Installing RTAB-MAP on the NVIDIA Jetson TX2

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When I launch RTAB-Map on the NVIDIA Jetson TX2, the process keeps on dying.

However, if I run the same package in a separate Ubuntu workspace, I do not get this error. RTAB-Map starts up without failure. It seems to have something to do with my hardware (Jetson TX2).

The output for roslaunch on the Jetson TX2 is shown below:

~/catkin_ws$ roslaunch slam_project mapping.launch ... logging to /home/nvidia/.ros/log/a8aae338-2545-11e8-a33e-00044ba7dade/roslaunch-tegra-ubuntu-3859.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://tegra-ubuntu.../ SUMMARY

PARAMETERS

/rosdistro: kinetic
/rosversion: 1.12.12
/rtabmap/rtabmap/Kp/DetectorStrategy: 0
/rtabmap/rtabmap/Kp/MaxFeatures: 400
/rtabmap/rtabmap/Mem/NotLinkedNodesKept: false
/rtabmap/rtabmap/Reg/Force3DoF: true
/rtabmap/rtabmap/Reg/Strategy: 0
/rtabmap/rtabmap/Rtabmap/DetectionRate: 1
/rtabmap/rtabmap/SURF/HessianThreshold: 100
/rtabmap/rtabmap/Vis/MinInliers: 15
/rtabmap/rtabmap/database_path: rtabmap.db
/rtabmap/rtabmap/frame_id: base_footprint
/rtabmap/rtabmap/odom_frame_id: odom
/rtabmap/rtabmap/subscribe_depth: True
/rtabmap/rtabmap/subscribe_scan: True

NODES /rtabmap/ rtabmap (rtabmap_ros/rtabmap)

ROS_MASTER_URI=http://localhost:11311

process[rtabmap/rtabmap-1]: started with pid [3876] [ WARN] (2018-03-11 17:07:19.432) Features2d.cpp:407::create() SURF and SIFT features cannot be used because OpenCV was not built with nonfree module. ORB is used instead.

[ WARN] (2018-03-11 17:07:19.436) Features2d.cpp:407::create() SURF and SIFT features cannot be used because OpenCV was not built with nonfree module. ORB is used instead.

[ WARN] (2018-03-11 17:07:19.441) Features2d.cpp:407::create() SURF and SIFT features cannot be used because OpenCV was not built with nonfree module. ORB is used instead.

[ WARN] (2018-03-11 17:07:19.564) Features2d.cpp:407::create() SURF and SIFT features cannot be used because OpenCV was not built with nonfree module. ORB is used instead.

/camera/rgb/image_raw, /camera/depth/image_raw, /camera/rgb/camera_info, /scan

[rtabmap/rtabmap-1] process has died [pid 3876, exit code -11, cmd /home/nvidia/catkin_ws/devel/lib/rtabmap_ros/rtabmap --delete_db_on_start scan:=/scan rgb/image:=/camera/rgb/image_raw depth/image:=/camera/depth/image_raw rgb/camera_info:=/camera/rgb/camera_info grid_map:=/map __name:=rtabmap __log:=/home/nvidia/.ros/log/a8aae338-2545-11e8-a33e-00044ba7dade/rtabmap-rtabmap-1.log]. log file: /home/nvidia/.ros/log/a8aae338-2545-11e8-a33e-00044ba7dade/rtabmap-rtabmap-1*.log all processes on machine have died, roslaunch will exit shutting down processing monitor... ... shutting down processing monitor complete done . .