Issue: rtabmap_util composable components not loadable

[mariamercade]

Summary

rtabmap_util components are visible via ros2 component types, but fail to load when using ros2 component load.

This issue only affects rtabmap_util. Other RTAB-Map packages (e.g. rtabmap_sync, rtabmap_odom) work correctly.

---

Environment

ROS 2 distribution: Jazzy (latest available binary packages)
OS: Ubuntu 24.04
Installation method: official binary packages (apt)
Container type: component_container_mt

---

Steps to reproduce

1. List available components

Output of ros2 component types shows valid plugins such as:

rtabmap_util::ImuToTF
rtabmap_util::LidarDeskewing
rtabmap_util::PointCloudXYZ
rtabmap_util::PointCloudAssembler

2. Attempt to load a component

ros2 component load /slam_container rtabmap_util rtabmap_util::ImuToTF
❌ Result:
Failed to load component: Failed to find class with the requested plugin name.

3. Control case (working correctly)

ros2 component load /slam_container rtabmap_sync rtabmap_sync::RGBDSync
✔ Successfully loaded

[matlabbe]

With latest code from source, latest binaries on Humble and on Jazzy, it seems working. Here from a fresh jazzy container:

$ docker run -it --rm ros:jazzy
# apt update
# apt install ros-jazzy-rtabmap-ros

root@3bb764d434d4:/# ros2 run rclcpp_components component_container_mt

$ docker exec -it frosty_panini bash
root@3bb764d434d4:/# source /opt/ros/jazzy/setup.bash
root@3bb764d434d4:/# ros2 component load /ComponentManager rtabmap_util rtabmap_util::ImuToTF
Loaded component 1 into '/ComponentManager' container node as '/imu_to_tf'
root@3bb764d434d4:/# ros2 component load /ComponentManager rtabmap_util rtabmap_util::LidarDeskewing -p fixed_frame_id:=odom
Loaded component 2 into '/ComponentManager' container node as '/lidar_deskewing'
root@3bb764d434d4:/# ros2 component load /ComponentManager rtabmap_util rtabmap_util::PointCloudXYZ
Loaded component 3 into '/ComponentManager' container node as '/point_cloud_xyz'
root@3bb764d434d4:/# ros2 component load /ComponentManager rtabmap_util rtabmap_util::PointCloudAssembler  -p max_clouds:=5
Loaded component 4 into '/ComponentManager' container node as '/point_cloud_assembler'
root@3bb764d434d4:/# ros2 component load /ComponentManager rtabmap_sync rtabmap_sync::RGBDSync
Loaded component 5 into '/ComponentManager' container node as '/rgbd_sync'
root@3bb764d434d4:/# ros2 component load /ComponentManager rtabmap_slam rtabmap_slam::CoreWrapper
Loaded component 6 into '/ComponentManager' container node as '/rtabmap'
root@3bb764d434d4:/# ros2 component load /ComponentManager rtabmap_odom rtabmap_odom::RGBDOdometry
Loaded component 7 into '/ComponentManager' container node as '/rgbd_odometry'

Do you have errors from the container logs? Here the logs on it when I load these components:

