Did not receive data since 5 seconds!

[ofarukdemirtas]

I am trying to run rtabmap with zed2i camera and livox lidar but i got this error

[ WARN] [1729862098.568035980]: /rtabmap/rtabmap_viz: 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 "sync_queue_size" and/or "topic_queue_size" parameters (current=50 and 10 respectively).
/rtabmap/rtabmap_viz subscribed to:
   /zed/zed_node/odom
[ WARN] [1729862102.520261674]: /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 "sync_queue_size" and/or "topic_queue_size" parameters (current=10 and 10 respectively).
/rtabmap/rtabmap subscribed to (approx sync):
   /zed/zed_node/odom \
   /zed/zed_node/rgb/image_rect_color \
   /zed/zed_node/depth/depth_registered \
   /zed/zed_node/rgb/camera_info \
   /rtabmap/scan
[ WARN] [1729862104.568016242]: /rtabmap/rtabmap_viz: 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 "sync_queue_size" and/or "topic_queue_size" parameters (current=50 and 10 respectively).
/rtabmap/rtabmap_viz subscribed to:
   /zed/zed_node/odom
[ WARN] [1729862108.520232466]: /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 "sync_queue_size" and/or "topic_queue_size" parameters (current=10 and 10 respectively).
/rtabmap/rtabmap subscribed to (approx sync):
   /zed/zed_node/odom \
   /zed/zed_node/rgb/image_rect_color \
   /zed/zed_node/depth/depth_registered \
   /zed/zed_node/rgb/camera_info \
   /rtabmap/scan
[ WARN] [1729862110.568043996]: /rtabmap/rtabmap_viz: 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 "sync_queue_size" and/or "topic_queue_size" parameters (current=50 and 10 respectively).
/rtabmap/rtabmap_viz subscribed to:
   /zed/zed_node/odom
[ WARN] [1729862114.520246735]: /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 "sync_queue_size" and/or "topic_queue_size" parameters (current=10 and 10 respectively).
/rtabmap/rtabmap subscribed to (approx sync):
   /zed/zed_node/odom \
   /zed/zed_node/rgb/image_rect_color \
   /zed/zed_node/depth/depth_registered \
   /zed/zed_node/rgb/camera_info \
   /rtabmap/scan
[ WARN] [1729862116.568090770]: /rtabmap/rtabmap_viz: 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 "sync_queue_size" and/or "topic_queue_size" parameters (current=50 and 10 respectively).
/rtabmap/rtabmap_viz subscribed to:
   /zed/zed_node/odom

I dont understand and dont know how to solve this is also my rostopic and node liist

