RGBDSlam crashes after a few minutes of running
Hi,
I am running RGBDSlam along with slam_gmapping and hector_exploration_node. Basically, my robot uses hector_Exploration to navigate by using a 2D map created from slam_gmapping. While this is happening, I am running RGBDSlam to create a 3D map.
The problem I am having is that when I run RGBDSlam for longer than 3 mins, the GUI disappears and it crashes. I have been getting exit codes 6 and 11. I switched to RGBDSlam headless mode and it seemed to map for 5 mins without crashing but when I tried to save the file, it said it saved but it never showed up in the directory I saved to and the computer crashed.
So, I was wondering if anyone else has these issues and if there are any solutions. Any help will be appreciated, thank you!
EDIT: This is the debug output when I ran RGBDSlam with the GUI and RGBDSlam crashed.
[ INFO] [1365615045.098933833]: Added Edge between 152 and 164. Inliers: 89
[ INFO] [1365615045.098977351]: new node has id 164
[ INFO] [1365615045.099025858]: Rotation: 29.85, Distance: 0.037m
[ INFO] [1365615045.099081822]: Rotation: 29.85, Distance: 0.037m
[ INFO] [1365615045.099356830]: Added Edge (162-164) to Optimizer:
0.867364 0.00369345 -0.497661 -0.0336218
-5.5463e-05 0.999973 0.00732476 -0.0104783
0.497674 -0.00632563 0.867341 0.012728
0 0 0 1
Information Matrix10.8007 0 0 0 0 0
0 10.8007 0 0 0 0
0 0 10.8007 0 0 0
0 0 0 10.8007 0 0
0 0 0 0 10.8007 0
0 0 0 0 0 10.8007
[ INFO] [1365615045.099517768]: Cleaning: removed 0 matches from 51
[ INFO] [1365615045.099585683]: Added Edge between 162 and 164. Inliers: 51
[ INFO] [1365615045.099634431]: new node has id 164
[ INFO] [1365615045.099677494]: Rotation: 21.61, Distance: 0.061m
[ INFO] [1365615045.099731280]: Rotation: 21.61, Distance: 0.061m
[ INFO] [1365615045.100021379]: Added Edge (161-164) to Optimizer:
0.929718 -0.00995286 -0.368137 -0.0453404
0.00828569 0.999947 -0.00610908 0.00844803
0.368178 0.00262946 0.929752 0.0395426
0 0 0 1
Information Matrix12.3319 0 0 0 0 0
0 12.3319 0 0 0 0
0 0 12.3319 0 0 0
0 0 0 12.3319 0 0
0 0 0 0 12.3319 0
0 0 0 0 0 12.3319
[ INFO] [1365615045.100179181]: Cleaning: removed 0 matches from 51
[ INFO] [1365615045.100259039]: Added Edge between 161 and 164. Inliers: 51
Program received signal SIGSEGV, Segmentation fault.
0x00007ffff03e2db6 in ?? () from /lib/x86_64-linux-gnu/libc.so.6
(gdb) ^CQuit
(gdb) ^CQuit
(gdb) backtrace
#0 0x00007ffff03e2db6 in ?? () from /lib/x86_64-linux-gnu/libc.so.6
#1 0x00007fffaecb36cf in ?? ()
from /usr/lib/x86_64-linux-gnu/dri/libdricore.so
#2 0x0000000000597a85 in GLViewer::pointCloud2GLStrip (this=0xad57b0, pc=
0x7ffe4fefa510)
at /home/iriss/ros/rosbuild_ws/rgbdslam_freiburg/rgbdslam/src/glviewer.cpp:713
#3 0x000000000059848a in GLViewer::addPointCloud (this=0xad57b0,
pc=0x7ffe4fefa510, transform=...)
at /home/iriss/ros/rosbuild_ws/rgbdslam_freiburg/rgbdslam/src/glviewer.cpp:557
#4 0x00000000005da1ae in GLViewer::qt_static_metacall (_o=<optimized out ...
I don't know if this is related to much, however, sometimes I get an invalid depth-map (depth image) which causes a crash. I have no clue why I get an invalid image, but I just hope that it doesn't show up.