RTABMAP Processes dying with no explanation

[jacksonkr]

$ roslaunch rtabmap_ros rgbd_mapping.launch rtabmap_args:="--delete_db_on_start" depth_registered_topic:=/camera/depth_registered/sw_registered/image_rect_raw
... logging to /home/jackson/.ros/log/16ed0a54-9241-11e6-a91e-a0999b17aec5/roslaunch-jackson-MacBookPro-20398.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://jackson-MacBookPro:36822/

SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.5
 * /rtabmap/rgbd_odometry/approx_sync: True
 * /rtabmap/rgbd_odometry/config_path:
 * /rtabmap/rgbd_odometry/frame_id: camera_link
 * /rtabmap/rgbd_odometry/queue_size: 10
 * /rtabmap/rgbd_odometry/wait_for_transform_duration: 0.2
 * /rtabmap/rtabmap/Mem/IncrementalMemory: true
 * /rtabmap/rtabmap/Mem/InitWMWithAllNodes: false
 * /rtabmap/rtabmap/approx_sync: True
 * /rtabmap/rtabmap/config_path:
 * /rtabmap/rtabmap/database_path: ~/.ros/rtabmap.db
 * /rtabmap/rtabmap/frame_id: camera_link
 * /rtabmap/rtabmap/odom_frame_id:
 * /rtabmap/rtabmap/queue_size: 10
 * /rtabmap/rtabmap/subscribe_depth: True
 * /rtabmap/rtabmap/subscribe_scan: False
 * /rtabmap/rtabmap/subscribe_scan_cloud: False
 * /rtabmap/rtabmap/subscribe_stereo: False
 * /rtabmap/rtabmap/wait_for_transform_duration: 0.2
 * /rtabmap/rtabmapviz/approx_sync: True
 * /rtabmap/rtabmapviz/frame_id: camera_link
 * /rtabmap/rtabmapviz/odom_frame_id:
 * /rtabmap/rtabmapviz/queue_size: 10
 * /rtabmap/rtabmapviz/subscribe_depth: True
 * /rtabmap/rtabmapviz/subscribe_odom_info: True
 * /rtabmap/rtabmapviz/subscribe_scan: False
 * /rtabmap/rtabmapviz/subscribe_scan_cloud: False
 * /rtabmap/rtabmapviz/subscribe_stereo: False
 * /rtabmap/rtabmapviz/wait_for_transform_duration: 0.2