tiago@tmsp:~/catkin_ws$ rosnode list
/livox_lidar_publisher2
/livox_tf_broadcaster
/rosout
/rtabmap/rtabmap
/rtabmap/rtabmap_viz
/rviz
/zed/zed_node
/zed/zed_state_publisher
tiago@tmsp:~/catkin_ws$ rostopic list
/clicked_point
/diagnostics
/initialpose
/move_base_simple/goal
/rosout
/rosout_agg
/rtabmap/cloud_ground
/rtabmap/cloud_map
/rtabmap/cloud_obstacles
/rtabmap/elevation_map
/rtabmap/global_path
/rtabmap/global_path_nodes
/rtabmap/global_pose
/rtabmap/goal
/rtabmap/goal_node
/rtabmap/goal_out
/rtabmap/goal_reached
/rtabmap/gps/fix
/rtabmap/grid_map
/rtabmap/grid_prob_map
/rtabmap/imu
/rtabmap/info
/rtabmap/initialpose
/rtabmap/labels
/rtabmap/landmarks
/rtabmap/local_grid_empty
/rtabmap/local_grid_ground
/rtabmap/local_grid_obstacle
/rtabmap/local_path
/rtabmap/local_path_nodes
/rtabmap/localization_pose
/rtabmap/mapData
/rtabmap/mapGraph
/rtabmap/mapOdomCache
/rtabmap/mapPath
/rtabmap/octomap_binary
/rtabmap/octomap_empty_space
/rtabmap/octomap_full
/rtabmap/octomap_global_frontier_space
/rtabmap/octomap_grid
/rtabmap/octomap_ground
/rtabmap/octomap_obstacles
/rtabmap/octomap_occupied_space
/rtabmap/proj_map
/rtabmap/republish_node_data
/rtabmap/scan
/rtabmap/scan_map
/rtabmap/tag_detections
/rtabmap/user_data_async
/tf
/tf_static
/zed/joint_states
/zed/zed_node/atm_press
/zed/zed_node/confidence/confidence_map
/zed/zed_node/depth/camera_info
/zed/zed_node/depth/depth_registered
/zed/zed_node/depth/depth_registered/compressed
/zed/zed_node/depth/depth_registered/compressed/parameter_descriptions
/zed/zed_node/depth/depth_registered/compressed/parameter_updates
/zed/zed_node/depth/depth_registered/compressedDepth
/zed/zed_node/depth/depth_registered/compressedDepth/parameter_descriptions
/zed/zed_node/depth/depth_registered/compressedDepth/parameter_updates
/zed/zed_node/depth/depth_registered/theora
/zed/zed_node/depth/depth_registered/theora/parameter_descriptions
/zed/zed_node/depth/depth_registered/theora/parameter_updates
/zed/zed_node/disparity/disparity_image
/zed/zed_node/imu/data
/zed/zed_node/imu/data_raw
/zed/zed_node/imu/mag
/zed/zed_node/left/camera_info
/zed/zed_node/left/image_rect_color
/zed/zed_node/left/image_rect_color/compressed
/zed/zed_node/left/image_rect_color/compressed/parameter_descriptions
/zed/zed_node/left/image_rect_color/compressed/parameter_updates
/zed/zed_node/left/image_rect_color/compressedDepth
/zed/zed_node/left/image_rect_color/compressedDepth/parameter_descriptions
/zed/zed_node/left/image_rect_color/compressedDepth/parameter_updates
/zed/zed_node/left/image_rect_color/theora
/zed/zed_node/left/image_rect_color/theora/parameter_descriptions
/zed/zed_node/left/image_rect_color/theora/parameter_updates
/zed/zed_node/left/image_rect_gray
/zed/zed_node/left/image_rect_gray/compressed
/zed/zed_node/left/image_rect_gray/compressed/parameter_descriptions
/zed/zed_node/left/image_rect_gray/compressed/parameter_updates
/zed/zed_node/left/image_rect_gray/compressedDepth
/zed/zed_node/left/image_rect_gray/compressedDepth/parameter_descriptions
/zed/zed_node/left/image_rect_gray/compressedDepth/parameter_updates
/zed/zed_node/left/image_rect_gray/theora
/zed/zed_node/left/image_rect_gray/theora/parameter_descriptions
/zed/zed_node/left/image_rect_gray/theora/parameter_updates
/zed/zed_node/left_cam_imu_transform
/zed/zed_node/left_raw/camera_info
/zed/zed_node/left_raw/image_raw_color
/zed/zed_node/left_raw/image_raw_color/compressed
/zed/zed_node/left_raw/image_raw_color/compressed/parameter_descriptions
/zed/zed_node/left_raw/image_raw_color/compressed/parameter_updates
/zed/zed_node/left_raw/image_raw_color/compressedDepth
/zed/zed_node/left_raw/image_raw_color/compressedDepth/parameter_descriptions
