When I run the launch file in the rtabmap101 course for exercise 1.2 I get an error.
SUMMARY
========
PARAMETERS
* /camera/camera_nodelet_manager/num_worker_threads: 4
* /camera/depth_rectify_depth/interpolation: 0
* /camera/depth_registered_rectify_depth/interpolation: 0
* /camera/disparity_depth/max_range: 4.0
* /camera/disparity_depth/min_range: 0.5
* /camera/disparity_registered_hw/max_range: 4.0
* /camera/disparity_registered_hw/min_range: 0.5
* /camera/driver/color_depth_synchronization: False
* /camera/driver/color_mode: 5
* /camera/driver/depth_camera_info_url:
* /camera/driver/depth_frame_id: camera_depth_opti...
* /camera/driver/depth_mode: 5
* /camera/driver/depth_registration: True
* /camera/driver/device_id: #1
* /camera/driver/id_manufacturer: 1d27
* /camera/driver/id_product: 0601
* /camera/driver/ir_mode: 5
* /camera/driver/rgb_camera_info_url:
* /camera/driver/rgb_frame_id: camera_rgb_optica...
* /depthimage_to_laserscan/output_frame_id: /camera_depth_frame
* /depthimage_to_laserscan/range_min: 0.45
* /depthimage_to_laserscan/scan_height: 10
* /move_base/DWAPlannerROS/acc_lim_theta: 2.0
* /move_base/DWAPlannerROS/acc_lim_x: 1.0
* /move_base/DWAPlannerROS/acc_lim_y: 0.0
* /move_base/DWAPlannerROS/forward_point_distance: 0.325
* /move_base/DWAPlannerROS/global_frame_id: odom
* /move_base/DWAPlannerROS/goal_distance_bias: 24.0
* /move_base/DWAPlannerROS/max_rot_vel: 5.0
* /move_base/DWAPlannerROS/max_scaling_factor: 0.2
* /move_base/DWAPlannerROS/max_trans_vel: 0.5
* /move_base/DWAPlannerROS/max_vel_x: 0.5
* /move_base/DWAPlannerROS/max_vel_y: 0.0
* /move_base/DWAPlannerROS/min_rot_vel: 0.4
* /move_base/DWAPlannerROS/min_trans_vel: 0.1
* /move_base/DWAPlannerROS/min_vel_x: 0.0
* /move_base/DWAPlannerROS/min_vel_y: 0.0
* /move_base/DWAPlannerROS/occdist_scale: 0.5
* /move_base/DWAPlannerROS/oscillation_reset_dist: 0.05
* /move_base/DWAPlannerROS/path_distance_bias: 64.0
* /move_base/DWAPlannerROS/publish_cost_grid_pc: True
* /move_base/DWAPlannerROS/publish_traj_pc: True
* /move_base/DWAPlannerROS/rot_stopped_vel: 0.4
* /move_base/DWAPlannerROS/scaling_speed: 0.25
* /move_base/DWAPlannerROS/sim_time: 1.0
* /move_base/DWAPlannerROS/stop_time_buffer: 0.2
* /move_base/DWAPlannerROS/trans_stopped_vel: 0.1
* /move_base/DWAPlannerROS/vtheta_samples: 20
* /move_base/DWAPlannerROS/vx_samples: 6
* /move_base/DWAPlannerROS/vy_samples: 1
* /move_base/DWAPlannerROS/xy_goal_tolerance: 0.15
* /move_base/DWAPlannerROS/yaw_goal_tolerance: 0.3
* /move_base/GlobalPlanner/allow_unknown: True
* /move_base/GlobalPlanner/cost_factor: 3.0
* /move_base/GlobalPlanner/default_tolerance: 0.0
* /move_base/GlobalPlanner/lethal_cost: 253
* /move_base/GlobalPlanner/neutral_cost: 50
* /move_base/GlobalPlanner/old_navfn_behavior: False
* /move_base/GlobalPlanner/planner_costmap_publish_frequency: 0.0
* /move_base/GlobalPlanner/planner_window_x: 0.0
* /move_base/GlobalPlanner/planner_window_y: 0.0
* /move_base/GlobalPlanner/publish_potential: True
* /move_base/GlobalPlanner/publish_scale: 100
* /move_base/GlobalPlanner/use_dijkstra: True
* /move_base/GlobalPlanner/use_grid_path: False
* /move_base/GlobalPlanner/use_quadratic: True
* /move_base/NavfnROS/allow_unknown: False
* /move_base/NavfnROS/default_tolerance: 0.0
* /move_base/NavfnROS/planner_window_x: 0.0
* /move_base/NavfnROS/planner_window_y: 0.0
* /move_base/NavfnROS/visualize_potential: False
* /move_base/base_global_planner: navfn/NavfnROS
* /move_base/base_local_planner: dwa_local_planner...