root@3bb764d434d4:/# ros2 run rclcpp_components component_container_mt
[INFO] [1781477398.891335265] [ComponentManager]: Load Library: /opt/ros/jazzy/lib/librtabmap_util_plugins.so
[INFO] [1781477399.043327600] [ComponentManager]: Found class: rclcpp_components::NodeFactoryTemplate<rtabmap_util::DisparityToDepth>
[INFO] [1781477399.043384121] [ComponentManager]: Found class: rclcpp_components::NodeFactoryTemplate<rtabmap_util::ImuToTF>
[INFO] [1781477399.043391910] [ComponentManager]: Instantiate class: rclcpp_components::NodeFactoryTemplate<rtabmap_util::ImuToTF>
[INFO] [1781477399.052677601] [imu_to_tf]: fixed_frame_id: odom
[INFO] [1781477399.052693979] [imu_to_tf]: base_frame_id: 
[INFO] [1781477399.052697781] [imu_to_tf]: qos: 0
[INFO] [1781477409.883277724] [ComponentManager]: Found class: rclcpp_components::NodeFactoryTemplate<rtabmap_util::DisparityToDepth>
[INFO] [1781477409.883329695] [ComponentManager]: Found class: rclcpp_components::NodeFactoryTemplate<rtabmap_util::ImuToTF>
[INFO] [1781477409.883333991] [ComponentManager]: Found class: rclcpp_components::NodeFactoryTemplate<rtabmap_util::LidarDeskewing>
[INFO] [1781477409.883339732] [ComponentManager]: Instantiate class: rclcpp_components::NodeFactoryTemplate<rtabmap_util::LidarDeskewing>
[INFO] [1781477409.887192209] [lidar_deskewing]:   fixed_frame_id:  odom
[INFO] [1781477409.887205795] [lidar_deskewing]:   wait_for_transform:  0.010000s
[INFO] [1781477409.887216903] [lidar_deskewing]:   slerp:  false
[INFO] [1781477413.862014626] [ComponentManager]: Found class: rclcpp_components::NodeFactoryTemplate<rtabmap_util::DisparityToDepth>
[INFO] [1781477413.862061242] [ComponentManager]: Found class: rclcpp_components::NodeFactoryTemplate<rtabmap_util::ImuToTF>
[INFO] [1781477413.862067866] [ComponentManager]: Found class: rclcpp_components::NodeFactoryTemplate<rtabmap_util::LidarDeskewing>
[INFO] [1781477413.862085888] [ComponentManager]: Found class: rclcpp_components::NodeFactoryTemplate<rtabmap_util::MapAssembler>
[INFO] [1781477413.862092435] [ComponentManager]: Found class: rclcpp_components::NodeFactoryTemplate<rtabmap_util::ObstaclesDetection>
[INFO] [1781477413.862098685] [ComponentManager]: Found class: rclcpp_components::NodeFactoryTemplate<rtabmap_util::PointCloudAggregator>
[INFO] [1781477413.862106254] [ComponentManager]: Found class: rclcpp_components::NodeFactoryTemplate<rtabmap_util::PointCloudAssembler>
[INFO] [1781477413.862112998] [ComponentManager]: Found class: rclcpp_components::NodeFactoryTemplate<rtabmap_util::PointCloudToDepthImage>
[INFO] [1781477413.862119773] [ComponentManager]: Found class: rclcpp_components::NodeFactoryTemplate<rtabmap_util::PointCloudXYZ>
[INFO] [1781477413.862123806] [ComponentManager]: Instantiate class: rclcpp_components::NodeFactoryTemplate<rtabmap_util::PointCloudXYZ>
[INFO] [1781477413.864933514] [point_cloud_xyz]: Approximate time sync = true
[INFO] [1781477418.195373988] [ComponentManager]: Found class: rclcpp_components::NodeFactoryTemplate<rtabmap_util::DisparityToDepth>
[INFO] [1781477418.195469653] [ComponentManager]: Found class: rclcpp_components::NodeFactoryTemplate<rtabmap_util::ImuToTF>
[INFO] [1781477418.195490407] [ComponentManager]: Found class: rclcpp_components::NodeFactoryTemplate<rtabmap_util::LidarDeskewing>
[INFO] [1781477418.195503163] [ComponentManager]: Found class: rclcpp_components::NodeFactoryTemplate<rtabmap_util::MapAssembler>
[INFO] [1781477418.195515656] [ComponentManager]: Found class: rclcpp_components::NodeFactoryTemplate<rtabmap_util::ObstaclesDetection>
[INFO] [1781477418.195527584] [ComponentManager]: Found class: rclcpp_components::NodeFactoryTemplate<rtabmap_util::PointCloudAggregator>
[INFO] [1781477418.195539542] [ComponentManager]: Found class: rclcpp_components::NodeFactoryTemplate<rtabmap_util::PointCloudAssembler>
