ERROR: rtabmap/rtabmap-2 process has died

[namjoshiniks]

Hi Mathieu,

I am trying to get the setup ready for rtabmap_ros on my Jetson Tx2 and I am using Primesense Camera. However after the complete setup, I get the error saying  "[rtabmap/rtabmap-2] process has died [pid 9829, exit code -11" when I run the rtabmap using rtabmapviz or rviz. I have seen some other posts where you asked people to get remove rtabmap_ros completely along with the binaries and get the build from source. While removing rtabmap_ros I also ensured that the old binaries as removes using following command.

 

However I still get the same error after that. I am having Ubuntu 16.04 on my JetsonTX2. So my compiler also supports c++11. Can you help me with this?

Below is the output when I try to run following command
roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start"




INFO] [1511028249.311529941]: Odom: quality=125, std dev=0.021203m|0.021203rad, update time=0.055692s
[ INFO] [1511028249.393703158]: Odom: quality=138, std dev=0.019913m|0.019913rad, update time=0.060223s
[ INFO] [1511028249.477460300]: Odom: quality=135, std dev=0.020299m|0.020299rad, update time=0.062957s
[ INFO] [1511028249.484704092]:
/rtabmap/rtabmap subscribed to (approx sync):
   /rtabmap/odom,
   /camera/rgb/image_rect_color,
   /camera/depth/image_raw,
   /camera/rgb/camera_info
[ INFO] [1511028249.543328632]: Odom: quality=131, std dev=0.016788m|0.016788rad, update time=0.061429s
[ INFO] [1511028249.544223954]: rtabmap 0.15.0 started...
[ INFO] [1511028249.616105687]: Odom: quality=142, std dev=0.019976m|0.019976rad, update time=0.048900s
[ INFO] [1511028249.679962769]: Odom: quality=135, std dev=0.020321m|0.020321rad, update time=0.047789s
[ INFO] [1511028249.774908797]: Odom: quality=140, std dev=0.015805m|0.015805rad, update time=0.077759s
[ INFO] [1511028249.860815205]: Odom: quality=135, std dev=0.016812m|0.016812rad, update time=0.063530s
[ INFO] [1511028249.967752738]: Odom: quality=132, std dev=0.020195m|0.020195rad, update time=0.092819s
[ INFO] [1511028250.104243708]: Odom: quality=135, std dev=0.019710m|0.019710rad, update time=0.066136s
[ INFO] [1511028250.174146446]: Odom: quality=126, std dev=0.019188m|0.019188rad, update time=0.057844s
[ INFO] [1511028250.237181262]: Odom: quality=136, std dev=0.028184m|0.028184rad, update time=0.058164s
[ INFO] [1511028250.339060877]: Odom: quality=137, std dev=0.014046m|0.014046rad, update time=0.063689s
[ INFO] [1511028250.399372831]: Odom: quality=127, std dev=0.019678m|0.019678rad, update time=0.056827s
[ INFO] [1511028250.478122519]: Odom: quality=131, std dev=0.018503m|0.018503rad, update time=0.061132s
[ INFO] [1511028250.564014271]: Odom: quality=133, std dev=0.016008m|0.016008rad, update time=0.061060s
[ INFO] [1511028250.631373122]: Odom: quality=137, std dev=0.017180m|0.017180rad, update time=0.056122s
[ INFO] [1511028250.706226612]: Odom: quality=130, std dev=0.017915m|0.017915rad, update time=0.051428s
[rtabmap/rtabmap-2] process has died [pid 9829, exit code -11, cmd /home/nvidia/catkin_ws/devel/lib/rtabmap_ros/rtabmap --delete_db_on_start rgb/image:=/camera/rgb/image_rect_color depth/image:=/camera/depth/image_raw rgb/camera_info:=/camera/rgb/camera_info rgbd_image:=/camera/rgbd_image 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 user_data:=/user_data user_data_async:=/user_data_async __name:=rtabmap __log:=/home/nvidia/.ros/log/3eb6f3a0-cc89-11e7-93bf-00044b8c7fdc/rtabmap-rtabmap-2.log].
log file: /home/nvidia/.ros/log/3eb6f3a0-cc89-11e7-93bf-00044b8c7fdc/rtabmap-rtabmap-2*.log
[ INFO] [1511028250.796044611]: Odom: quality=130, std dev=0.025170m|0.025170rad, update time=0.056753s
[ INFO] [1511028250.853718278]: Odom: quality=127, std dev=0.018007m|0.018007rad, update time=0.050622s


Thanks in advance,
Nikhil

[namjoshiniks]

Hi Mathieu,

I actually was able to fix the issue. I saw in this discussion thread where you suggested to build standalone rtabmap after doing "cmake -DWITH_G2O=OFF -DWITH_GTSAM=OFF ..". I just followed that and rebuilt rtabmap_ros and it works now. There seems to be some issue if we include G2O and GTSAM dependencies.

I am actually a newbie at this, but I have a question. Since g2o is a framework for graph optimizations, do you think excluding it will affect our rtabmap performance ?

Regards,
Nikhil

[matlabbe]

Hi,

Depending on the system, building with g2o installed from binaries would cause some problems (crash at start). From the installation instructions:

ros-kinetic-libg2o: This g2o version (c++03 branch) built from source may be faster than the binaries (install libsuitesparse-dev before building g2o) and would be required to avoid some crashes. RTAB-Map won't build with latest official g2o version from source (since this commit).

If rtabmap is not built with gtsam or g2o, TORO will be used instead, with slightly worst optimizations. If you want g2o, uninstall g2o kinetic binaries and build g2o from source using the link above.

cheers,
Mathieu

[matlabbe]

cross-ref, see debugging instructions here: https://github.com/introlab/rtabmap_ros/issues/28