* /move_base/controller_frequency: 5.0
* /move_base/controller_patience: 3.0
* /move_base/global_costmap/global_frame: map
* /move_base/global_costmap/inflation_layer/cost_scaling_factor: 5.0
* /move_base/global_costmap/inflation_layer/enabled: True
* /move_base/global_costmap/inflation_layer/inflation_radius: 0.5
* /move_base/global_costmap/map_type: voxel
* /move_base/global_costmap/max_obstacle_height: 0.6
* /move_base/global_costmap/obstacle_layer/combination_method: 1
* /move_base/global_costmap/obstacle_layer/enabled: True
* /move_base/global_costmap/obstacle_layer/mark_threshold: 0
* /move_base/global_costmap/obstacle_layer/max_obstacle_height: 0.6
* /move_base/global_costmap/obstacle_layer/observation_sources: scan
* /move_base/global_costmap/obstacle_layer/obstacle_range: 5.5
* /move_base/global_costmap/obstacle_layer/origin_z: 0.0
* /move_base/global_costmap/obstacle_layer/publish_voxel_map: False
* /move_base/global_costmap/obstacle_layer/raytrace_range: 6.0
* /move_base/global_costmap/obstacle_layer/scan/clearing: True
* /move_base/global_costmap/obstacle_layer/scan/data_type: LaserScan
* /move_base/global_costmap/obstacle_layer/scan/inf_is_valid: True
* /move_base/global_costmap/obstacle_layer/scan/marking: True
* /move_base/global_costmap/obstacle_layer/scan/topic: kobuki/laser/scan
* /move_base/global_costmap/obstacle_layer/track_unknown_space: True
* /move_base/global_costmap/obstacle_layer/unknown_threshold: 15
* /move_base/global_costmap/obstacle_layer/z_resolution: 0.2
* /move_base/global_costmap/obstacle_layer/z_voxels: 10
* /move_base/global_costmap/plugins: [{'type': 'costma...
* /move_base/global_costmap/publish_frequency: 0.5
* /move_base/global_costmap/robot_base_frame: base_footprint
* /move_base/global_costmap/robot_radius: 0.2
* /move_base/global_costmap/static_layer/enabled: True
* /move_base/global_costmap/static_map: True
* /move_base/global_costmap/transform_tolerance: 0.5
* /move_base/global_costmap/update_frequency: 1.0
* /move_base/local_costmap/global_frame: odom
* /move_base/local_costmap/height: 4.0
* /move_base/local_costmap/inflation_layer/cost_scaling_factor: 5.0
* /move_base/local_costmap/inflation_layer/enabled: True
* /move_base/local_costmap/inflation_layer/inflation_radius: 0.5
* /move_base/local_costmap/map_type: voxel
* /move_base/local_costmap/max_obstacle_height: 0.6
* /move_base/local_costmap/obstacle_layer/combination_method: 1
* /move_base/local_costmap/obstacle_layer/enabled: True
* /move_base/local_costmap/obstacle_layer/mark_threshold: 0
* /move_base/local_costmap/obstacle_layer/max_obstacle_height: 0.6
* /move_base/local_costmap/obstacle_layer/observation_sources: scan
* /move_base/local_costmap/obstacle_layer/obstacle_range: 5.5
* /move_base/local_costmap/obstacle_layer/origin_z: 0.0
* /move_base/local_costmap/obstacle_layer/publish_voxel_map: False
* /move_base/local_costmap/obstacle_layer/raytrace_range: 6.0
* /move_base/local_costmap/obstacle_layer/scan/clearing: True
* /move_base/local_costmap/obstacle_layer/scan/data_type: LaserScan
* /move_base/local_costmap/obstacle_layer/scan/inf_is_valid: True
* /move_base/local_costmap/obstacle_layer/scan/marking: True
* /move_base/local_costmap/obstacle_layer/scan/topic: kobuki/laser/scan
* /move_base/local_costmap/obstacle_layer/track_unknown_space: True
* /move_base/local_costmap/obstacle_layer/unknown_threshold: 15
* /move_base/local_costmap/obstacle_layer/z_resolution: 0.2
* /move_base/local_costmap/obstacle_layer/z_voxels: 10
* /move_base/local_costmap/plugins: [{'type': 'costma...
