rtabmapviz process dies early
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 ...
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.
Workaround, try RVIZ instead. If standalone
$ rtabmapcan 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).