[INFO] [1781477418.195552309] [ComponentManager]: Instantiate class: rclcpp_components::NodeFactoryTemplate<rtabmap_util::PointCloudAssembler>
[INFO] [1781477418.201311031] [point_cloud_assembler]: point_cloud_assembler: topic_queue_size=10
[INFO] [1781477418.201327102] [point_cloud_assembler]: point_cloud_assembler: sync_queue_size=10
[INFO] [1781477418.201335514] [point_cloud_assembler]: point_cloud_assembler: qos=0
[INFO] [1781477418.201339358] [point_cloud_assembler]: point_cloud_assembler: qos_odom=0
[INFO] [1781477418.201342772] [point_cloud_assembler]: point_cloud_assembler: fixed_frame_id=odom
[INFO] [1781477418.201345992] [point_cloud_assembler]: point_cloud_assembler: frame_id=
[INFO] [1781477418.201349424] [point_cloud_assembler]: point_cloud_assembler: max_clouds=5
[INFO] [1781477418.201352927] [point_cloud_assembler]: point_cloud_assembler: assembling_time=0.000000s
[INFO] [1781477418.201357907] [point_cloud_assembler]: point_cloud_assembler: skip_clouds=0
[INFO] [1781477418.201361011] [point_cloud_assembler]: point_cloud_assembler: circular_buffer=false
[INFO] [1781477418.201364298] [point_cloud_assembler]: point_cloud_assembler: linear_update=0.000000 m
[INFO] [1781477418.201367650] [point_cloud_assembler]: point_cloud_assembler: angular_update=0.000000 rad
[INFO] [1781477418.201372740] [point_cloud_assembler]: point_cloud_assembler: wait_for_transform=0.100000
[INFO] [1781477418.201379391] [point_cloud_assembler]: point_cloud_assembler: range_min=0.000000
[INFO] [1781477418.201385500] [point_cloud_assembler]: point_cloud_assembler: range_max=0.000000
[INFO] [1781477418.201391759] [point_cloud_assembler]: point_cloud_assembler: voxel_size=0.000000m
[INFO] [1781477418.201397639] [point_cloud_assembler]: point_cloud_assembler: noise_radius=0.000000m
[INFO] [1781477418.201403490] [point_cloud_assembler]: point_cloud_assembler: noise_min_neighbors=5
[INFO] [1781477418.201409741] [point_cloud_assembler]: point_cloud_assembler: remove_z=false
[INFO] [1781477418.201781961] [point_cloud_assembler]: 
point_cloud_assembler subscribed to /cloud
[INFO] [1781477421.576785620] [ComponentManager]: Load Library: /opt/ros/jazzy/lib/librtabmap_sync_plugins.so
[INFO] [1781477421.582960319] [ComponentManager]: Found class: rclcpp_components::NodeFactoryTemplate<rtabmap_sync::RGBDSync>
[INFO] [1781477421.583002844] [ComponentManager]: Instantiate class: rclcpp_components::NodeFactoryTemplate<rtabmap_sync::RGBDSync>
[INFO] [1781477421.586173478] [rgbd_sync]: rgbd_sync: approx_sync = true
[INFO] [1781477421.586188274] [rgbd_sync]: rgbd_sync: approx_sync_max_interval = 0.000000
[INFO] [1781477421.586193791] [rgbd_sync]: rgbd_sync: topic_queue_size  = 10
[INFO] [1781477421.586197398] [rgbd_sync]: rgbd_sync: sync_queue_size  = 10
[INFO] [1781477421.586200308] [rgbd_sync]: rgbd_sync: qos             = 0
[INFO] [1781477421.586203936] [rgbd_sync]: rgbd_sync: qos_camera_info = 0
[INFO] [1781477421.586207244] [rgbd_sync]: rgbd_sync: depth_scale = 1.000000
[INFO] [1781477421.586210876] [rgbd_sync]: rgbd_sync: decimation = 1
[INFO] [1781477421.586213945] [rgbd_sync]: rgbd_sync: compressed_rate = 0.000000
[INFO] [1781477421.588876114] [rgbd_sync]: 
rgbd_sync subscribed to (approx sync):
   /rgb/image,
   /depth/image,
   /rgb/camera_info
[INFO] [1781477425.295587454] [ComponentManager]: Load Library: /opt/ros/jazzy/lib/librtabmap_slam_plugins.so
[INFO] [1781477425.312511713] [ComponentManager]: Found class: rclcpp_components::NodeFactoryTemplate<rtabmap_slam::CoreWrapper>
[INFO] [1781477425.312555465] [ComponentManager]: Instantiate class: rclcpp_components::NodeFactoryTemplate<rtabmap_slam::CoreWrapper>
[INFO] [1781477425.317245061] [rtabmap]: rtabmap(maps): latch                      = true
