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Hi,

For the first warning, it is because memory management is enabled and for some reasons rtabmap cannot transfer enough locations to long-term memory to decrease Working Memory size. Unless you understand very well how memory management is done, I suggest to disable it while you are debugging the mapping. To do so, make sure parameter Rtabmap/TimeThr and Rtabmap/MemoryThr are 0 (by default they are 0).

For the error "VWDictionary.cpp:616::addWordRef() Not found word", it means the database has some data missing (because for example the database was not correctly closed). To repair the database, we have a tool called rtabmap-recovery:

$ rtabmap-recovery ~/.ros/rtabmap.db

cheers,
Mathieu

Hi,

For the first warning, it is because memory management is enabled and for some reasons rtabmap cannot transfer enough locations to long-term memory to decrease Working Memory size. Unless you understand very well how memory management is done, I suggest to disable it while you are debugging the mapping. To do so, make sure parameter Rtabmap/TimeThr and Rtabmap/MemoryThr are 0 (by default they are 0).

For the error "VWDictionary.cpp:616::addWordRef() Not found word", it means the database has some data missing (because for example the database was not correctly closed). To repair the database, we have a tool called rtabmap-recovery:

$ rtabmap-recovery ~/.ros/rtabmap.db

To make sure the database is correctly saved, after doing ctrl-c on terminal that started rtabmap, you should see:

rtabmap: Saving database/long-term memory...done! (located at /home/user/.ros/rtabmap.db, 76 MB)

cheers,
Mathieu