/zed/zed_node/left_raw/image_raw_color/compressedDepth/parameter_updates
/zed/zed_node/left_raw/image_raw_color/theora
/zed/zed_node/left_raw/image_raw_color/theora/parameter_descriptions
/zed/zed_node/left_raw/image_raw_color/theora/parameter_updates
/zed/zed_node/left_raw/image_raw_gray
/zed/zed_node/left_raw/image_raw_gray/compressed
/zed/zed_node/left_raw/image_raw_gray/compressed/parameter_descriptions
/zed/zed_node/left_raw/image_raw_gray/compressed/parameter_updates
/zed/zed_node/left_raw/image_raw_gray/compressedDepth
/zed/zed_node/left_raw/image_raw_gray/compressedDepth/parameter_descriptions
/zed/zed_node/left_raw/image_raw_gray/compressedDepth/parameter_updates
/zed/zed_node/left_raw/image_raw_gray/theora
/zed/zed_node/left_raw/image_raw_gray/theora/parameter_descriptions
/zed/zed_node/left_raw/image_raw_gray/theora/parameter_updates
/zed/zed_node/odom
/zed/zed_node/odom/status
/zed/zed_node/parameter_descriptions
/zed/zed_node/parameter_updates
/zed/zed_node/path_map
/zed/zed_node/path_odom
/zed/zed_node/plane
/zed/zed_node/plane_marker
/zed/zed_node/point_cloud/cloud_registered
/zed/zed_node/pose
/zed/zed_node/pose/status
/zed/zed_node/pose_with_covariance
/zed/zed_node/rgb/camera_info
/zed/zed_node/rgb/image_rect_color
/zed/zed_node/rgb/image_rect_color/compressed
/zed/zed_node/rgb/image_rect_color/compressed/parameter_descriptions
/zed/zed_node/rgb/image_rect_color/compressed/parameter_updates
/zed/zed_node/rgb/image_rect_color/compressedDepth
/zed/zed_node/rgb/image_rect_color/compressedDepth/parameter_descriptions
/zed/zed_node/rgb/image_rect_color/compressedDepth/parameter_updates
/zed/zed_node/rgb/image_rect_color/theora
/zed/zed_node/rgb/image_rect_color/theora/parameter_descriptions
/zed/zed_node/rgb/image_rect_color/theora/parameter_updates
/zed/zed_node/rgb/image_rect_gray
/zed/zed_node/rgb/image_rect_gray/compressed
/zed/zed_node/rgb/image_rect_gray/compressed/parameter_descriptions
/zed/zed_node/rgb/image_rect_gray/compressed/parameter_updates
/zed/zed_node/rgb/image_rect_gray/compressedDepth
/zed/zed_node/rgb/image_rect_gray/compressedDepth/parameter_descriptions
/zed/zed_node/rgb/image_rect_gray/compressedDepth/parameter_updates
/zed/zed_node/rgb/image_rect_gray/theora
/zed/zed_node/rgb/image_rect_gray/theora/parameter_descriptions
/zed/zed_node/rgb/image_rect_gray/theora/parameter_updates
/zed/zed_node/rgb_raw/camera_info
/zed/zed_node/rgb_raw/image_raw_color
/zed/zed_node/rgb_raw/image_raw_color/compressed
/zed/zed_node/rgb_raw/image_raw_color/compressed/parameter_descriptions
/zed/zed_node/rgb_raw/image_raw_color/compressed/parameter_updates
/zed/zed_node/rgb_raw/image_raw_color/compressedDepth
/zed/zed_node/rgb_raw/image_raw_color/compressedDepth/parameter_descriptions
/zed/zed_node/rgb_raw/image_raw_color/compressedDepth/parameter_updates
/zed/zed_node/rgb_raw/image_raw_color/theora
/zed/zed_node/rgb_raw/image_raw_color/theora/parameter_descriptions
/zed/zed_node/rgb_raw/image_raw_color/theora/parameter_updates
/zed/zed_node/rgb_raw/image_raw_gray
/zed/zed_node/rgb_raw/image_raw_gray/compressed
/zed/zed_node/rgb_raw/image_raw_gray/compressed/parameter_descriptions
/zed/zed_node/rgb_raw/image_raw_gray/compressed/parameter_updates
/zed/zed_node/rgb_raw/image_raw_gray/compressedDepth
/zed/zed_node/rgb_raw/image_raw_gray/compressedDepth/parameter_descriptions
/zed/zed_node/rgb_raw/image_raw_gray/compressedDepth/parameter_updates
/zed/zed_node/rgb_raw/image_raw_gray/theora
/zed/zed_node/rgb_raw/image_raw_gray/theora/parameter_descriptions
/zed/zed_node/rgb_raw/image_raw_gray/theora/parameter_updates
/zed/zed_node/right/camera_info
/zed/zed_node/right/image_rect_color
/zed/zed_node/right/image_rect_color/compressed
