Did not receive data since 5 seconds, topics all firing

[axelpey]

Hi!

I can't get my rtabmap to run on ROS with this particular setup: an OAK-D with depth (and later with scan, but does not work even without it). It says that some of the topics are not posted even though I can clearly see them firing regularly.

Here's the launch file:

<launch>
  <node pkg="tf" type="static_transform_publisher" name="laser_broadcaster" 
        args="0 0 0 0 0 0 oak-d_frame laser 100" />
  <!-- Add topic relay for odom -->
  <node pkg="topic_tools" type="relay" name="odom_relay"
        args="/odom /rtabmap/odom" />
  <!-- Include the base rtabmap.launch file -->
  <include file="$(find rtabmap_ros)/launch/rtabmap.launch">
    <arg name="args" value="--delete_db_on_start" />

    <arg name="frame_id" value="oak-d_frame" />
    <arg name="approx_sync" value="true"/>
    <arg name="approx_sync_max_interval" value="1.0" />
    <arg name="publish_tf_odom" value="false"/> <!-- to avoid conflicts with robot_localization odom tf -->

    <arg name="wait_imu_to_init" value="true" />

    <arg name="rgb_topic" value="/oak_d_node/rgb_image"/>
    <arg name="depth_topic" value="/oak_d_node/depth_image"/>
    <arg name="camera_info_topic" value="/oak_d_node/camera_info"/>
    <arg name="imu_topic" value="/oak_d_node/imu"/>

    <!-- Scan topic -->
    <arg name="subscribe_scan" value="false" />
    <arg name="scan_topic" value="/scan" />
    <arg name="subscribe_rgbd" value="false" />

    <!-- Visual odometry -->
    <arg name="visual_odometry" value="false" />
    <arg name="rviz" value="false" />
    <arg name="rtabmap_viz" value="false" />
  </include>
</launch>

[ WARN] [1730659037.448505914]: /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 "sync_queue_size" and/or "topic_queue_size" parameters (current=10 and 1 respectively).
/rtabmap/rtabmap subscribed to (approx sync):
   /rtabmap/odom \
   /oak_d_node/rgb_image \
   /oak_d_node/depth_image \
   /oak_d_node/camera_info

/oak_d_node/rgb_image     10.01   0.08783     0.1135      0.007694   20    
/oak_d_node/depth_image   10.05   0.08742     0.1132      0.007631   20    
/oak_d_node/camera_info   10.05   0.08581     0.1087      0.006257   20    

         topic             rate   min_delta   max_delta   std_dev    window
===========================================================================
/oak_d_node/rgb_image     10.01   0.08783     0.1135      0.006895   30    
/oak_d_node/depth_image   10.03   0.08742     0.1132      0.006941   30    
/oak_d_node/camera_info   10.02   0.08581     0.1087      0.00568    30    

         topic             rate   min_delta   max_delta   std_dev    window
===========================================================================
/oak_d_node/rgb_image     10.0    0.08783     0.1135      0.0066     40    
/oak_d_node/depth_image   10.05   0.08742     0.1132      0.006059   40    
/oak_d_node/camera_info   10.04   0.08581     0.1087      0.005238   40 

and giventhat /rtabmap/odom was not posted, I renamed my /odom to /rtabmap/odom. I know it's janky and maybe the source of the error comes from here, but I'm not sure what to try now