* /move_base/local_costmap/publish_frequency: 2.0
* /move_base/local_costmap/resolution: 0.05
* /move_base/local_costmap/robot_base_frame: base_footprint
* /move_base/local_costmap/robot_radius: 0.2
* /move_base/local_costmap/rolling_window: True
* /move_base/local_costmap/static_layer/enabled: True
* /move_base/local_costmap/static_map: False
* /move_base/local_costmap/transform_tolerance: 0.5
* /move_base/local_costmap/update_frequency: 5.0
* /move_base/local_costmap/width: 4.0
* /move_base/oscillation_distance: 0.2
* /move_base/oscillation_timeout: 10.0
* /move_base/planner_frequency: 1.0
* /move_base/planner_patience: 5.0
* /move_base/shutdown_costmaps: False
* /navigation_velocity_smoother/accel_lim_v: 1.0
* /navigation_velocity_smoother/accel_lim_w: 2.0
* /navigation_velocity_smoother/decel_factor: 1.5
* /navigation_velocity_smoother/frequency: 20.0
* /navigation_velocity_smoother/robot_feedback: 2
* /navigation_velocity_smoother/speed_lim_v: 0.8
* /navigation_velocity_smoother/speed_lim_w: 5.4
* /rosdistro: kinetic
* /rosversion: 1.12.14
* /rtabmap/rtabmap/GridGlobal/MinSize: 20
* /rtabmap/rtabmap/Icp/CorrespondenceRatio: 0.3
* /rtabmap/rtabmap/Kp/MaxDepth: 4.0
* /rtabmap/rtabmap/Mem/IncrementalMemory: true
* /rtabmap/rtabmap/Mem/InitWMWithAllNodes: false
* /rtabmap/rtabmap/Mem/RehearsalSimilarity: 0.30
* /rtabmap/rtabmap/RGBD/AngularUpdate: 0.1
* /rtabmap/rtabmap/RGBD/LinearUpdate: 0.1
* /rtabmap/rtabmap/RGBD/OptimizeFromGraphEnd: false
* /rtabmap/rtabmap/RGBD/ProximityBySpace: true
* /rtabmap/rtabmap/RGBD/ProximityPathMaxNeighbors: 0
* /rtabmap/rtabmap/Reg/Force3DoF: true
* /rtabmap/rtabmap/Reg/Strategy: 0
* /rtabmap/rtabmap/Rtabmap/TimeThr: 0
* /rtabmap/rtabmap/Vis/InlierDistance: 0.1
* /rtabmap/rtabmap/Vis/MinInliers: 15
* /rtabmap/rtabmap/database_path: rtabmap.db
* /rtabmap/rtabmap/frame_id: base_footprint
* /rtabmap/rtabmap/map_negative_poses_ignored: True
* /rtabmap/rtabmap/odom_frame_id: odom
* /rtabmap/rtabmap/odom_tf_angular_variance: 0.001
* /rtabmap/rtabmap/odom_tf_linear_variance: 0.001
* /rtabmap/rtabmap/subscribe_depth: True
* /rtabmap/rtabmap/subscribe_scan: True
* /rtabmap/rtabmap/use_action_for_goal: True
* /rtabmap/rtabmap/wait_for_transform_duration: 0.2
NODES
/camera/
camera_nodelet_manager (nodelet/nodelet)
depth_metric (nodelet/nodelet)
depth_metric_rect (nodelet/nodelet)
depth_points (nodelet/nodelet)
depth_rectify_depth (nodelet/nodelet)
depth_registered_hw_metric_rect (nodelet/nodelet)
depth_registered_metric (nodelet/nodelet)
depth_registered_rectify_depth (nodelet/nodelet)
disparity_depth (nodelet/nodelet)
disparity_registered_hw (nodelet/nodelet)
driver (nodelet/nodelet)
ir_rectify_ir (nodelet/nodelet)
