RTabMap Cannot locate node

Question

So I Just installed RTabMap and whenever I try to run a launch file or demo I get these errors

ERROR: cannot launch node of type [rtabmap_ros/rgbd_odometry]: can't locate node [rgbd_odometry] in package [rtabmap_ros] ERROR: cannot launch node of type [rtabmap_ros/rtabmap]: can't locate node [rtabmap] in package [rtabmap_ros] ERROR: cannot launch node of type [rtabmap_ros/rtabmapviz]: can't locate node [rtabmapviz] in package [rtabmap_ros]

The full message is this

roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/camera/aligned_depth_to_color/image_raw rgb_topic:=/camera/color/image_raw camera_info_topic:=/camera/color/camera_info approx_sync:=false ... logging to /home/crosswing/.ros/log/dd12b432-4a6c-11e9-8dce-f8633f5d5fe3/roslaunch-crosswing-NUC7i5BNH-7688.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.

PARAMETERS * /rosdistro: melodic * /rosversion: 1.14.3 * /rtabmap/rgbd_odometry/approx_sync: False * /rtabmap/rgbd_odometry/config_path: * /rtabmap/rgbd_odometry/frame_id: camera_link * /rtabmap/rgbd_odometry/ground_truth_base_frame_id: * /rtabmap/rgbd_odometry/ground_truth_frame_id: * /rtabmap/rgbd_odometry/guess_frame_id: * /rtabmap/rgbd_odometry/guess_min_rotation: 0.0 * /rtabmap/rgbd_odometry/guess_min_translation: 0.0 * /rtabmap/rgbd_odometry/odom_frame_id: odom * /rtabmap/rgbd_odometry/publish_tf: True * /rtabmap/rgbd_odometry/queue_size: 10 * /rtabmap/rgbd_odometry/subscribe_rgbd: False * /rtabmap/rgbd_odometry/wait_for_transform_duration: 0.2 * /rtabmap/rtabmap/Mem/IncrementalMemory: true * /rtabmap/rtabmap/Mem/InitWMWithAllNodes: false * /rtabmap/rtabmap/approx_sync: False * /rtabmap/rtabmap/config_path: * /rtabmap/rtabmap/database_path: ~/.ros/rtabmap.db * /rtabmap/rtabmap/frame_id: camera_link * /rtabmap/rtabmap/ground_truth_base_frame_id: * /rtabmap/rtabmap/ground_truth_frame_id: * /rtabmap/rtabmap/landmark_angular_variance: 9999.0 * /rtabmap/rtabmap/landmark_linear_variance: 0.0001 * /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/publish_tf: True * /rtabmap/rtabmap/queue_size: 10 * /rtabmap/rtabmap/scan_normal_k: 0 * /rtabmap/rtabmap/subscribe_depth: True * /rtabmap/rtabmap/subscribe_odom_info: 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 * /rtabmap/rtabmapviz/approx_sync: False * /rtabmap/rtabmapviz/frame_id: camera_link * /rtabmap/rtabmapviz/odom_frame_id: * /rtabmap/rtabmapviz/queue_size: 10 * /rtabmap/rtabmapviz/subscribe_depth: True * /rtabmap/rtabmapviz/subscribe_odom_info: True * /rtabmap/rtabmapviz/subscribe_rgbd: False * /rtabmap/rtabmapviz/subscribe_scan: False * /rtabmap/rtabmapviz/subscribe_scan_cloud: False * /rtabmap/rtabmapviz/subscribe_stereo: False * /rtabmap/rtabmapviz/wait_for_transform_duration: 0.2

NODES /rtabmap/ rgbd_odometry (rtabmap_ros/rgbd_odometry) rtabmap (rtabmap_ros/rtabmap) rtabmapviz (rtabmap_ros/rtabmapviz)

ROS_MASTER_URI=http://localhost:11311

ERROR: cannot launch node of type [rtabmap_ros/rgbd_odometry]: can't locate node [rgbd_odometry] in package [rtabmap_ros] ERROR: cannot launch node of type [rtabmap_ros/rtabmap]: can't locate node [rtabmap] in package [rtabmap_ros] ERROR: cannot launch node of type [rtabmap_ros/rtabmapviz]: can't locate node [rtabmapviz] in package [rtabmap_ros]

Can anybody help me figure out what the issue is and how to fix it? Thank you!

Answer 1

Just a heads up, apparently some packages have been renamed or restructured recently so some old tutorial steps may not work. I got the errors when due to these issues. Like rtabmapviz became rtabmap_viz and rtabmap node is present in the pkg rtabmap_slam, so do check the changes.

Answer 2

This Error means that ROS system cannot find your rgbd_odometry Node inside rtabmap_ros package or cannot find rtabmap_ros package altogether.

First, check if your package is inside your ROS PATH (ROS_PACKAGE_PATH environment) then check if rospack can find the package or not. if you compiled it from source check for Compilation Error. if all checked out with no problem, use rosrun command to check if you can run the package with no configuration.

EDIT1

after Checking CMakeList.txt in RtabMap_ros Github it appears they changed the name of the node from rgbd_odometry to rtabmap_rgbd_odometry Check CMakeLists Here

you can check installed Nodes of every package in lib folder of your workspace(for instance you can check nodes installed in your catkin worksapce by finding them at <your_catking_workspace>/devel/lib/<package_name> )