RTAB-Map LandMark Error on Gazebo

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RTAB-Map LandMark Error on Gazebo

GGYU
This post was updated on .
Error_log.txt
rtabmap_D405x3.py
Untitled_video_-_Made_with_Clipchamp.mp4

Screenshot_from_2025-07-12_22-08-54.png

Screenshot_from_2025-07-12_22-09-13.png


[rtabmap-11] [ WARN] (2025-07-13 19:03:09.524) OptimizerG2O.cpp:1285::optimize() Computing marginals: vertex 60 has negative hessian index (-1). Cannot compute last pose covariance.
[rtabmap-11] [ WARN] (2025-07-13 19:03:09.528) OptimizerG2O.cpp:1285::optimize() Computing marginals: vertex 2 has negative hessian index (-1). Cannot compute last pose covariance.
[rtabmap-11] [ WARN] (2025-07-13 19:03:09.540) Rtabmap.cpp:4560::process() Republishing data of requested node(s) 62 55 (Rtabmap/MaxRepublished=2)


Dear Mathieu,

I’m a ROS 2 Humble user and I’m currently working with Gazebo Classic. I’m planning to run an experiment by creating a world with markers and setting the RGBD/MarkerDetection parameter to true, but the TF keeps shutting off.

I’ve attached the launch file, world file, and error log that I’m using. When I set the RGBD/MarkerDetection option to false, the TF shutdown issue doesn’t occur. I’ve searched everywhere but can’t find any information on why this is happening, so I’m asking for your insight.

Thank you in advance for your help.

GGYU
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Re: RTAB-Map LandMark Error on Gazebo

matlabbe
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In the video, rtabmap node died. To debug that, add "--udebug" argument to rtabmap node and launch it in gdb, see https://github.com/introlab/rtabmap_ros/issues/28#issuecomment-1336292967