Failing to run rtabmap-ros against streams recorded in rosbag

[jsreveal]

Required Info
Camera Model	D455
Firmware Version	5.16.01
Operating System & Version	Linux (Ubuntu 22)
Kernel Version (Linux Only)	6.8.0-49-generic
Platform	PC
Librealsense SDK Version	2.56.3
Segment	others
ROS Distro	Humble
RealSense ROS Wrapper Version	4.56.3

Issue Description

Hi guys,

I am running mapping with rtabmap-ros against realsense topics depth aligned and rgb, and imu. Mapping seems to work ok live, but does not work when we do it against a recorded rosbag. And we really need to run mapping from a recorded bag.

I am using the suggestions from rtabmap github issue 1071 but or it does not run or I get the following error message:
rgbd_odometry-1] [ERROR] [1733444410.557515875] [rtabmap.rgbd_odometry]: Could not transform IMU msg from frame "camera_imu_optical_frame" to frame "camera_link", TF not available at time 1733442584.769126

Launching realsense topics with the following command:
ros2 launch realsense2_camera rs_launch.py initial_reset:=true enable_gyro:=true enable_accel:=true unite_imu_method:=2 enable_sync:=true align_depth.enable:=true rgb_camera.color_profile:="848,480,30" publish_tf:=false

Filtering imu data with:

ros2 run imu_filter_madgwick imu_filter_madgwick_node --ros-args --remap /imu/data_raw:=/camera/camera/imu --remap /imu/data:=/rtabmap/imu --ros-args -p use_mag:=false -p publish_tf:=false

Recording rosbag with the command:
ros2 bag record /camera/camera/color/image_raw /camera/camera/aligned_depth_to_color/image_raw /rtabmap/imu /tf /tf_static

Playing rosbag with:
ros2 bag play rosbag_file --remap /tf_static:=/tf

Running rtabmap with:

ros2 launch rtabmap_launch rtabmap.launch.py args:="-d" rgb_topic:=/camera/camera/color/image_raw depth_topic:=/camera/camera/aligned_depth_to_color/image_raw camera_info_topic:=/camera/camera/color/camera_info frame_id:=camera_link wait_imu_to_init:=true imu_topic:="/rtabmap/imu"

Output of the bag info:

[INFO] [1733512426.985060243] [rosbag2_storage]: Opened database 'rosbag2_2024_12_06-19_13_04/rosbag2_2024_12_06-19_13_04_0.db3' for READ_ONLY.

Files:             rosbag2_2024_12_06-19_13_04/rosbag2_2024_12_06-19_13_04_0.db3
Bag size:          315.8 MiB
Storage id:        sqlite3
Duration:          10.827857461s
Start:             Dec  6 2024 19:13:04.890183034 (1733512384.890183034)
End:               Dec  6 2024 19:13:15.718040495 (1733512395.718040495)
Messages:          2495
Topic information: Topic: /tf | Type: tf2_msgs/msg/TFMessage | Count: 0 | Serialization Format: cdr
                   Topic: /camera/camera/imu | Type: sensor_msgs/msg/Imu | Count: 2171 | Serialization Format: cdr
                   Topic: /camera/camera/color/image_raw | Type: sensor_msgs/msg/Image | Count: 162 | Serialization Format: cdr
                   Topic: /camera/camera/aligned_depth_to_color/image_raw | Type: sensor_msgs/msg/Image | Count: 162 | Serialization Format: cdr

Other approaches attempted without success:

• recording directly the /camera/camera/imu and only applying madgwick filter when playing the rosbag
• launching realsense with publish_tf:=true (and recording the tf topics as well)
• reducing frame rate of depth and color to 5 or 15

[MartyG-RealSense]

Hi @jsreveal In Intel's D435i SLAM guide for ROS1 and rtabmap_ros, when playing back a recorded bag they advise setting a parameter called use_sim_time to true and adding a --clock parameter to the bag play command.

https://github.com/IntelRealSense/realsense-ros/wiki/SLAM-with-D435i

Converting the details to ROS2 for use with your own ros2 bag play command, the instructions should be something like this:

ros2 param set /use_sim_time true
ros2 bag play rosbag_file  --remap /tf_static:=/tf --clock