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the error :
chong@ubuntu:~$ roslaunch rgbdslam rgbdslam.launch ... logging to /home/chong/.ros/log/ecef703a-adb5-11e1-aba4-74e50b030cfa/roslaunch-ubuntu-2680.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://ubuntu:36167/ SUMMARY ======== PARAMETERS * /rgbdslam/config/predecessor_candidates * /rgbdslam/config/wide_cloud_topic * /rosdistro * /rgbdslam/config/use_gui * /rgbdslam/config/visualization_skip_step * /rgbdslam/config/individual_cloud_out_topic * /rgbdslam/config/max_keypoints * /rgbdslam/config/sufficient_matches * /rgbdslam/config/max_connections * /rgbdslam/config/min_keypoints * /rgbdslam/config/optimizer_skip_step * /rosversion * /rgbdslam/config/store_pointclouds * /rgbdslam/config/matcher_type * /rgbdslam/config/min_sampled_candidates * /rgbdslam/config/topic_image_mono * /rgbdslam/config/feature_detector_type * /rgbdslam/config/feature_extractor_type * /rgbdslam/config/wide_topic * /rgbdslam/config/neighbor_candidates * /rgbdslam/config/drop_async_frames NODES / rgbdslam (rgbdslam/rgbdslam) ROS_MASTER_URI=http://localhost:11311 core service [/rosout] found process[rgbdslam-1]: started with pid [2698] bool g2o::HyperGraphActionLibrary::registerAction(g2o::HyperGraphElementAction*): creating collection for "writeGnuplot" bool g2o::HyperGraphActionLibrary::registerAction(g2o::HyperGraphElementAction*): creating collection for "draw" [ERROR] [1338753284.746435498]: Cannot use concurrent node construction with SiftGPU matcher! 'concurrent_node_construction' was set to false [ERROR] [1338753284.746594629]: Cannot use concurrent edge construction with SiftGPU matcher! 'concurrent_edge_construction' was set to false