Error while running rtabmap on my robot

[Alex]

Hi,

I'm trying to run rtabmap on a robot equipped with Asus camera and getting an error.

... logging to /home/komodo/.ros/log/c7f45b30-6dda-11e6-a1aa-000df0ad5478/roslaunch-komodo-Intense-PC-12271.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://komodo-Intense-PC:37573/

SUMMARY
========

PARAMETERS
 * /rosdistro: indigo
 * /rosversion: 1.11.9
 * /rtabmap/rgbd_odometry/approx_sync: True
 * /rtabmap/rgbd_odometry/config_path:
 * /rtabmap/rgbd_odometry/frame_id: Asus_Camera_link
 * /rtabmap/rgbd_odometry/queue_size: 10
 * /rtabmap/rgbd_odometry/wait_for_transform_duration: 0.2
 * /rtabmap/rtabmap/Mem/IncrementalMemory: true
 * /rtabmap/rtabmap/Mem/InitWMWithAllNodes: false
 * /rtabmap/rtabmap/approx_sync: True
 * /rtabmap/rtabmap/config_path:
 * /rtabmap/rtabmap/database_path: ~/.ros/rtabmap.db
 * /rtabmap/rtabmap/frame_id: Asus_Camera_link
 * /rtabmap/rtabmap/odom_frame_id:
 * /rtabmap/rtabmap/queue_size: 10
 * /rtabmap/rtabmap/subscribe_depth: True
 * /rtabmap/rtabmap/subscribe_scan: False
 * /rtabmap/rtabmap/subscribe_scan_cloud: False
 * /rtabmap/rtabmap/subscribe_stereo: False
 * /rtabmap/rtabmap/wait_for_transform_duration: 0.2
 * /rtabmap/rtabmapviz/frame_id: Asus_Camera_link
 * /rtabmap/rtabmapviz/odom_frame_id:
 * /rtabmap/rtabmapviz/queue_size: 10
 * /rtabmap/rtabmapviz/subscribe_depth: True
 * /rtabmap/rtabmapviz/subscribe_odom_info: True
 * /rtabmap/rtabmapviz/subscribe_scan: False
 * /rtabmap/rtabmapviz/subscribe_scan_cloud: False
 * /rtabmap/rtabmapviz/subscribe_stereo: False
 * /rtabmap/rtabmapviz/wait_for_transform_duration: 0.2

NODES
  /rtabmap/
    rgbd_odometry (rtabmap_ros/rgbd_odometry)
    rtabmap (rtabmap_ros/rtabmap)
    rtabmapviz (rtabmap_ros/rtabmapviz)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[rtabmap/rgbd_odometry-1]: started with pid [12346]
process[rtabmap/rtabmap-2]: started with pid [12361]
[ INFO] [1472469785.765967767]: Initializing nodelet with 4 worker threads.
process[rtabmap/rtabmapviz-3]: started with pid [12392]
[ INFO] [1472469786.032733359]: Starting node...
[ INFO] [1472469786.295712014]: rtabmap: frame_id = Asus_Camera_link
[ INFO] [1472469786.295798954]: rtabmap: map_frame_id = map
[ INFO] [1472469786.295837978]: rtabmap: queue_size = 10
[ INFO] [1472469786.296175657]: rtabmap: tf_delay = 0.050000
[ INFO] [1472469786.296291582]: rtabmap: tf_tolerance = 0.100000
[ INFO] [1472469786.296397562]: rtabmap: depth_cameras = 1
[ INFO] [1472469786.296499555]: rtabmap: approx_sync = true
[ INFO] [1472469786.458365563]: Starting node...
[ INFO] [1472469786.675622559]: rtabmapviz: Using configuration from "/home/komodo/.ros/rtabmap_gui.ini"
[ INFO] [1472469786.974997099]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1472469786.976330309]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[ INFO] [1472469787.804485394]: Reading parameters from the ROS server...
[ INFO] [1472469788.061835473]:
/rtabmap/rgbd_odometry subscribed to (approx sync):
   /komodo_1/Asus_Camera/rgb/image_raw,
   /komodo_1/Asus_Camera/depth_registered/image_raw,
   /komodo_1/Asus_Camera/rgb/camera_info
[ INFO] [1472469788.458388547]: Parameters read = 0
OpenCV Error: The function/feature is not implemented (Unknown/unsupported array type) in type, file /home/komodo/opencv/modules/core/src/matrix.cpp, line 1837
terminate called after throwing an instance of 'cv::Exception'
  what():  /home/komodo/opencv/modules/core/src/matrix.cpp:1837: error: (-213) Unknown/unsupported array type in function type

[rtabmap/rgbd_odometry-1] process has died [pid 12346, exit code -6, cmd /home/komodo/catkin_ws/devel/lib/rtabmap_ros/rgbd_odometry rgb/image:=/komodo_1/Asus_Camera/rgb/image_raw depth/image:=/komodo_1/Asus_Camera/depth_registered/image_raw rgb/camera_info:=/komodo_1/Asus_Camera/rgb/camera_info __name:=rgbd_odometry __log:=/home/komodo/.ros/log/c7f45b30-6dda-11e6-a1aa-000df0ad5478/rtabmap-rgbd_odometry-1.log].
log file: /home/komodo/.ros/log/c7f45b30-6dda-11e6-a1aa-000df0ad5478/rtabmap-rgbd_odometry-1*.log
[ INFO] [1472469789.213910346]:
/rtabmap/rtabmapviz subscribed to:
   /komodo_1/Asus_Camera/rgb/image_raw,
   /komodo_1/Asus_Camera/depth_registered/image_raw,
   /komodo_1/Asus_Camera/rgb/camera_info,
   /rtabmap/odom,
   /rtabmap/odom_info
[ INFO] [1472469789.308938845]: rtabmapviz started.
[ INFO] [1472469789.558175556]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1472469789.558278004]: rtabmap: Using database from "/home/komodo/.ros/rtabmap.db".
[ INFO] [1472469789.570431495]: rtabmap: Database version = "0.11.9".
[ INFO] [1472469790.066219494]:
/rtabmap/rtabmap subscribed to (approx sync):
   /komodo_1/Asus_Camera/rgb/image_raw,
   /komodo_1/Asus_Camera/depth_registered/image_raw,
   /komodo_1/Asus_Camera/rgb/camera_info,
   /rtabmap/odom
[ INFO] [1472469790.069080919]: rtabmap 0.11.9 started...

Any ideas?

[matlabbe]

Hi,

Do you have multiple OpenCV installations? OpenCV version 2 or 3?

I assume you are using rtabmap.launch file, try this to add more debugging info

$ roslaunch rtabmap_ros rtabmap.launch odom_args:="--udebug" [other arguments...]

cheers