RTAB-MAP with L515 + no loop closure detection

[Mackhu]

Hi Mathieu

I am just starting to learn using RTAB-MAP.  I wanna do mapping using RTABMAP with Intel realsense L515. I follow the tutorial in http://wiki.ros.org/rtabmap_ros/Tutorials/HandHeldMapping.
other parameters are set by default.
the result is that there is no loop closure detection:

and there is no publihsing in the topics - mapGraph, mapData, info, grid_map, cloud_map:

Could you help me out?

[Mackhu]

I have the following error information:

[rtabmap/rtabmap-2] process has died [pid 6749, exit code -11, cmd /home/bdguser/Realsense_test/devel/lib/rtabmap_ros/rtabmap --delete_db_on_start --Icp/VoxelSize 0.05 --Icp/PointToPlaneRadius 0 --Icp/PointToPlaneK 20 --Icp/CorrespondenceRatio 0.2 --Icp/PMOutlierRatio 0.65 --Icp/Epsilon 0.005 --Icp/PointToPlaneMinComplexity 0 --Odom/ScanKeyFrameThr 0.7 --OdomF2M/ScanMaxSize 15000 --Optimizer/GravitySigma 0.3 --RGBD/ProximityPathMaxNeighbors 1 --Reg/Strategy 1 rgb/image:=/camera/color/image_raw depth/image:=/camera/aligned_depth_to_color/image_raw rgb/camera_info:=/camera/color/camera_info rgbd_image:=rgbd_image_relay left/image_rect:=/stereo_camera/left/image_rect_color right/image_rect:=/stereo_camera/right/image_rect left/camera_info:=/stereo_camera/left/camera_info right/camera_info:=/stereo_camera/right/camera_info scan:=/scan scan_cloud:=/cloud scan_descriptor:=/scan_descriptor user_data:=/user_data user_data_async:=/user_data_async gps/fix:=/gps/fix tag_detections:=/tag_detections fiducial_transforms:=/fiducial_transforms odom:=odom imu:=/rtabmap/imu __name:=rtabmap __log:=/home/bdguser/.ros/log/501fcdb4-8cbb-11ec-a3f7-fc77743ebc64/rtabmap-rtabmap-2.log].
log file: /home/bdguser/.ros/log/501fcdb4-8cbb-11ec-a3f7-fc77743ebc64/rtabmap-rtabmap-2*.log

I don't know what the problem is.

[matlabbe]

The loop closure detection section is gray, and mapGraph is not published, which means rtabmap node is crashed or waiting for some topics. Check for warnings/errors in terminal. If the node is crashed, see step A of this post https://github.com/introlab/rtabmap_ros/issues/28 to debug from where it crashed. You can repost the gdb backtrace here.

[Mackhu]

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[matlabbe]

No, it is an optional dependency. The gdb backtrace would give better info.

[Mackhu]

Hi, Mathieu

I find this Cmake warning when I rebuild the rtabmap ros.

Is it possible that this warning causes my problem?

How do I address this problem?

Thanks!

[Mackhu]

I am a beginner. Do you mean these info?

[Mackhu]

Hi Matheiu
I also have these two warnings:

[Mackhu]

There are also these warnings:

[matlabbe]

Hi,

What I need is that you type "bt" in the gdb console in that image:


We see that the seg fault happens in OpenCV, with the backtrace we may track from where in rtabmap it is called. Also, what is your system? Ubuntu 18.04?

[Mackhu]

Hi Matheiu

I reinstall rtabmap. Now it can work, but the working process is not smooth, it often freezes.

Could you tell what the computer hardware requirements are for implementing rtabmap with L515?

Thanks.

[matlabbe]

For computer requirements, it depends on approach used. For example, if you use wheel odometry and keep rtabmap only for loop closing and map management, it can run easily on a RPI3 or RPI4.

If you want to use visual odometry or icp odometry, you need a computer able to compute it over 10Hz or under 0.1s update time (laptop or small NUC).

For the freezing, is that because camera topics stopping publishing? or they cannot be published at 30 Hz?

[Mackhu]

Thanks Mathieu!