Errors while building and running demo

[shashank]

Hii,
I got few errors while running demo stereo outdoor mapping
1.  stereo odometry node crashed after running for few frames
[rtabmap/stereo_odometry-5] process has died [pid 24535, exit code -11, cmd /home/cair/zed_ws/devel/lib/rtabmap_ros/stereo_odometry left/image_rect:=/stereo_camera/left/image_rect right/image_rect:=/stereo_camera/right/image_rect left/camera_info:=/stereo_camera/left/camera_info_throttle right/camera_info:=/stereo_camera/right/camera_info_throttle odom:=/stereo_odometry __name:=stereo_odometry

in order to resolve this i tried updating the rtab map library . I got the following errors

Linking CXX executable CMakeFiles/CMakeRelink.dir/rtabmap
/usr/bin/ld: warning: libg2o_opengl_helper.so, needed by /opt/ros/kinetic/lib/libg2o_types_slam2d.so, not found (try using -rpath or -rpath-link)
/opt/ros/kinetic/lib/libg2o_types_slam3d.so: undefined reference to `g2o::opengl::drawPyramid(float, float)'
/opt/ros/kinetic/lib/libg2o_types_slam3d.so: undefined reference to `g2o::opengl::drawBox(float, float, float)'
/opt/ros/kinetic/lib/libg2o_types_slam2d.so: undefined reference to `g2o::opengl::drawArrow2D(float, float, float)'
/opt/ros/kinetic/lib/libg2o_types_slam2d.so: undefined reference to `g2o::opengl::drawPoint(float)'
collect2: error: ld returned 1 exit status
app/src/CMakeFiles/rtabmap.dir/build.make:938: recipe for target 'app/src/CMakeFiles/CMakeRelink.dir/rtabmap' failed
make[2]: *** [app/src/CMakeFiles/CMakeRelink.dir/rtabmap] Error 1
CMakeFiles/Makefile2:480: recipe for target 'app/src/CMakeFiles/rtabmap.dir/preinstall' failed
make[1]: *** [app/src/CMakeFiles/rtabmap.dir/preinstall] Error 2
Makefile:155: recipe for target 'preinstall' failed
make: *** [preinstall] Error 2


Help me to resolve this

thanks

[matlabbe]

Hi,

for the libg2o error, it is strange because "libg2o_opengl_helper.so" exists on my system:

/opt/ros/kinetic/lib/libg2o_opengl_helper.so

For the stereo demo error, make sure you have corresponding rtabmap and rtabmap_ros versions (don't mix rtabmap binaries and those built from source, or make sure you are using the same branch of both projects).

I tried rtabmap/rtabmap_ros kinetic binaries and the demo is working correctly. From latest code from source, I just fixed a backward compatibility problem (just update/resintall rtabmap) making clouds/occupancy grids not rendered correctly.

cheers,
Mathieu