Oh Wow! RTABmap from "no-IMU" Oak-D-Light Sort Of Working

[slowrunner]

Having participated in the Oak-D-Lite kickstarter campaign long ago, I received an Oak-D-Lite that did not have an IMU chip in it. Since the Create3 has an IMU, (and fused odometry), I assumed this was not going to be an issue.

Trying to bring up the depthai-ros pointcloud node was not going well, until I discovered how to pass a good "no_imu.yaml" camera params_file.

First time running RTABmap and I'm getting some sort of map, and it seems to be localizing the robot when I revisit previous vantage points. This is again encouraging:

AND it does not seem to be taxing the Raspberry Pi5 much at all:

********** WaLiPi5  MONITOR ******************************
Monday 02/05/24 12:10:47 up 7 days, 19:28,  5 users,  load average: 1.62, 0.97, 1.08
temp=67.5'C
frequency(0)=2400008192
throttled=0x0
               total        used        free      shared  buff/cache   available
Mem:           7.9Gi       2.0Gi       630Mi        62Mi       5.4Gi       5.9Gi
Swap:           99Mi        99Mi       960Ki
CONTAINER ID   IMAGE     COMMAND                  CREATED        STATUS        PORTS     NAMES
51debb7f004f   r2hdp     "/ros_entrypoint.sh …"   36 hours ago   Up 36 hours             r2hdp


285410 /usr/bin/python3 /opt/ros/humble/bin/ros2 launch teleop_twist_joy teleop-launch.py joy_config:=F710
285411 /usr/bin/python3 /opt/ros/humble/bin/ros2 run wali odometer
285412 /usr/bin/python3 /opt/ros/humble/bin/ros2 run wali say_node
285413 /usr/bin/python3 /opt/ros/humble/bin/ros2 run wali ir2scan
285414 /usr/bin/python3 /opt/ros/humble/bin/ros2 run wali wali_node
302367 /usr/bin/python3 /opt/ros/humble/bin/ros2 launch depthai_ros_driver rtabmap.launch.py params_file:=/home/pi/wali_pi5/dai_ws/no_imu.yaml

[slowrunner]

And RTABmap saw an “obstacle” - 100% CPU on the Create3.

rtabmap: /odom: over 5 seconds since last topic received

Steady state seems to be about 80% CPU with some 95-96% max periods:

Feb  6 15:27:36 Create3-WaLi user.notice create-platform: [INFO] [1707233256.755200734] [system_health]: CPU usage: max 96 [%] mean 82 [%] RAM usage: 43/59 [MB]
Feb  6 15:28:26 Create3-WaLi user.notice ntpd: Script called in periodic mode
Feb  6 15:28:36 Create3-WaLi user.notice create-platform: [INFO] [1707233316.756322833] [system_health]: CPU usage: max 95 [%] mean 84 [%] RAM usage: 43/59 [MB]
Feb  6 15:29:36 Create3-WaLi user.notice create-platform: [INFO] [1707233376.757307317] [system_health]: CPU usage: max 91 [%] mean 85 [%] RAM usage: 43/59 [MB]
Feb  6 15:30:36 Create3-WaLi user.notice create-platform: [INFO] [1707233436.759592538] [system_health]: CPU usage: max 89 [%] mean 85 [%] RAM usage: 43/59 [MB]
Feb  6 15:31:36 Create3-WaLi user.notice create-platform: [INFO] [1707233496.757045751] [system_health]: CPU usage: max 88 [%] mean 78 [%] RAM usage: 43/59 [MB]
Feb  6 15:32:36 Create3-WaLi user.notice create-platform: [INFO] [1707233556.757352861] [system_health]: CPU usage: max 84 [%] mean 73 [%] RAM usage: 43/59 [MB]
Feb  6 15:33:36 Create3-WaLi user.notice create-platform: [INFO] [1707233616.758080457] [system_health]: CPU usage: max 89 [%] mean 75 [%] RAM usage: 43/59 [MB]
Feb  6 15:34:36 Create3-WaLi user.notice create-platform: [INFO] [1707233676.758740051] [system_health]: CPU usage: max 90 [%] mean 73 [%] RAM usage: 43/59 [MB]
Feb  6 15:35:36 Create3-WaLi user.notice create-platform: [INFO] [1707233736.759404943] [system_health]: CPU usage: max 90 [%] mean 74 [%] RAM usage: 43/59 [MB]
Feb  6 15:36:36 Create3-WaLi user.notice create-platform: [INFO] [1707233796.761522035] [system_health]: CPU usage: max 92 [%] mean 76 [%] RAM usage: 43/59 [MB]
Feb  6 15:37:36 Create3-WaLi user.notice create-platform: [INFO] [1707233856.759648870] [system_health]: CPU usage: max 88 [%] mean 74 [%] RAM usage: 43/59 [MB]
Feb  6 15:38:36 Create3-WaLi user.notice create-platform: [INFO] [1707233916.760118982] [system_health]: CPU usage: max 86 [%] mean 76 [%] RAM usage: 43/59 [MB]
Feb  6 15:39:26 Create3-WaLi user.notice ntpd: Script called in periodic mode
Feb  6 15:39:36 Create3-WaLi user.notice create-platform: [INFO] [1707233976.761984878] [system_health]: CPU usage: max 88 [%] mean 77 [%] RAM usage: 43/59 [MB]
Feb  6 15:40:36 Create3-WaLi user.notice create-platform: [INFO] [1707234036.761883966] [system_health]: CPU usage: max 88 [%] mean 78 [%] RAM usage: 43/59 [MB]
Feb  6 15:41:36 Create3-WaLi user.notice create-platform: [INFO] [1707234096.764632869] [system_health]: CPU usage: max 85 [%] mean 78 [%] RAM usage: 43/59 [MB]
Feb  6 15:42:36 Create3-WaLi user.notice create-platform: [INFO] [1707234156.765652411] [system_health]: CPU usage: max 87 [%] mean 78 [%] RAM usage: 43/59 [MB]
Feb  6 15:43:36 Create3-WaLi user.notice create-platform: [INFO] [1707234216.762188015] [system_health]: CPU usage: max 88 [%] mean 78 [%] RAM usage: 43/59 [MB]
Feb  6 15:44:36 Create3-WaLi user.notice create-platform: [INFO] [1707234276.762476496] [system_health]: CPU usage: max 88 [%] mean 78 [%] RAM usage: 43/59 [MB]
Feb  6 15:45:36 Create3-WaLi user.notice create-platform: [INFO] [1707234336.763190196] [system_health]: CPU usage: max 87 [%] mean 80 [%] RAM usage: 43/59 [MB]
Feb  6 15:46:01 Create3-WaLi daemon.warn network[1477]: [WARN] (src/gateway_pinger.c:181) no ping recv, loss counter = 1
Feb  6 15:46:36 Create3-WaLi user.notice create-platform: [INFO] [1707234396.764149465] [system_health]: CPU usage: max 90 [%] mean 81 [%] RAM usage: 43/59 [MB]