/zed/zed_node/right/image_rect_color/compressed/parameter_descriptions
/zed/zed_node/right/image_rect_color/compressed/parameter_updates
/zed/zed_node/right/image_rect_color/compressedDepth
/zed/zed_node/right/image_rect_color/compressedDepth/parameter_descriptions
/zed/zed_node/right/image_rect_color/compressedDepth/parameter_updates
/zed/zed_node/right/image_rect_color/theora
/zed/zed_node/right/image_rect_color/theora/parameter_descriptions
/zed/zed_node/right/image_rect_color/theora/parameter_updates
/zed/zed_node/right/image_rect_gray
/zed/zed_node/right/image_rect_gray/compressed
/zed/zed_node/right/image_rect_gray/compressed/parameter_descriptions
/zed/zed_node/right/image_rect_gray/compressed/parameter_updates
/zed/zed_node/right/image_rect_gray/compressedDepth
/zed/zed_node/right/image_rect_gray/compressedDepth/parameter_descriptions
/zed/zed_node/right/image_rect_gray/compressedDepth/parameter_updates
/zed/zed_node/right/image_rect_gray/theora
/zed/zed_node/right/image_rect_gray/theora/parameter_descriptions
/zed/zed_node/right/image_rect_gray/theora/parameter_updates
/zed/zed_node/right_raw/camera_info
/zed/zed_node/right_raw/image_raw_color
/zed/zed_node/right_raw/image_raw_color/compressed
/zed/zed_node/right_raw/image_raw_color/compressed/parameter_descriptions
/zed/zed_node/right_raw/image_raw_color/compressed/parameter_updates
/zed/zed_node/right_raw/image_raw_color/compressedDepth
/zed/zed_node/right_raw/image_raw_color/compressedDepth/parameter_descriptions
/zed/zed_node/right_raw/image_raw_color/compressedDepth/parameter_updates
/zed/zed_node/right_raw/image_raw_color/theora
/zed/zed_node/right_raw/image_raw_color/theora/parameter_descriptions
/zed/zed_node/right_raw/image_raw_color/theora/parameter_updates
/zed/zed_node/right_raw/image_raw_gray
/zed/zed_node/right_raw/image_raw_gray/compressed
/zed/zed_node/right_raw/image_raw_gray/compressed/parameter_descriptions
/zed/zed_node/right_raw/image_raw_gray/compressed/parameter_updates
/zed/zed_node/right_raw/image_raw_gray/compressedDepth
/zed/zed_node/right_raw/image_raw_gray/compressedDepth/parameter_descriptions
/zed/zed_node/right_raw/image_raw_gray/compressedDepth/parameter_updates
/zed/zed_node/right_raw/image_raw_gray/theora
/zed/zed_node/right_raw/image_raw_gray/theora/parameter_descriptions
/zed/zed_node/right_raw/image_raw_gray/theora/parameter_updates
/zed/zed_node/stereo/image_rect_color
/zed/zed_node/stereo/image_rect_color/compressed
/zed/zed_node/stereo/image_rect_color/compressed/parameter_descriptions
/zed/zed_node/stereo/image_rect_color/compressed/parameter_updates
/zed/zed_node/stereo/image_rect_color/compressedDepth
/zed/zed_node/stereo/image_rect_color/compressedDepth/parameter_descriptions
/zed/zed_node/stereo/image_rect_color/compressedDepth/parameter_updates
/zed/zed_node/stereo/image_rect_color/theora
/zed/zed_node/stereo/image_rect_color/theora/parameter_descriptions
/zed/zed_node/stereo/image_rect_color/theora/parameter_updates
/zed/zed_node/stereo_raw/image_raw_color
/zed/zed_node/stereo_raw/image_raw_color/compressed
/zed/zed_node/stereo_raw/image_raw_color/compressed/parameter_descriptions
/zed/zed_node/stereo_raw/image_raw_color/compressed/parameter_updates
/zed/zed_node/stereo_raw/image_raw_color/compressedDepth
/zed/zed_node/stereo_raw/image_raw_color/compressedDepth/parameter_descriptions
/zed/zed_node/stereo_raw/image_raw_color/compressedDepth/parameter_updates
/zed/zed_node/stereo_raw/image_raw_color/theora
/zed/zed_node/stereo_raw/image_raw_color/theora/parameter_descriptions
/zed/zed_node/stereo_raw/image_raw_color/theora/parameter_updates
/zed/zed_node/temperature/imu
/zed/zed_node/temperature/left
/zed/zed_node/temperature/right

