rtabmap: Did not receive data since 5 seconds ! (but it should be receiving !)

edit

The first thing (approx_sync) didn't work. It even complains about it now :) . And the queue_size is already 5000.... I'll try to rebuild rtabmap-ros now and see what happens

[ INFO] [1599909781.316510633]: Odom: quality=404, std dev=0.004559m|0.027549rad, update time=0.046234s
[ WARN] [1599909781.590796230]: /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"). Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.

I had to hard code PCL_ROOT to "/usr" after :

file(TO_CMAKE_PATH "${PCL_DIR}" PCL_DIR)
if(WIN32 AND NOT MINGW)
# PCLConfig.cmake is installed to PCL_ROOT/cmake
  get_filename_component(PCL_ROOT "${PCL_DIR}" PATH)
else()
# PCLConfig.cmake is installed to PCL_ROOT/share/pcl-x.y
  get_filename_component(PCL_ROOT "${CMAKE_CURRENT_LIST_DIR}/../../../.." ABSOLUTE)
endif()

CMake was supposed to be a fix / better to "configure" scripts lol. Not getting there any time soon I guess :)

Well basically nothing changed with the new 'rtabmap_ros' :) I fixed the 'rostopic' this is the output.

               topic                    rate   min_delta   max_delta   std_dev    window
========================================================================================
/stereo_odometry                       5.006   0.184       0.2092      0.007313   21
/stereo_camera/left/image_rect_color   5.001   0.1925      0.2051      0.003302   21
/stereo_camera/left/camera_info        5.0     0.1952      0.2059      0.002057   20
/stereo_camera/right/image_rect        5.0     0.1823      0.2169      0.007288   20
/stereo_camera/right/camera_info       5.0     0.1959      0.2036      0.001369   20

A queue_size of 5000 is too huge, keep it at 10 by default. Sorry I messed up the answer, you should build master branch of rtabmap_ros to have the latest fixes (I'll update the answer).

I guess I have to - it needs rtabmap 0.20.2 and the package is "ros-noetic-rtabmap/focal,now 0.20.0-3focal.20200812.201538 amd64 [installed,auto-removable]"

Yeah, I added this detail to the answer too, rebuild also rtabmap.

Did it - I had to add 4 more Gigs to the test machine apparently for C++ 4GB RAM (I even killed the X server) is not enough - one of the (many) reasons I prefer C :)
So I got to here (Odometry still works fine):

[FATAL] (2020-09-17 22:14:33.619) Features2d.cpp:745::generateDescriptors() Condition (descriptors.rows == (int)keypoints.size()) not met! [descriptors=0, keypoints=1000]
terminate called after throwing an instance of 'UException'
  what():  [FATAL] (2020-09-17 22:14:33.619) Features2d.cpp:745::generateDescriptors() Condition (descriptors.rows == (int)keypoints.size()) not met! [descriptors=0, keypoints=1000]

Any ideas ? Thank you for the help so far ! :)

"Fixed" the problem - BRIEF was not available. But I got it to here - buffer overflow sounds like a problem :)

[ INFO] [1600704092.320869806]: rtabmap (1): Rate=1.00s, Limit=0.700s, RTAB-Map=0.1281s, Maps update=0.0017s pub=0.0004s (local map=1, WM=1)
[ INFO] [1600704092.395859803]: Odom: quality=417, std dev=0.010630m|0.000032rad, update time=0.027884s
*** buffer overflow detected ***: terminated
*** buffer overflow detected ***: terminated
[rtabmap/rtabmap-7] process has died [pid 50201, exit code -6, cmd /home/tbyte/catkin_ws/devel/lib/rtabmap_ros/rtabmap --delete_db_on_start left/image_rect:=/stereo_camera/left/image_rect_color right/image_rect:=/stereo_camera/right/image_rect left/camera_info:=/stereo_camera/left/camera_info right/camera_info:=/stereo_camera/right/camera_info odom:=/stereo_odometry __name:=rtabmap