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rtabmapviz process dies early

asked 2016-10-18 15:34:20 -0500

jacksonkr_ gravatar image

updated 2016-10-24 10:29:39 -0500

Precursor:

$ roscore
$ roslaunch realsense_camera r200_nodelet_rgbd.launch

What's going on here? Why is rtabmapviz dying so quickly?

$ roslaunch rtabmap_ros rgbd_mapping.launch 
... logging to /home/jackson/.ros/log/b33ea4b2-9570-11e6-b676-a0999b17aec5/roslaunch-jackson-MacBookPro-6794.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://192.168.1.100:42536/

SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.5
 * /rtabmap/rgbd_odometry/approx_sync: True
 * /rtabmap/rgbd_odometry/config_path: 
 * /rtabmap/rgbd_odometry/frame_id: camera_link
 * /rtabmap/rgbd_odometry/queue_size: 10
 * /rtabmap/rgbd_odometry/wait_for_transform_duration: 0.2
 * /rtabmap/rtabmap/Mem/IncrementalMemory: true
 * /rtabmap/rtabmap/Mem/InitWMWithAllNodes: false
 * /rtabmap/rtabmap/approx_sync: True
 * /rtabmap/rtabmap/config_path: 
 * /rtabmap/rtabmap/database_path: ~/.ros/rtabmap.db
 * /rtabmap/rtabmap/frame_id: camera_link
 * /rtabmap/rtabmap/odom_frame_id: 
 * /rtabmap/rtabmap/queue_size: 10
 * /rtabmap/rtabmap/subscribe_depth: True
 * /rtabmap/rtabmap/subscribe_scan: False
 * /rtabmap/rtabmap/subscribe_scan_cloud: False
 * /rtabmap/rtabmap/subscribe_stereo: False
 * /rtabmap/rtabmap/wait_for_transform_duration: 0.2
 * /rtabmap/rtabmapviz/approx_sync: True
 * /rtabmap/rtabmapviz/frame_id: camera_link
 * /rtabmap/rtabmapviz/odom_frame_id: 
 * /rtabmap/rtabmapviz/queue_size: 10
 * /rtabmap/rtabmapviz/subscribe_depth: True
 * /rtabmap/rtabmapviz/subscribe_odom_info: True
 * /rtabmap/rtabmapviz/subscribe_scan: False
 * /rtabmap/rtabmapviz/subscribe_scan_cloud: False
 * /rtabmap/rtabmapviz/subscribe_stereo: False
 * /rtabmap/rtabmapviz/wait_for_transform_duration: 0.2

NODES
  /rtabmap/
    rgbd_odometry (rtabmap_ros/rgbd_odometry)
    rtabmap (rtabmap_ros/rtabmap)
    rtabmapviz (rtabmap_ros/rtabmapviz)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[rtabmap/rgbd_odometry-1]: started with pid [6812]
process[rtabmap/rtabmap-2]: started with pid [6813]
process[rtabmap/rtabmapviz-3]: started with pid [6814]
[ INFO] [1476822262.278703499]: Starting node...
[ INFO] [1476822262.300688429]: Initializing nodelet with 8 worker threads.
[ INFO] [1476822262.306455845]: Initializing nodelet with 8 worker threads.
[ INFO] [1476822262.477047306]: Starting node...
[ INFO] [1476822262.485657885]: /rtabmap/rtabmap(maps): grid_cell_size             = 0.050000
[ INFO] [1476822262.485687607]: /rtabmap/rtabmap(maps): grid_incremental           = false
[ INFO] [1476822262.485700524]: /rtabmap/rtabmap(maps): grid_size                  = 0.000000
[ INFO] [1476822262.485714750]: /rtabmap/rtabmap(maps): grid_eroded                = false
[ INFO] [1476822262.485728745]: /rtabmap/rtabmap(maps): grid_footprint_radius      = 0.000000
[ INFO] [1476822262.485744427]: /rtabmap/rtabmap(maps): map_filter_radius          = 0.000000
[ INFO] [1476822262.485761776]: /rtabmap/rtabmap(maps): map_filter_angle           = 30.000000
[ INFO] [1476822262.485777355]: /rtabmap/rtabmap(maps): map_cleanup                = true
[ INFO] [1476822262.485793033]: /rtabmap/rtabmap(maps): map_negative_poses_ignored = false
[ INFO] [1476822262.485808450]: /rtabmap/rtabmap(maps): cloud_output_voxelized     = true
[ INFO] [1476822262.485823584]: /rtabmap/rtabmap(maps): cloud_subtract_filtering   = false
[ INFO] [1476822262.485838920]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1476822262.534937495]: rtabmap: frame_id      = camera_link
[ INFO] [1476822262.534964457]: rtabmap: map_frame_id  = map
[ INFO] [1476822262.534977520]: rtabmap: tf_delay      = 0.050000
[ INFO] [1476822262.534991264]: rtabmap: tf_tolerance  = 0.100000
[ INFO] [1476822262.535003776]: rtabmap: odom_sensor_sync   = false
[ INFO] [1476822262.575590504]: rtabmapviz: Using configuration from "/home/jackson/catkin_ws/src/rtabmap_ros/launch/config/rgbd_gui.ini"
[ INFO] [1476822262.843327416]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1476822262.844464265]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[ INFO] [1476822263.002834453]: 
/rtabmap/rgbd_odometry subscribed to (approx sync):
   /camera/rgb/image_rect_color,
   /camera/depth_registered/image_raw,
   /camera/rgb/camera_info
[rtabmap/rtabmapviz-3] process has died [pid 6814, exit code -11, cmd /home/jackson/catkin_ws/devel/lib/rtabmap_ros/rtabmapviz -d /home/jackson/catkin_ws/src/rtabmap_ros/launch/config/rgbd_gui.ini rgb/image:=/camera/rgb/image_rect_color depth/image:=/camera/depth_registered/image_raw rgb/camera_info:=/camera/rgb/camera_info 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 ...
(more)
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Comments

1

This could be a graphic problem (as OpenGL/VTK/Qt5 is used). For the other nodes, they tell that they are not receiving any data.

matlabbe gravatar imagematlabbe ( 2016-10-23 13:36:55 -0500 )edit

Workaround, try RVIZ instead. If standalone $ rtabmap can be started without problems, this could be a linked libraries problem (on runtime it is not the same libraries used than on build, see $ ldd rtabmapviz).

matlabbe gravatar imagematlabbe ( 2016-10-23 13:39:29 -0500 )edit

1 Answer

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answered 2016-10-24 10:41:51 -0500

jacksonkr_ gravatar image

This error has gone away at this point. Here's my thoughts on what was causing it and why it's now gone.

A) VirtualBox (vm) gpu issues:

I'm not sure I was getting this error in the VM or on dual boot, regardless vm makes sense because rviz would crash as well. The get rviz working I had to disable gpu usage and stick with straight cpu. This is most likely what was happening.

B) librealsense api conflicts: ros-[distro]-librealsense and librealsense compiled from source don't see to like each other. That is, because they are causing mixed dependencies and when an API isn't matched, things break. That being said, I've had the nodelet crash because of an api mismatch before but I was at least alerted of the issue, so I doubt it was involved here at all.

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Asked: 2016-10-18 15:34:20 -0500

Seen: 276 times

Last updated: Oct 24 '16