points_xyzrgb_hw_registered (nodelet/nodelet)
rgb_rectify_color (nodelet/nodelet)
/rtabmap/
rtabmap (rtabmap_ros/rtabmap)
/
depthimage_to_laserscan (nodelet/nodelet)
kobuki_safety_controller (nodelet/nodelet)
move_base (move_base/move_base)
navigation_velocity_smoother (nodelet/nodelet)
ROS_MASTER_URI=http://12_simulation:11311
process[camera/camera_nodelet_manager-1]: started with pid [11943]
[ INFO] [1610059660.164102113]: Initializing nodelet with 4 worker threads.
process[camera/driver-2]: started with pid [11944]
[ INFO] [1610059660.426471948, 24218.660000000]: No matching device found.... waiting for devices. Reason: std::__cxx11::string openni2_wrapper::OpenNI2Driver::resolveDeviceURI(const string&) @ /tmp/binarydeb/ros-kinetic-openni2-camera-0.4.2/src/openni2_driver.cpp @ 737 : Invalid device number 1, there are 0 devices connected.
process[camera/rgb_rectify_color-3]: started with pid [11955]
process[camera/ir_rectify_ir-4]: started with pid [11963]
process[camera/depth_rectify_depth-5]: started with pid [11968]
process[camera/depth_metric_rect-6]: started with pid [11973]
process[camera/depth_metric-7]: started with pid [11978]
process[camera/depth_points-8]: started with pid [11983]
process[camera/depth_registered_rectify_depth-9]: started with pid [11988]
process[camera/points_xyzrgb_hw_registered-10]: started with pid [11993]
process[camera/depth_registered_hw_metric_rect-11]: started with pid [11998]
[ INFO] [1610059663.426653423, 24221.652000000]: No matching device found.... waiting for devices. Reason: std::__cxx11::string openni2_wrapper::OpenNI2Driver::resolveDeviceURI(const string&) @ /tmp/binarydeb/ros-kinetic-openni2-camera-0.4.2/src/openni2_driver.cpp @ 737 : Invalid device number 1, there are 0 devices connected.
process[camera/depth_registered_metric-12]: started with pid [12003]
process[camera/disparity_depth-13]: started with pid [12008]
process[camera/disparity_registered_hw-14]: started with pid [12013]
process[depthimage_to_laserscan-15]: started with pid [12018]
process[navigation_velocity_smoother-16]: started with pid [12023]
process[kobuki_safety_controller-17]: started with pid [12028]
process[move_base-18]: started with pid [12035]
[ WARN] [1610059665.697500513, 24223.916000000]: Timed out waiting for transform from base_footprint to map to become available beforerunning costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 24223.9 timeout was 0.1.
process[rtabmap/rtabmap-19]: started with pid [12042]
[ INFO] [1610059665.834168330]: Starting node...
[ INFO] [1610059665.936317613]: Initializing nodelet with 36 worker threads.
[ WARN] [1610059666.016585822]: Parameter "map_negative_poses_ignored" has been removed. Use "map_always_update" instead.