NODES
  /rtabmap/
    rgbd_odometry (rtabmap_ros/rgbd_odometry)
    rtabmap (rtabmap_ros/rtabmap)
    rtabmapviz (rtabmap_ros/rtabmapviz)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[rtabmap/rgbd_odometry-1]: started with pid [20416]
process[rtabmap/rtabmap-2]: started with pid [20417]
process[rtabmap/rtabmapviz-3]: started with pid [20418]
[ INFO] [1476472427.252227952]: Starting node...
[ INFO] [1476472427.274535991]: Initializing nodelet with 8 worker threads.
[ INFO] [1476472427.274851275]: Initializing nodelet with 8 worker threads.
[ INFO] [1476472427.368108972]: Starting node...
[ INFO] [1476472427.448389308]: rtabmapviz: Using configuration from "/home/jackson/catkin_ws/src/rtabmap_ros/launch/config/rgbd_gui.ini"
[ INFO] [1476472427.462255751]: /rtabmap/rtabmap(maps): grid_cell_size             = 0.050000
[ INFO] [1476472427.462285508]: /rtabmap/rtabmap(maps): grid_incremental           = false
[ INFO] [1476472427.462302385]: /rtabmap/rtabmap(maps): grid_size                  = 0.000000
[ INFO] [1476472427.462320239]: /rtabmap/rtabmap(maps): grid_eroded                = false
[ INFO] [1476472427.462339452]: /rtabmap/rtabmap(maps): grid_footprint_radius      = 0.000000
[ INFO] [1476472427.462358498]: /rtabmap/rtabmap(maps): map_filter_radius          = 0.000000
[ INFO] [1476472427.462376752]: /rtabmap/rtabmap(maps): map_filter_angle           = 30.000000
[ INFO] [1476472427.462391186]: /rtabmap/rtabmap(maps): map_cleanup                = true
[ INFO] [1476472427.462404731]: /rtabmap/rtabmap(maps): map_negative_poses_ignored = false
[ INFO] [1476472427.462420503]: /rtabmap/rtabmap(maps): cloud_output_voxelized     = true
[ INFO] [1476472427.462431503]: /rtabmap/rtabmap(maps): cloud_subtract_filtering   = false
[ INFO] [1476472427.462444655]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1476472427.524365872]: rtabmap: frame_id      = camera_link
[ INFO] [1476472427.524400014]: rtabmap: map_frame_id  = map
[ INFO] [1476472427.524427586]: rtabmap: tf_delay      = 0.050000
[ INFO] [1476472427.524444705]: rtabmap: tf_tolerance  = 0.100000
[ INFO] [1476472427.524459626]: rtabmap: odom_sensor_sync   = false
[ INFO] [1476472427.839691884]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1476472427.840589054]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[ INFO] [1476472427.972835346]:
/rtabmap/rgbd_odometry subscribed to (approx sync):
   /camera/rgb/image_rect_color,
   /camera/depth_registered/sw_registered/image_rect_raw,
   /camera/rgb/camera_info
[rtabmap/rtabmapviz-3] process has died [pid 20418, exit code -11, cmd /home/jackson/catkin_ws/devel/lib/rtabmap_ros/rtabmapviz -d /home/jackson/catkin_ws/src/rtabmap_ros/launch/config/rgbd_gui.ini rgb/image:=/camera/rgb/image_rect_color depth/image:=/camera/depth_registered/sw_registered/image_rect_raw rgb/camera_info:=/camera/rgb/camera_info 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:=/scan_cloud __name:=rtabmapviz __log:=/home/jackson/.ros/log/16ed0a54-9241-11e6-a91e-a0999b17aec5/rtabmap-rtabmapviz-3.log].
log file: /home/jackson/.ros/log/16ed0a54-9241-11e6-a91e-a0999b17aec5/rtabmap-rtabmapviz-3*.log
[ INFO] [1476472428.299782744]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1476472428.299947144]: rtabmap: Deleted database "/home/jackson/.ros/rtabmap.db" (--delete_db_on_start is set).
[ INFO] [1476472428.299978647]: rtabmap: Using database from "/home/jackson/.ros/rtabmap.db".
[rtabmap/rgbd_odometry-1] process has died [pid 20416, exit code -11, cmd /home/jackson/catkin_ws/devel/lib/rtabmap_ros/rgbd_odometry --delete_db_on_start rgb/image:=/camera/rgb/image_rect_color depth/image:=/camera/depth_registered/sw_registered/image_rect_raw rgb/camera_info:=/camera/rgb/camera_info __name:=rgbd_odometry __log:=/home/jackson/.ros/log/16ed0a54-9241-11e6-a91e-a0999b17aec5/rtabmap-rgbd_odometry-1.log].
log file: /home/jackson/.ros/log/16ed0a54-9241-11e6-a91e-a0999b17aec5/rtabmap-rgbd_odometry-1*.log
[ INFO] [1476472428.769850257]: rtabmap: Database version = "0.11.11".
[ INFO] [1476472428.794457936]: /rtabmap/rtabmap: queue_size    = 10
[ INFO] [1476472428.794488070]: /rtabmap/rtabmap: rgbd_cameras = 1
[ INFO] [1476472428.794499102]: /rtabmap/rtabmap: approx_sync   = true
[ INFO] [1476472428.794535814]: Setup depth callback
[ INFO] [1476472428.856587653]:
/rtabmap/rtabmap subscribed to (approx sync):
   /rtabmap/odom,
   /camera/rgb/image_rect_color,
   /camera/depth_registered/sw_registered/image_rect_raw,
   /camera/rgb/camera_info
[ INFO] [1476472428.856706350]: rtabmap 0.11.11 started...
[ WARN] [1476472433.856896629]: /rtabmap/rtabmap: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10).
/rtabmap/rtabmap subscribed to (approx sync):
   /rtabmap/odom,
   /camera/rgb/image_rect_color,
   /camera/depth_registered/sw_registered/image_rect_raw,
   /camera/rgb/camera_info
[ WARN] [1476472438.857205635]: /rtabmap/rtabmap: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10).
/rtabmap/rtabmap subscribed to (approx sync):
   /rtabmap/odom,
   /camera/rgb/image_rect_color,
   /camera/depth_registered/sw_registered/image_rect_raw,
   /camera/rgb/camera_info
[ WARN] [1476472443.857412598]: /rtabmap/rtabmap: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10).
/rtabmap/rtabmap subscribed to (approx sync):
   /rtabmap/odom,
   /camera/rgb/image_rect_color,
   /camera/depth_registered/sw_registered/image_rect_raw,
   /camera/rgb/camera_info
[ WARN] [1476472448.857597146]: /rtabmap/rtabmap: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10).
/rtabmap/rtabmap subscribed to (approx sync):
   /rtabmap/odom,
   /camera/rgb/image_rect_color,
   /camera/depth_registered/sw_registered/image_rect_raw,
   /camera/rgb/camera_info
[ WARN] [1476472453.857790011]: /rtabmap/rtabmap: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10).
/rtabmap/rtabmap subscribed to (approx sync):
   /rtabmap/odom,
   /camera/rgb/image_rect_color,
   /camera/depth_registered/sw_registered/image_rect_raw,
   /camera/rgb/camera_info
[ WARN] [1476472458.857973771]: /rtabmap/rtabmap: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10).
/rtabmap/rtabmap subscribed to (approx sync):
   /rtabmap/odom,
   /camera/rgb/image_rect_color,
   /camera/depth_registered/sw_registered/image_rect_raw,
   /camera/rgb/camera_info

What's going on here?

[matlabbe]

Hi,

If you updated rtabmap_ros code, make sure to update rtabmap source too and re make/install it, then catkin_make to make sure the libraries are correctly linked. These kind of errors on start are generally libraries linking problem.

cheers

[jacksonkr]

This is resolved, thanks.