[INFO] [1781477425.317268788] [rtabmap]: rtabmap(maps): map_filter_radius          = 0.000000
[INFO] [1781477425.317274668] [rtabmap]: rtabmap(maps): map_filter_angle           = 30.000000
[INFO] [1781477425.317279126] [rtabmap]: rtabmap(maps): map_cleanup                = true
[INFO] [1781477425.317282374] [rtabmap]: rtabmap(maps): map_always_update          = false
[INFO] [1781477425.317285474] [rtabmap]: rtabmap(maps): map_empty_ray_tracing      = true
[INFO] [1781477425.317288961] [rtabmap]: rtabmap(maps): cloud_output_voxelized     = true
[INFO] [1781477425.317291960] [rtabmap]: rtabmap(maps): cloud_subtract_filtering   = false
[INFO] [1781477425.317295026] [rtabmap]: rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[INFO] [1781477425.317319249] [rtabmap]: rtabmap(maps): octomap_tree_depth         = 16
[INFO] [1781477425.323223655] [rtabmap]: rtabmap: frame_id      = base_link
[INFO] [1781477425.323241596] [rtabmap]: rtabmap: map_frame_id  = map
[INFO] [1781477425.323245557] [rtabmap]: rtabmap: log_to_rosout_level  = 4
[INFO] [1781477425.323249069] [rtabmap]: rtabmap: initial_pose  = 
[INFO] [1781477425.323252335] [rtabmap]: rtabmap: use_action_for_goal  = false
[INFO] [1781477425.323255696] [rtabmap]: rtabmap: tf_delay      = 0.050000
[INFO] [1781477425.323260594] [rtabmap]: rtabmap: tf_tolerance  = 0.100000
[INFO] [1781477425.323264269] [rtabmap]: rtabmap: odom_sensor_sync   = false
[INFO] [1781477425.323267600] [rtabmap]: rtabmap: pub_loc_pose_only_when_localizing = false
[INFO] [1781477425.323270613] [rtabmap]: rtabmap: wait_for_transform = 0.200000
[INFO] [1781477425.323274029] [rtabmap]: rtabmap: gen_scan  = false
[INFO] [1781477425.323277129] [rtabmap]: rtabmap: gen_depth  = false
[INFO] [1781477425.515386307] [rtabmap]: RTAB-Map detection rate = 1.000000 Hz
[INFO] [1781477425.515481456] [rtabmap]: rtabmap: Using database from "/root/.ros/rtabmap.db" (0 MB).
[INFO] [1781477425.520983997] [rtabmap]: rtabmap: Database version = "0.22.1".
[INFO] [1781477425.521000245] [rtabmap]: rtabmap: SLAM mode (Mem/IncrementalMemory=true)
[INFO] [1781477425.532471536] [rtabmap]: Setup callbacks
[INFO] [1781477425.532589584] [rtabmap]: rtabmap: subscribe_depth = true
[INFO] [1781477425.532598832] [rtabmap]: rtabmap: subscribe_rgb = true
[INFO] [1781477425.532602416] [rtabmap]: rtabmap: subscribe_stereo = false
[INFO] [1781477425.532605719] [rtabmap]: rtabmap: subscribe_rgbd = false (rgbd_cameras=1)
[INFO] [1781477425.532609390] [rtabmap]: rtabmap: subscribe_sensor_data = false
[INFO] [1781477425.532612648] [rtabmap]: rtabmap: subscribe_odom_info = false
[INFO] [1781477425.532616924] [rtabmap]: rtabmap: subscribe_user_data = false
[INFO] [1781477425.532622367] [rtabmap]: rtabmap: subscribe_scan = false
[INFO] [1781477425.532627583] [rtabmap]: rtabmap: subscribe_scan_cloud = false
[INFO] [1781477425.532632368] [rtabmap]: rtabmap: subscribe_scan_descriptor = false
[INFO] [1781477425.532637251] [rtabmap]: rtabmap: topic_queue_size = 10
[INFO] [1781477425.532642368] [rtabmap]: rtabmap: sync_queue_size  = 10
[INFO] [1781477425.532647652] [rtabmap]: rtabmap: qos_image       = 0
[INFO] [1781477425.532651058] [rtabmap]: rtabmap: qos_camera_info = 0
[INFO] [1781477425.532654745] [rtabmap]: rtabmap: qos_scan        = 0
[INFO] [1781477425.532659325] [rtabmap]: rtabmap: qos_odom        = 0
[INFO] [1781477425.532664165] [rtabmap]: rtabmap: qos_user_data   = 0
[INFO] [1781477425.532669492] [rtabmap]: rtabmap: approx_sync     = true
[INFO] [1781477425.532684520] [rtabmap]: Setup depth callback
[INFO] [1781477425.533839388] [rtabmap]: 
rtabmap subscribed to (approx sync):
   /odom \
   /rgb/image \
   /depth/image \
   /rgb/camera_info
[INFO] [1781477429.462727215] [ComponentManager]: Load Library: /opt/ros/jazzy/lib/librtabmap_odom_plugins.so