[ INFO] [1610059666.023711248]: /rtabmap/rtabmap(maps): map_filter_radius = 0.000000
[ INFO] [1610059666.023741406]: /rtabmap/rtabmap(maps): map_filter_angle = 30.000000
[ INFO] [1610059666.023755001]: /rtabmap/rtabmap(maps): map_cleanup = true
[ INFO] [1610059666.023765901]: /rtabmap/rtabmap(maps): map_always_update = false
[ INFO] [1610059666.023784205]: /rtabmap/rtabmap(maps): map_empty_ray_tracing = true
[ INFO] [1610059666.023817410]: /rtabmap/rtabmap(maps): cloud_output_voxelized = true
[ INFO] [1610059666.023830238]: /rtabmap/rtabmap(maps): cloud_subtract_filtering = false
[ INFO] [1610059666.023841241]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1610059666.028124728]: /rtabmap/rtabmap(maps): octomap_tree_depth = 16
[ INFO] [1610059666.069809864]: rtabmap: frame_id = base_footprint
[ INFO] [1610059666.069886679]: rtabmap: odom_frame_id = odom
[ INFO] [1610059666.069886679]: rtabmap: map_frame_id = map
[ INFO] [1610059666.069886679]: rtabmap: use_action_for_goal = true
[ INFO] [1610059666.069929729]: rtabmap: tf_delay = 0.050000
[ INFO] [1610059666.069940924]: rtabmap: tf_tolerance = 0.100000
[ INFO] [1610059666.069960008]: rtabmap: odom_sensor_sync = false
[ INFO] [1610059666.295455110, 24224.513000000]: Setting RTAB-Map parameter "GridGlobal/MinSize"="20"
[ INFO] [1610059666.314693649, 24224.532000000]: Setting RTAB-Map parameter "Icp/CorrespondenceRatio"="0.3"
[ INFO] [1610059666.426454887, 24224.644000000]: Setting RTAB-Map parameter "Kp/MaxDepth"="4.0"
[ INFO] [1610059666.426815077, 24224.644000000]: No matching device found.... waiting for devices. Reason: std::__cxx11::string openni2_wrapper::OpenNI2Driver::resolveDeviceURI(const string&) @ /tmp/binarydeb/ros-kinetic-openni2-camera-0.4.2/src/openni2_driver.cpp @ 737 : Invalid device number 1, there are 0 devices connected.
[ INFO] [1610059666.508565052, 24224.726000000]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1610059666.509489891, 24224.727000000]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[ INFO] [1610059666.546317975, 24224.764000000]: Setting RTAB-Map parameter "Mem/RehearsalSimilarity"="0.30"
[ INFO] [1610059666.635461946, 24224.852000000]: Setting RTAB-Map parameter "RGBD/AngularUpdate"="0.1"
[ INFO] [1610059666.650630533, 24224.867000000]: Setting RTAB-Map parameter "RGBD/LinearUpdate"="0.1"
[ INFO] [1610059666.683001971, 24224.899000000]: Setting RTAB-Map parameter "RGBD/OptimizeFromGraphEnd"="false"
[ INFO] [1610059666.698286719, 24224.915000000]: Setting RTAB-Map parameter "RGBD/ProximityBySpace"="true"
[ INFO] [1610059666.714199107, 24224.931000000]: Setting RTAB-Map parameter "RGBD/ProximityPathMaxNeighbors"="0"
[ INFO] [1610059666.723900771, 24224.940000000]: Setting RTAB-Map parameter "Reg/Force3DoF"="true"
[ INFO] [1610059666.727653208, 24224.944000000]: Setting RTAB-Map parameter "Reg/Strategy"="0"
[ INFO] [1610059666.792836907, 24225.009000000]: Setting RTAB-Map parameter "Rtabmap/TimeThr"="0"
[ INFO] [1610059667.006647485, 24225.223000000]: Setting RTAB-Map parameter "Vis/InlierDistance"="0.1"
[ INFO] [1610059667.022529270, 24225.238000000]: Setting RTAB-Map parameter "Vis/MinInliers"="15"
[ WARN] [1610059667.336753927, 24225.552000000]: Rtabmap: Parameter name changed: "Optimizer/Slam2D" -> "Reg/Force3DoF". Please updateyour launch file accordingly. Value "true" is still set to the new parameter name.
