odom_info
[ WARN] [1581323528.440721297]: /rtabmap/rtabmap: 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 "queue_size" parameter (current=200).
/rtabmap/rtabmap subscribed to (approx sync):
   /t265/odom/sample,
   /d400/color/image_raw,
   /d400/aligned_depth_to_color/image_raw,
   /d400/color/camera_info,
   /rtabmap/odom_info

The output of rosrun tf view_frames is in frames.pdf

This warning makes me suspicious: [ WARN] [1581323528.440721297]: /rtabmap/rtabmap: 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.

But looks like data is coming through ok:

$ rostopic echo /t265/odom/sample
header: 
  seq: 2186
  stamp: 
    secs: 1581324175
    nsecs: 245380878
  frame_id: "t265_odom_frame"
child_frame_id: "t265_pose_frame"
pose: 
  pose: 
    position: 
      x: -0.000204464944545
      y: -7.67098099459e-05
      z: -0.000421570963226
    orientation: 
      x: -0.00432776007801
      y: 0.0274204164743
      z: 0.000154268200276
      w: 0.999614655972
  covariance: [0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.001]
twist: 
  twist: 
    linear: 
      x: 0.00355814174321
      y: -0.00205399848924
      z: 0.000575806943033
    angular: 
      x: 0.00179574472786
      y: 0.00634724180174
      z: 0.00126657017099
  covariance: [0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.001]
...

Any ideas what else to check?
@dschnabel
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Solved it myself: In RViz go to the 'Display' window and

  • under 'Global Options' change 'Fixed Frame' to 't265_odom_frame'
  • under 'Grid' change 'Reference Frame' to 't265_odom_frame'

This will bring up the 3D image from the D345 and the odometry data from the T265.

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