[INFO] [1781477429.472165089] [ComponentManager]: Found class: rclcpp_components::NodeFactoryTemplate<rtabmap_odom::ICPOdometry>
[INFO] [1781477429.472195933] [ComponentManager]: Found class: rclcpp_components::NodeFactoryTemplate<rtabmap_odom::OdometryROS>
[INFO] [1781477429.472199337] [ComponentManager]: Found class: rclcpp_components::NodeFactoryTemplate<rtabmap_odom::RGBDOdometry>
[INFO] [1781477429.472202347] [ComponentManager]: Instantiate class: rclcpp_components::NodeFactoryTemplate<rtabmap_odom::RGBDOdometry>
[INFO] [1781477429.483417542] [rgbd_odometry]: Odometry: frame_id               = base_link
[INFO] [1781477429.483441141] [rgbd_odometry]: Odometry: odom_frame_id          = odom
[INFO] [1781477429.483446283] [rgbd_odometry]: Odometry: publish_tf             = true
[INFO] [1781477429.483455519] [rgbd_odometry]: Odometry: wait_for_transform     = 0.100000
[INFO] [1781477429.483464706] [rgbd_odometry]: Odometry: log_to_rosout_level    = 4
[INFO] [1781477429.483492815] [rgbd_odometry]: Odometry: initial_pose           = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000
[INFO] [1781477429.483498562] [rgbd_odometry]: Odometry: ground_truth_frame_id  = 
[INFO] [1781477429.483501791] [rgbd_odometry]: Odometry: ground_truth_base_frame_id = base_link
[INFO] [1781477429.483505124] [rgbd_odometry]: Odometry: config_path            = 
[INFO] [1781477429.483508130] [rgbd_odometry]: Odometry: publish_null_when_lost = true
[INFO] [1781477429.483512994] [rgbd_odometry]: Odometry: publish_compressed_sensor_data = false
[INFO] [1781477429.483516193] [rgbd_odometry]: Odometry: guess_frame_id         = 
[INFO] [1781477429.483520067] [rgbd_odometry]: Odometry: guess_min_translation  = 0.000000
[INFO] [1781477429.483525642] [rgbd_odometry]: Odometry: guess_min_rotation     = 0.000000
[INFO] [1781477429.483531023] [rgbd_odometry]: Odometry: guess_min_time         = 0.000000
[INFO] [1781477429.483537027] [rgbd_odometry]: Odometry: expected_update_rate   = 0.000000 Hz
[INFO] [1781477429.483542332] [rgbd_odometry]: Odometry: max_update_rate        = 0.000000 Hz
[INFO] [1781477429.483548339] [rgbd_odometry]: Odometry: min_update_rate        = 0.000000 Hz
[INFO] [1781477429.483553799] [rgbd_odometry]: Odometry: wait_imu_to_init       = false
[INFO] [1781477429.483558779] [rgbd_odometry]: Odometry: always_check_imu_tf    = true
[INFO] [1781477429.483563527] [rgbd_odometry]: Odometry: sensor_data_compression_format = .jpg
[INFO] [1781477429.483568108] [rgbd_odometry]: Odometry: sensor_data_parallel_compression = true
[INFO] [1781477429.483583365] [rgbd_odometry]: Odometry: stereoParams_=0 visParams_=1 icpParams_=0
[INFO] [1781477429.506559279] [rgbd_odometry]: RGBDOdometry: approx_sync    = true
[INFO] [1781477429.506584197] [rgbd_odometry]: RGBDOdometry: approx_sync_max_interval = 0.000000
[INFO] [1781477429.506590839] [rgbd_odometry]: RGBDOdometry: topic_queue_size = 10
[INFO] [1781477429.506595502] [rgbd_odometry]: RGBDOdometry: sync_queue_size  = 5
[INFO] [1781477429.506600271] [rgbd_odometry]: RGBDOdometry: qos             = 0
[INFO] [1781477429.506605327] [rgbd_odometry]: RGBDOdometry: qos_camera_info = 0
[INFO] [1781477429.506609625] [rgbd_odometry]: RGBDOdometry: subscribe_rgbd = false
[INFO] [1781477429.506613782] [rgbd_odometry]: RGBDOdometry: rgbd_cameras   = 1
[INFO] [1781477429.506618428] [rgbd_odometry]: RGBDOdometry: keep_color     = false
[INFO] [1781477429.506623253] [rgbd_odometry]: RGBDOdometry: rgb_transport   = raw
[INFO] [1781477429.506628416] [rgbd_odometry]: RGBDOdometry: depth_transport = raw
[INFO] [1781477429.507341978] [rgbd_odometry]: 
rgbd_odometry subscribed to (approx sync, topic_queue_size=10, sync_queue_size=5):
   /rgb/image,
   /depth/image,
   /rgb/camera_info

