rgbdslam crashes with elas_ros [closed]

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Hi everyone,

I am currently trying to evaluate rgbdslam using the stereo processing capabilities of elas_ros. While I have been able to make things work with regular stereo, for some reason this time rgbdslam crashes halfway through. I can't even get the camera input in the GUI, so maybe I am making some kind of mistake in remapping. I couldn't find any relevant info in the log files.

Here is my launch file, please tell me if you need any more info:

NOTE: I am also running stereo_image_proc, merely for image rectification.

<!-- This file demonstrates the parameters that can be set via the parameter server.
     The settings here typically show the default values (c.f. parameter_server.cpp)
     This file strives to enlist all possibilities, to be a good copy-paste source.
     In general most options/tags don't need to be altered/used. -->
<launch>
  <env name="ROSCONSOLE_CONFIG_FILE" value="$(find rgbdslam)/log.conf"/>
  <env name="ROSCONSOLE_FORMAT" value="[${severity}] [${time}]: ${message}"/>

  <arg name="debug" default="false"/>
  <!-- Several possibilities to debug (uncomment only one)-->
  <arg if="$(arg debug)" name="launch_prefix" value="/usr/bin/gdb -ex run -args"/>
  <!--arg if="$(arg debug)" name="launch_prefix" value="/usr/bin/xterm -rv -e gdb -ex run -args"/-->
  <!--arg if="$(arg debug)" name="launch_prefix" value="/usr/bin/valgrind -DELeTEME-tool=cachegrind -DELETEME-cachegrind-out-file=/tmp/cachegrind.out"/-->
  <!--arg if="$(arg debug)" name="launch_prefix" value="/usr/bin/valgrind -DELETEME-leak-check=full "/-->
  <arg unless="$(arg debug)" name="launch_prefix" value=""/>

  <remap from="/videre_camera/left/image_rect_color" to="/stereo/left/image_rect"/>
  <remap from="/videre_camera/left/camera_info" to="/stereo/left/camera_info"/>
  <remap from="/videre_camera/right/image_rect_color" to="/stereo/right/image_rect"/>
  <remap from="/videre_camera/right/camera_info" to="/stereo/right/camera_info"/>

  <node name="videre_camera" pkg="videre_camera" type="videre_camera" />
  <node name="stereo_image_proc" ns="/videre_camera" pkg="stereo_image_proc" type="stereo_image_proc"/>

  <node pkg="elas_ros" type="elas_ros" name="elas" args="stereo:=stereo image:=image_rect" respawn="true">
    <param name="approximate_sync" value="true" />
  </node>

  <node pkg="rgbdslam" type="rgbdslam" name="rgbdslam" cwd="node" required="true" output="log"  launch-prefix="$(arg launch_prefix)"> 
    <!-- Input data settings-->
    <param name="config/topic_image_mono"              value="/camera/rgb/image_mono"/> <!--could also be color -->
    <param name="config/topic_image_depth"             value="/camera/depth/image"/>
    <param name="config/topic_points"                  value="/camera/rgb/points"/> <!--if empty, poincloud will be reconstructed from image and depth -->
    <param name="config/camera_info_topic"             value="/camera/rgb/camera_info"/>
    <param name="config/wide_topic"                    value="/videre_camera/left/image_rect_color"/>
    <param name="config/wide_cloud_topic"              value="/elas/point_cloud"/>
    <param name="config/subscriber_queue_size"         value="2"/>
    <param name="config/drop_async_frames"             value="false"/> <!-- Check association of depth and visual image, reject if not in sync -->
    <param name="config/depth_scaling_factor"          value="1.0"/> <!-- to correct bad depth scaling of kinect -->
    <param name="config/bagfile_name"                  value=""/><!-- read data from a bagfile, make sure to enter the right topics above-->
    <param name="config/data_skip_step"                value="1"/><!-- skip every n-th frame completely -->

    <!-- Output data settings-->
    <param name="config/store_pointclouds"             value="true"/> <!-- if, e.g., only trajectory is required, setting this to false saves lots of memory -->
    <param name="config/individual_cloud_out_topic"    value="/rgbdslam/batch_clouds"/><!-- The point clouds, e.g., for octomap server (the corresp. sensor poses are sent ...