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PCL >= 1.8 is built by default with -march=native, so every dependencies of rtabmap using Eigen (e.g., g2o) should be also built with this flag, otherwise rtabmap nodes are crashing on start. See also https://github.com/introlab/rtabmap/issues/343#issuecomment-443476732

You can launch the nodes in gdb to see more info about the crash. See http://wiki.ros.org/roslaunch/Tutorials/Roslaunch%20Nodes%20in%20Valgrind%20or%20GDB

Example:

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

cheers,
Mathieu