[mariamercade]

Today it seems to be working. I don't know what happened, honestly

[mariamercade]

Okay, I see @matlabbe . I think I am having the issue when running the container from a launch file. How should I expect the launch file to be in order to load the plugins?

[mariamercade]

from launch import LaunchDescription
from launch_ros.actions import ComposableNodeContainer
from launch_ros.descriptions import ComposableNode


def generate_launch_description():
    container = ComposableNodeContainer(
        name='test_container',
        namespace='',
        package='rclcpp_components',
        executable='component_container_mt',
        output='screen',
        composable_node_descriptions=[

            # ICP Odometry
            ComposableNode(
                package='rtabmap_odom',
                plugin='rtabmap_odom::ICPOdometry',
                namespace='rtabmap',
                name='icp_odometry'
            ),
            

            # RTAB-Map SLAM
            ComposableNode(
                package='rtabmap_slam',
                plugin='rtabmap_slam::CoreWrapper',
                namespace='rtabmap',
                name='rtabmap'
            ),

            # IMU → TF
            ComposableNode(
                package='rtabmap_util',
                plugin='rtabmap_util::ImuToTF',
                name='imu_to_tf'
            ),

            # Lidar deskewing
            ComposableNode(
                package='rtabmap_util',
                plugin='rtabmap_util::LidarDeskewing',
                name='lidar_deskewing'
            ),
        ],
    )

    return LaunchDescription([container])

Test with this launch file. I think this is related to the order in which composable nodes are loaded. If I write before the utils components then they are loaded successfully