[ WARN] [1610059667.484392272, 24225.699000000]: Setting "Grid/FromDepth" parameter to false (default true) as "subscribe_scan" or "subscribe_scan_cloud" is true. The occupancy grid map will be constructed from laser scans. To get occupancy grid map from cloud projection, set "Grid/FromDepth" to true. To suppress this warning, add <param name="Grid/FromDepth" type="string" value="false"/>
[ INFO] [1610059667.484481379, 24225.699000000]: Setting "Grid/RangeMax" parameter to 0 (default 5.000000) as "subscribe_scan" or "subscribe_scan_cloud" is true.
[ INFO] [1610059667.486317305, 24225.701000000]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1610059667.486471326, 24225.701000000]: rtabmap: Deleted database "/home/simulations/.ros/rtabmap.db" (--delete_db_on_start or -d are set).
[ INFO] [1610059667.486514316, 24225.701000000]: rtabmap: Using database from "/home/simulations/.ros/rtabmap.db" (0 MB).
[ INFO] [1610059667.605422006, 24225.818000000]: rtabmap: Database version = "0.20.0".
[ INFO] [1610059667.645441106, 24225.858000000]: /rtabmap/rtabmap: subscribe_depth = true
[ INFO] [1610059667.645480040, 24225.858000000]: /rtabmap/rtabmap: subscribe_rgb = true
[ INFO] [1610059667.645498957, 24225.858000000]: /rtabmap/rtabmap: subscribe_stereo = false
[ INFO] [1610059667.645536227, 24225.859000000]: /rtabmap/rtabmap: subscribe_rgbd = false (rgbd_cameras=1)
[ INFO] [1610059667.645553160, 24225.859000000]: /rtabmap/rtabmap: subscribe_odom_info = false
[ INFO] [1610059667.645583419, 24225.859000000]: /rtabmap/rtabmap: subscribe_user_data = false
[ INFO] [1610059667.645583419, 24225.859000000]: /rtabmap/rtabmap: subscribe_scan = true
[ INFO] [1610059667.645637289, 24225.859000000]: /rtabmap/rtabmap: subscribe_scan_cloud = false
[ INFO] [1610059667.645674621, 24225.859000000]: /rtabmap/rtabmap: subscribe_scan_descriptor = false
[ INFO] [1610059667.645701835, 24225.859000000]: /rtabmap/rtabmap: queue_size = 10
[ INFO] [1610059667.645719612, 24225.859000000]: /rtabmap/rtabmap: approx_sync = true
[ INFO] [1610059667.645801478, 24225.859000000]: Setup depth callback
[ INFO] [1610059667.675141259, 24225.888000000]:
/rtabmap/rtabmap subscribed to (approx sync):
/camera/rgb/image_rect_color,
/camera/depth_registered/image_raw,
/camera/rgb/camera_info,
/scan
[ INFO] [1610059667.751263892, 24225.964000000]: Using plugin "static_layer"
[ INFO] [1610059667.763109576, 24225.976000000]: Requesting the map...
[ INFO] [1610059668.005411530, 24226.218000000]: rtabmap 0.20.0 started...
[ INFO] [1610059669.427005415, 24227.635000000]: No matching device found.... waiting for devices. Reason: std::__cxx11::string openni2_wrapper::OpenNI2Driver::resolveDeviceURI(const string&) @ /tmp/binarydeb/ros-kinetic-openni2-camera-0.4.2/src/openni2_driver.cpp @ 737 : Invalid device number 1, there are 0 devices connected.
[ INFO] [1610059672.427207930, 24230.626000000]: No matching device found.... waiting for devices. Reason: std::__cxx11::string openni2_wrapper::OpenNI2Driver::resolveDeviceURI(const string&) @ /tmp/binarydeb/ros-kinetic-openni2-camera-0.4.2/src/openni2_driver.cpp @ 737 : Invalid device number 1, there are 0 devices connected.
[ WARN] [1610059672.689138243, 24230.888000000]: /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=10).
/rtabmap/rtabmap subscribed to (approx sync):
/camera/rgb/image_rect_color,
/camera/depth_registered/image_raw,
/camera/rgb/camera_info,
/scan