Problem while running RTAB-Map installed from ROS

[g.bartoli]

Hi Mathieu,
I have a fresh Ubuntu 16.04 + ROS Kinetic install with all updates.
I have to make some tests with stereo odometry using data from a Duo3D camera so I installed RTAB-Map from the standard ROS package with

sudo apt-get install ros-kinetic-rtabmap-ros

then I created a simple launch file just to test if everything is working (no other nodes are running):

<launch>
    <node pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="screen"/>
<launch>

However, when I launch it, I receive the following error:

/opt/ros/kinetic/lib/rtabmap_ros/stereo_odometry: error while loading shared libraries: librtabmap_core.so.0.11: cannot open shared object file: No such file or directory
failed to start local process: /opt/ros/kinetic/lib/rtabmap_ros/stereo_odometry __name:=stereo_odometry __log:=/home/agrirobot/.ros/log/33572a9a-473b-11e6-9c2d-0001c0182df6/stereo_odometry-6.log
local launch of rtabmap_ros/stereo_odometry failed
[stereo_odometry-6] process has died [pid -1, exit code 127, cmd /opt/ros/kinetic/lib/rtabmap_ros/stereo_odometry __name:=stereo_odometry __log:=/home/agrirobot/.ros/log/33572a9a-473b-11e6-9c2d-0001c0182df6/stereo_odometry-6.log].
log file: /home/agrirobot/.ros/log/33572a9a-473b-11e6-9c2d-0001c0182df6/stereo_odometry-6*.log

It seems it cannot find the rtabmap library... Wasn't it supposed to be installed together with the ROS package?

Thanks,
Guido

[g.bartoli]

As a side note, running rtabmap standalone from terminal works, it just give some warnings, but I think they are not related with the other problem:

~$ rtabmap
[ INFO] (2016-07-11 10:07:33.509) PreferencesDialog.cpp:1841::writeSettings() modified RGBD/ProximityAngle = 45.0->45
[ INFO] (2016-07-11 10:07:33.509) PreferencesDialog.cpp:1841::writeSettings() modified Rtabmap/LoopRatio = 0.0->0
[ INFO] (2016-07-11 10:07:33.509) PreferencesDialog.cpp:1841::writeSettings() modified Rtabmap/TimeThr = 0.0->0
[ INFO] (2016-07-11 10:07:33.509) PreferencesDialog.cpp:1841::writeSettings() modified Vis/MaxDepth = 0.0->0
[ INFO] (2016-07-11 10:07:33.509) PreferencesDialog.cpp:1841::writeSettings() modified Vis/MinDepth = 0.0->0
[ INFO] (2016-07-11 10:07:33.509) PreferencesDialog.cpp:1841::writeSettings() modified Vis/PnPReprojError = 2.0->2
QMutex: destroying locked mutex

[matlabbe]

Hi Guido,

This error happens when the linker cannot find the library on runtime in the standard paths. The rtabmap library uses multi-arch installation, so it would be installed in /opt/ros/kinetic/lib/x86_64-linux-gnu instead of /opt/ros/kinetic/lib.

For some reasons, the library paths may not be correctly set on a fresh install. Make sure to source the setup.bash in your catkin devel workspace, it sometimes add lib/x86_64-linux-gnu to LD_LIBRARY_PATH environment variable. If not automatically added, you can add it manually (or add this line at the end of your "~/.bashrc"):

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ros/kinetic/lib/x86_64-linux-gnu

For the rtabmap standalone, these are info logs, not warnings. However, they should not appear normally: there is a minor bug that makes think 45.0 is different than 45 (they are compared as string, not as double).

cheers

[g.bartoli]

I have these files in the folder you mentioned:

$ ls /opt/ros/kinetic/lib/x86_64-linux-gnu/
librtabmap_core.so         librtabmap_gui.so         librtabmap_utilite.so         rtabmap-0.11
librtabmap_core.so.0.11    librtabmap_gui.so.0.11    librtabmap_utilite.so.0.11
librtabmap_core.so.0.11.7  librtabmap_gui.so.0.11.7  librtabmap_utilite.so.0.11.7

And these are the last two lines of my ~/.bash.rc

source /opt/ros/kinetic/setup.bash
source ~/catkin_ws/devel/setup.bash

But the real problem was LD_LIBRARY_PATH, as you suggested:

$ echo $LD_LIBRARY_PATH 
/home/guido/catkin_ws/devel/lib:/opt/ros/kinetic/lib

I appended the 'export' line to .bashrc and now it works!

Thanks for your precious suggestions, as always.

[g.bartoli]

PS: shouldn't this workaround be included in the official installation guide of RTAB-Map?

[matlabbe]

Yes, now it is! I added an issue to avoid this extra step though.

cheers