Could u please help me how should i fix this error and finally this is my launch file

    <!-- Global Arguments -->
    <arg name="camera_name" default="zed" />
    <arg name="base_frame" default="base_link" />
    <arg name="rviz_enable" default="true" />
    <arg name="rtabmap_enable" default="true" />

    <!-- Livox HAP Arguments -->
    <arg name="bd_list" default="100000000000000" />
    <arg name="msg_frame_id" default="livox_frame" />
    <arg name="publish_freq" default="10.0" />
    <arg name="multi_topic" default="0" />
    <arg name="xfer_format" default="0" />
    <arg name="output_type" default="0" />

    <!-- ZED Arguments -->
    <arg name="svo_file" default="" />
    <arg name="stream" default="" />
    <arg name="zed_node_name" default="zed_node" />
    <arg name="camera_model" default="zed2i" />
    <arg name="publish_urdf" default="true" />

    <!-- Launch Livox HAP -->
    <param name="xfer_format" value="$(arg xfer_format)" />
    <param name="multi_topic" value="$(arg multi_topic)" />
    <param name="publish_freq" type="double" value="$(arg publish_freq)" />
    <param name="output_data_type" value="$(arg output_type)" />
    <param name="cmdline_str" type="string" value="$(arg bd_list)" />
    <param name="user_config_path" type="string" value="$(find livox_ros_driver2)/config/HAP_config.json" />
    <param name="frame_id" type="string" value="$(arg msg_frame_id)" />

    <node name="livox_lidar_publisher2" pkg="livox_ros_driver2"
          type="livox_ros_driver2_node" required="true"
          output="screen" args="$(arg bd_list)" />

    <!-- Static transform from livox_frame to base_frame -->
    <node pkg="tf2_ros" type="static_transform_publisher" name="livox_tf_broadcaster" 
          args="0 0 0 0 0 0 $(arg base_frame) $(arg msg_frame_id)" />

    <!-- Launch ZED Camera -->
    <group ns="$(arg camera_name)">
        <include file="$(find zed_wrapper)/launch/include/zed_camera.launch.xml">
            <arg name="camera_name" value="$(arg camera_name)" />
            <arg name="svo_file" value="$(arg svo_file)" />
            <arg name="stream" value="$(arg stream)" />
            <arg name="node_name" value="$(arg zed_node_name)" />
            <arg name="camera_model" value="$(arg camera_model)" />
            <arg name="base_frame" value="$(arg base_frame)" />
            <arg name="publish_urdf" value="$(arg publish_urdf)" />
        </include>
    </group>

    <!-- RTAB-Map SLAM -->
    <group if="$(arg rtabmap_enable)" ns="rtabmap">
        <node name="rtabmap" pkg="rtabmap_slam" type="rtabmap" output="screen">
            <!-- RTAB-Map's parameters -->
            <param name="frame_id" type="string" value="$(arg base_frame)" />
            <param name="subscribe_depth" type="bool" value="true" />
            <param name="subscribe_scan_cloud" type="bool" value="true" />
            <param name="subscribe_scan" type="bool" value="true" />

            <!-- Inputs -->
            <remap from="rgb/image" to="/$(arg camera_name)/$(arg zed_node_name)/rgb/image_rect_color" />
            <remap from="depth/image" to="/$(arg camera_name)/$(arg zed_node_name)/depth/depth_registered" />
            <remap from="rgb/camera_info" to="/$(arg camera_name)/$(arg zed_node_name)/rgb/camera_info" />
            <remap from="cloud" to="/livox/lidar" />
            <remap from="odom" to="/$(arg camera_name)/$(arg zed_node_name)/odom" />

            <!-- Synchronization Parameters -->
            <param name="queue_size" type="int" value="10" />
            <param name="sync_queue_size" type="int" value="10" />
            <param name="topic_queue_size" type="int" value="10" />
            <param name="approx_sync" type="bool" value="true" />
            <param name="approx_sync_max_interval" type="double" value="0.5" />

            <!-- RTAB-Map parameters -->
            <param name="Grid/Sensor" type="int" value="0" />
            <param name="Grid/CellSize" type="double" value="0.05" />
            <param name="Reg/Strategy" type="string" value="1" />
            <param name="RGBD/ProximityPathMaxNeighbors" type="int" value="1" />
            <param name="Grid/RangeMax" type="double" value="15.0" />
            <param name="Vis/MinInliers" type="int" value="10" />
        </node>

        <!-- RTAB-Map Visualization -->
        <node name="rtabmap_viz" pkg="rtabmap_viz" type="rtabmap_viz" output="screen">
            <remap from="rgb/image" to="/$(arg camera_name)/$(arg zed_node_name)/rgb/image_rect_color" />
            <remap from="depth/image" to="/$(arg camera_name)/$(arg zed_node_name)/depth/depth_registered" />
            <remap from="rgb/camera_info" to="/$(arg camera_name)/$(arg zed_node_name)/rgb/camera_info" />
            <remap from="cloud" to="/livox/lidar" />
            <remap from="odom" to="/$(arg camera_name)/$(arg zed_node_name)/odom" />
            
            <!-- Add synchronization parameters -->
            <param name="queue_size" type="int" value="50" />
            <param name="approx_sync" type="bool" value="true" />
            <param name="approx_sync_max_interval" type="double" value="0.5" />
        </node>
    </group>

