RTABMAP_ROS sudden error

asked 2017-06-04 06:45:04 -0600

feignedjesse2 gravatar image

Hello,

I have been using RTABMAP for quite a while now to map my environment using freenect (with kinect 360) and rtabmap. normally I always use roslaunch rtabmap_ros rtabmap.launch, but this does not work anymore suddenly. I get error -11, segmentation error:

 jesse@jesse-W35xSTQ-370ST:~/catkin_ws$ roslaunch rtabmap_ros rtabmap.launch 
... logging to /home/jesse/.ros/log/6bfe6120-490f-11e7-87da-0cd2923bd742/roslaunch-jesse-W35xSTQ-370ST-29710.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://jesse-W35xSTQ-370ST:33719/

SUMMARY
========

PARAMETERS
 * /rosdistro: indigo
 * /rosversion: 1.11.21
 * /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/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/frame_id: camera_link
 * /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 [29728]
process[rtabmap/rtabmap-2]: started with pid [29729]
process[rtabmap/rtabmapviz-3]: started with pid [29730]
[ INFO] [1496574904.414697913]: Initializing nodelet with 8 worker threads.
[ INFO] [1496574904.428332363]: Starting node...
[ INFO] [1496574904.476739692]: Starting node...
[ INFO] [1496574904.495772953]: rtabmap: frame_id = camera_link
[ INFO] [1496574904.495812923]: rtabmap: map_frame_id = map
[ INFO] [1496574904.495826741]: rtabmap: queue_size = 10
[ INFO] [1496574904.495849953]: rtabmap: tf_delay = 0.050000
[ INFO] [1496574904.495864266]: rtabmap: tf_tolerance = 0.100000
[ INFO] [1496574904.495876985]: rtabmap: depth_cameras = 1
[ INFO] [1496574904.495886533]: rtabmap: approx_sync = true
[ INFO] [1496574904.541254182]: rtabmapviz: Using configuration from "/home/jesse/.ros/rtabmap_gui.ini"
[ INFO] [1496574904.673177881]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1496574904.674021232]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[ INFO] [1496574905.065615865]: 
/rtabmap/rgbd_odometry subscribed to (approx sync):
   /camera/rgb/image_rect_color,
   /camera/depth_registered/image_raw,
   /camera/rgb/camera_info
[ INFO] [1496574905.295339803]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1496574905.295393791]: rtabmap: Using database from "/home/jesse/.ros/rtabmap.db".
[ INFO] [1496574905.300958069]: rtabmap: Database version = "0.11.8".
[rtabmap/rtabmapviz-3] process has died [pid 29730, exit code -11, cmd /opt/ros/indigo/lib/rtabmap_ros/rtabmapviz -d ~/.ros/rtabmap_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/camera_info scan:=/scan scan_cloud:=/scan_cloud __name:=rtabmapviz __log:=/home/jesse/.ros/log/6bfe6120-490f-11e7-87da-0cd2923bd742/rtabmap-rtabmapviz-3.log].
log file: /home/jesse/.ros/log/6bfe6120-490f-11e7-87da-0cd2923bd742/rtabmap-rtabmapviz-3*.log
[ INFO] [1496574905.444893836]: 
/rtabmap/rtabmap subscribed to (approx sync):
   /camera/rgb/image_rect_color,
   /camera/depth_registered/image_raw,
   /camera/rgb/camera_info,
   /rtabmap/odom
[ INFO] [1496574905.445257760]: rtabmap 0.11.8 started...

I have tried running the individual nodes and the node rtabmapviz ... (more)

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Comments

Just something to check: make sure you don't have any partial upgrades (ie: updated some packages on your system, while others have been kept / held back). There is no ABI guarantee (yet) with ROS pkgs, and SEGFAULTs are exactly the kind of errors to expect in that case.

gvdhoorn gravatar image gvdhoorn  ( 2017-06-04 10:09:00 -0600 )edit