ImageRaw Empty error

[emspark85]

Hi there,

I've got a question about imageraw empty error.
So far, I have successfully created map (rtabmap.db) using RGBD camera (ORBBEC Astra).

I'm now trying to do auto navigation with rtabmap.
First I have set rtabmap to localize only mode + launched, and updated cache from database.

However, whenever it detects loop closure, error occurs as shown below.



What am I missing here???

[matlabbe]

Hi,

Which version of rtabmap are you using? I have difficulty to reproduce the problem with the latest one.

cheers

[emspark85]

Thanks for quick reply all the time!

I have installed ros-kinetic-rtabmap using apt-get.
And versions is shown as below.

park@park-desktop:~$ apt-cache policy ros-kinetic-rtabmap
ros-kinetic-rtabmap:
  Installed: 0.11.13-0xenial-20180115-012254-0800
  Candidate: 0.11.13-0xenial-20180316-150022-0800
  Version table:
     0.11.13-0xenial-20180316-150022-0800 500
        500 http://packages.ros.org/ros/ubuntu xenial/main amd64 Packages
 *** 0.11.13-0xenial-20180115-012254-0800 100
        100 /var/lib/dpkg/status

[matlabbe]

Hi,

I reproduced the bug on 0.11.13 doing this:

# Using kinect here
$ roslaunch freenect_launch freenect.launch depth_registration:=true 

# map without creating occupancy grids
$ roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start --RGBD/CreateOccupancyGrid false"
# map... then close rtabmap.launch

# relaunch in localization and subscribe to map to generate the global occupancy grid
$ roslaunch rtabmap_ros rtabmap.launch localization:=true
$ rostopic hz /rtabmap/grid_map

# When localizing, the error above is shown.

With latest version from source, the same warning messages are appearing but no crash. However, the uncompressDataConst() related warnings should not happen normally, I fixed this in this commit.

cheers,
Mathieu

[emspark85]

Thanks Mat!

I no longer see the error with newest version from github!