    <!-- Launch RViz -->
    <group if="$(arg rviz_enable)">
        <node name="rviz" pkg="rviz" type="rviz" respawn="true" output="screen"
              args="-d $(find ugv_navigation)/rviz/navigation.rviz" />
    </group>`

[ofarukdemirtas]

[ WARN] [1729869211.466197990]: /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 "sync_queue_size" and/or "topic_queue_size" parameters (current=10 and 10 respectively).
/rtabmap/rtabmap subscribed to (approx sync):
   /zed/zed_node/odom \
   /zed/zed_node/rgb/image_rect_color \
   /zed/zed_node/depth/depth_registered \
   /zed/zed_node/rgb/camera_info \
   /rtabmap/scan
[2024-10-25 16:13:31.592] [console] [info]  Receive Command: Id 258 Seq 228  [hap_command_handler.cpp] [Handle] [67]
[2024-10-25 16:13:31.729] [console] [info] Handle detection data, handle:1677830336, dev_type:10, sn:5CWD227EA1002W1, cmd_port:56000  [general_command_handler.cpp] [HandleDetectionData] [319]
[2024-10-25 16:13:32.592] [console] [info]  Receive Command: Id 258 Seq 229  [hap_command_handler.cpp] [Handle] [67]
[2024-10-25 16:13:32.729] [console] [info] Handle detection data, handle:1677830336, dev_type:10, sn:5CWD227EA1002W1, cmd_port:56000  [general_command_handler.cpp] [HandleDetectionData] [319]
[ WARN] [1729869213.505161120]: /rtabmap/rtabmap_viz: 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 "sync_queue_size" and/or "topic_queue_size" parameters (current=50 and 10 respectively).
/rtabmap/rtabmap_viz subscribed to:
   /zed/zed_node/odom
[2024-10-25 16:13:33.592] [console] [info]  Receive Command: Id 258 Seq 230  [hap_command_handler.cpp] [Handle] [67]
[2024-10-25 16:13:33.728] [console] [info] Handle detection data, handle:1677830336, dev_type:10, sn:5CWD227EA1002W1, cmd_port:56000  [general_command_handler.cpp] [HandleDetectionData] [319]
[2024-10-25 16:13:34.592] [console] [info]  Receive Command: Id 258 Seq 231  [hap_command_handler.cpp] [Handle] [67]
[2024-10-25 16:13:34.729] [console] [info] Handle detection data, handle:1677830336, dev_type:10, sn:5CWD227EA1002W1, cmd_port:56000  [general_command_handler.cpp] [HandleDetectionData] [319]
[2024-10-25 16:13:35.592] [console] [info]  Receive Command: Id 258 Seq 232  [hap_command_handler.cpp] [Handle] [67]
[2024-10-25 16:13:35.729] [console] [info] Handle detection data, handle:1677830336, dev_type:10, sn:5CWD227EA1002W1, cmd_port:56000  [general_command_handler.cpp] [HandleDetectionData] [319]
[2024-10-25 16:13:36.592] [console] [info]  Receive Command: Id 258 Seq 233  [hap_command_handler.cpp] [Handle] [67]
[2024-10-25 16:13:36.729] [console] [info] Handle detection data, handle:1677830336, dev_type:10, sn:5CWD227EA1002W1, cmd_port:56000  [general_command_handler.cpp] [HandleDetectionData] [319]
[ WARN] [1729869217.466196753]: /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 "sync_queue_size" and/or "topic_queue_size" parameters (current=10 and 10 respectively).
/rtabmap/rtabmap subscribed to (approx sync):
   /zed/zed_node/odom \
   /zed/zed_node/rgb/image_rect_color \
   /zed/zed_node/depth/depth_registered \
   /zed/zed_node/rgb/camera_info \
   /rtabmap/scan

I took hap lidar data perfectly but i cannot take the data from rtabmap i dont understand the issue

[matlabbe]

What is the topic name of the lidar point cloud topic? For rtabmap node, just set subscribe_scan_cloud to true (remove subscribe_scan), then you will need to remap scan_cloud to the lidar point cloud topic:

<node name="rtabmap" pkg="rtabmap_slam" type="rtabmap" output="screen">
    ...
    <remap from="scan_cloud" to="{hap_point_cloud_topic}"/>

I also don't recommend to sync lidar and all camera topics like this to rtabmap node. Use rgbd_sync node and use subscribe_rgbd_image for rtabmap node. See example here.

Also for the zed config, set parameter to disable map TF publishing.