Environment is a Raspberry Pi 4, Raspbian Buster, kernel 4.19.66-v71+, ROS Kinetic Kame, rtabmap v0.19.3, rtabmap_ros v0.19.3 , RealSense D435i camera

Almost everything was installed from source

librealsense works, I can use realsense-viewer, realsense2camera works, I can visualize both RGB and depth with Rviz. The problem happens when I try to use rtabmap. I am using a modified version of the rsrtabmap.launch file (use a single camera, disable gyro, accel, and enable depth alignment and sync).

If I try to launch with rviz, I end up with

rtabmap: /usr/include/boost/smart_ptr/shared_ptr.hpp:728: typename boost::detail::sp_dereference<T>::type boost::shared_ptr<T>::operator*() const [with T = boost::signals2::mutex; typename boost::detail::sp_dereference<T>::type = boost::signals2::mutex&]: Assertion `px != 0' failed.
[rtabmap/rtabmap-4] process has died [pid 2287, exit code -6, cmd /home/pi/catkin_ws/devel/lib/rtabmap_ros/rtabmap --delete_db_on_start rgb/image:=/D435i/color/image_raw depth/image:=/D435i/aligned_depth_to_color/image_raw rgb/camera_info:=/D435i/color/camera_info rgbd_image:=rgbd_image_relay 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 scan:=/scan scan_cloud:=/scan_cloud user_data:=/user_data user_data_async:=/user_data_async gps/fix:=/gps/fix tag_detections:=/tag_detections odom:=/D435i/odom/sample imu:=/imu/data __name:=rtabmap __log:=/home/pi/.ros/log/5f6c9b08-d651-11e9-827c-dca632195a3e/rtabmap-rtabmap-4.log].

If I try to launch with rtabmarviz, I get

* /D435i/realsense2_camertabmap: /usr/include/boost/smart_ptr/shared_ptr.hpp:728: typename boost::detail::sp_dereference<T>::type boost::shared_ptr<T>::operator*() const [with T = boost::signals2::mutex; typename boost::detail::sp_dereference<T>::type = boost::signals2::mutex&]: Assertion `px != 0' failed.
[rtabmap/rtabmap-4] process has died [pid 32379, exit code -6, cmd /home/pi/catkin_ws/devel/lib/rtabmap_ros/rtabmap --delete_db_on_start rgb/image:=/D435i/color/image_raw depth/image:=/D435i/aligned_depth_to_color/image_raw rgb/camera_info:=/D435i/color/camera_info rgbd_image:=rgbd_image_relay 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 scan:=/scan scan_cloud:=/scan_cloud user_data:=/user_data user_data_async:=/user_data_async gps/fix:=/gps/fix tag_detections:=/tag_detections odom:=/D435i/odom/sample imu:=/imu/data __name:=rtabmap __log:=/home/pi/.ros/log/8b64ca02-d64f-11e9-ac7d-dca632195a3e/rtabmap-rtabmap-4.log].
log file: /home/pi/.ros/log/8b64ca02-d64f-11e9-ac7d-dca632195a3e/rtabmap-rtabmap-4*.log
qt5ct: using qt5ct plugin
rtabmapviz: /usr/include/boost/smart_ptr/shared_ptr.hpp:728: typename boost::detail::sp_dereference<T>::type boost::shared_ptr<T>::operator*() const [with T = boost::signals2::mutex; typename boost::detail::sp_dereference<T>::type = boost::signals2::mutex&]: Assertion `px != 0' failed.
[rtabmap/rtabmapviz-5] process has died [pid 32389, exit code -6, cmd /home/pi/catkin_ws/devel/lib/rtabmap_ros/rtabmapviz -d ~/.ros/rtabmap_gui.ini rgb/image:=/D435i/color/image_raw depth/image:=/D435i/aligned_depth_to_color/image_raw rgb/camera_info:=/D435i/color/camera_info rgbd_image:=rgbd_image_relay 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 scan:=/scan scan_cloud:=/scan_cloud odom:=/D435i/odom/sample __name:=rtabmapviz __log:=/home/pi/.ros/log/8b64ca02-d64f-11e9-ac7d-dca632195a3e/rtabmap-rtabmapviz-5.log].

One of the things I noticed was that these messages are happening async to the launch, notice how it cut off a message. I also don't know how to turn on debug during launch, only after, since I only know how to use the GUI rqtloggerlevel

rtabmapviz simply won't show up. rviz will, but not with the data correctly routed, I get no images and no point cloud. HOWEVER, I know my camera works, if I manually add the RGB and depth image from the published camera I can at least see the output from the camera just fine! I just need rtabmap to work

Researching the issue, I found https://github.com/introlab/rtabmap_ros/issues/99 , and it said the solution was to install PCL 1.7 , I looked on my system and see I have 1.9.1 installed. I tried to run "sudo apt-get install libpcl-dev=1.7" and it said it can't find it. "apt-cache madison libpcl-dev" shows only 1.9.1 available from raspbian.

Or maybe I should back off on the rtabmap version? Go back to v0.18.0 full-release instead of the latest pre-release? This takes hours to do, I'd like to ask you guys before going through with this effort

(NOTE: libusb will not work with accel and gyro, something about not being able to claim the interface, so I've disabled accel and gyro in the launch file)

Please help, let me know what I can try or what information you need

$ roslaunch rtabmap_ros rtabmap.launch args:="-d" launch_prefix:="xterm -e gdb --args"

terminate called after throwing an instance of 'std::length_error'
what(): vector::_M_fill_insert
Aborted

cd rtabmap/build 
cmake -DWITH_CVSBA=OFF -DWITH_GTSAM=OFF ..
make

#6  0xa5f76354 in std::__throw_length_error(char const*) () at /usr/lib/arm-linux-gnueabihf/libstdc++.so.6
#7  0xb1d4d7d8 in std::vector<long long, std::allocator<long long> >::_M_fill_insert(__gnu_cxx::__normal_iterator<long long*, std::vector<long long, std::allocator<long long> > >, unsigned int, long long const&) ()
    at /usr/local/lib/libopencv_dnn.so.3.4
#8  0xa157b64c in  () at /usr/lib/arm-linux-gnueabihf/libvtkCommonCore-6.3.so.6.3
#9  0xa1448630 in  () at /usr/lib/arm-linux-gnueabihf/libvtkCommonCore-6.3.so.6.3