Error while running rtabmap for the real robot!

[Masoumeh]

Hi,
I connected to the vehicle and launched rtabamp, but it shows the following error:

/rtabmap/rtabmap subscribed to:
   /velodyne_points
[ WARN] [1621439875.019244972]: There is no image subscription, bag-of-words loop closure detection will be disabled...
[ WARN] [1621439875.019301349]: Setting Kp/MaxFeatures=-1 (bag-of-words disabled)
[FATAL] (2021-05-19 16:57:55.281) MsgConversion.cpp:2198::convertScan3dMsg() Condition (scan3dMsg.data.size() == scan3dMsg.row_step*scan3dMsg.height) not met! [data=590480 row_step=0 height=1]
terminate called after throwing an instance of 'UException'
  what():  [FATAL] (2021-05-19 16:57:55.281) MsgConversion.cpp:2198::convertScan3dMsg() Condition (scan3dMsg.data.size() == scan3dMsg.row_step*scan3dMsg.height) not met! [data=590480 row_step=0 height=1]
[rtabmap/rtabmap-1] process has died [pid 20716, exit code -6, cmd /home/henry/masoumeh_ws/devel/lib/rtabmap_ros/rtabmap --Reg/Force3DoF false --Reg/Strategy 1 --RGBD/NeighborLinkRefining true --ICP/PM false --Icp/PMOutlierRatio 0.7 --Icp/VoxelSize 0.2 --Icp/MaxCorrespondenceDistance 1 --Icp/PointToPlaneGroundNormalsUp 0.9 --Icp/Iterations 10 --Icp/Epsilon 0.001 --OdomF2M/ScanSubtractRadius 0.2 --OdomF2M/ScanMaxSize 15000 --Grid/ClusterRadius 1 --Grid/RangeMax 20 --Grid/RayTracing true --Grid/CellSize 0.2 --Icp/PointToPlaneRadius 0 -d /rtabmap/grid_map:=/map rgb/image:=/realsense/color/image_raw_relay depth/image:=/realsense/depth/image_rect_raw_relay rgb/camera_info:=/realsense/color/camera_info rgbd_image:=rgbd_image_relay left/image_rect:=/stereo_camera/left/image_rect_color_relay right/image_rect:=/stereo_camera/right/image_rect_relay left/camera_info:=/stereo_camera/left/camera_info right/camera_info:=/stereo_camera/right/camera_info scan:=/scan scan_cloud:=/velodyne_points scan_descriptor:=/scan_descriptor user_data:=/user_data user_data_async:=/user_data_async tag_detections:=/tag_detections odom:=/odometry/filtered imu:=/gx5/imu/data __name:=rtabmap __log:=/home/henry/.ros/log/e7f78ad6-b8a5-11eb-b46d-a0cec8c2f734/rtabmap-rtabmap-1.log].
log file: /home/henry/.ros/log/e7f78ad6-b8a5-11eb-b46d-a0cec8c2f734/rtabmap-rtabmap-1*.log
^C[find_object_3d-2] killing on exit
^C^C[find_object_3d-2] escalating to SIGTERM
shutting down processing monitor...
... shutting down processing monitor complete
done


How can i fix it?
thanks

[Masoumeh]

Hi everyone,

Does anybody know, how to solve this error?

I have connected to the robot, and launched rtabmap, but it shows the above error.

thanks a lot

[Masoumeh]

Hi everone,

I would be grateful if anybody can support me for this issue. everytime that I run rtabmap, it shows the mentioned error. how can I resolve it?

Thanks alot

[matlabbe]

duplicate of

http://official-rtab-map-forum.206.s1.nabble.com/Condition-scan3dMsg-data-size-scan3dMsg-row-step-scan3dMsg-height-not-met-td7852.html#a8066

https://answers.ros.org/question/377470/rtabmap-icp_odometrycpp453callbackcloud-fatal-error/

[Masoumeh]

Dear Mattieu,

Thanks for your reply, but i could not understand, what should i do? i have attached datacontainerbase.h:
 datacontainerbase.h
 
I should make changes to this file?
Note: I have installed rtabmap from source
thanks

[matlabbe]

See the referred pull request: https://github.com/ros-drivers/velodyne/pull/404/files
If you build this package https://github.com/ros-drivers/velodyne from source, you should have the patch.

[Masoumeh]

sorry, one more question,
I am working with ros kinetic, ubuntu 16.04. it seems the file which you have mentioned here:
https://github.com/ros-drivers/velodyne/pull/404/files , is different from the file that i have: datacontainerbase.h


so i confused what to do. even though i made those changes, but it did not work

[Masoumeh]

now i have downloaded the velodyne_master from the website which you mentioned, and did catkin_make. there was not any error. but again when launching rtabmap, the same error:

[ INFO] [1621863740.410680158]:
/rtabmap/rtabmap subscribed to:
   /velodyne_points
[ WARN] [1621863740.410742451]: There is no image subscription, bag-of-words loop closure detection will be disabled...
[ WARN] [1621863740.410765502]: Setting Kp/MaxFeatures=-1 (bag-of-words disabled)
[FATAL] (2021-05-24 14:42:20.614) MsgConversion.cpp:2198::convertScan3dMsg() Condition (scan3dMsg.data.size() == scan3dMsg.row_step*scan3dMsg.height) not met! [data=591690 row_step=0 height=1]

would you please support to fix this issue?
Thanks

[Masoumeh]

Dear Mattieu,
Would you plase support to fix thi9s issue?

thanks

[Masoumeh]

Dear Mattieu,

my issue, has not fixed yet. I have downloaded velodyne_master, and then did catkin_make in my workspace. and then run rtabmap, but again i have error:

[FATAL] (2021-05-27 16:14:50.261) MsgConversion.cpp:2198::convertScan3dMsg() Condition (scan3dMsg.data.size() == scan3dMsg.row_step*scan3dMsg.height) not met! [data=590964 row_step=0 height=1]


Kindly please support me to resolve it.
Thanks

[Masoumeh]

now, i have also tried to test my velodyne, i connected to the robot and then run:

roslaunch rtabmap_ros test_velodyne.launch

but i get the following error:
velodyne_error.png

what does it mean?
what should i do?
I am also using vlodyne-16

Thanks