RTabmap Process died

[Nagalla Deepak]

My launch file is

<!-- Launch RTAB-map with Kinect2 and RPLidar A2 -->
<launch>
  <!--include file="$(find self_e)/launch/bringup.launch"/-->
  <include file="$(find self_e)/launch/xbox.launch"/>
   <!-- Image resolution of the Kinect to process in rtabmap: sd, qhd, hd -->
   <arg name="resolution" default="qhd" />
   
   <!-- Fixed frame id -->
   <arg name="frame_id" default="base_footprint"/>  
   
   
   <!-- Hector SLAM to get ScanMatching Odometry -->
   <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
        <!--param name="map_frame"                             value="hector_map" />
        <param name="base_frame"                            value="laser" />
        <param name="odom_frame"                            value="odom" />
        <param name="tf_map_scanmatch_transform_frame_name" value="laser" />
        <param name="pub_map_odom_transform"                value="false"/>
        <param name="pub_map_scanmatch_transform"           value="true"/>
        <param name="pub_odometry"                          value="true"/>
        <param name="map_resolution"                        value="0.05"/>
        <param name="map_size"                              value="2048"/>
        <param name="map_multi_res_levels"                  value="2" />
        <param name="map_update_angle_thresh"               value="0.06" />
        <param name="scan_topic"                            value="/scan"/-->
	<remap from="scan" to="scan_filtered"/>
        <param name="base_frame" value="/base_footprint" />
        <param name="odom_frame" value="/odom" />
        <param name="map_update_interval" value="5.0"/>
        <param name="maxUrange" value="5.5"/>
        <param name="minRange" value="-0.5"/>
        <param name="sigma" value="0.05"/>
        <param name="kernelSize" value="1"/>
        <param name="lstep" value="0.05"/>
        <param name="astep" value="0.05"/>
        <param name="iterations" value="5"/>
        <param name="lsigma" value="0.075"/>
        <param name="ogain" value="3.0"/>
        <param name="lskip" value="0"/>
        <param name="minimumScore" value="50"/>
        <param name="srr" value="0.1"/>
        <param name="srt" value="0.2"/>
        <param name="str" value="0.1"/>
        <param name="stt" value="0.2"/>
        <param name="linearUpdate" value="0.2"/>
        <param name="angularUpdate" value="0.25"/>
        <param name="temporalUpdate" value="5.0"/>
        <param name="resampleThreshold" value="0.5"/>
        <param name="particles" value="50"/>
        <param name="xmin" value="-30.0"/>
        <param name="ymin" value="-30.0"/>
        <param name="xmax" value="30.0"/>
        <param name="ymax" value="30.0"/>
        <param name="delta" value="0.025"/>
        <param name="llsamplerange" value="0.01"/>
        <param name="llsamplestep" value="0.01"/>
        <param name="lasamplerange" value="0.005"/>
        <param name="lasamplestep" value="0.005"/>
        <param name="transform_publish_period" value="0.1"/>
   </node>
   
   
   <!-- RTAB-Map: to get a consistent 3d Map fed by the Hector odometry -->
   <group ns="rtabmap">    
        <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
            <param name="subscribe_depth"      type="bool"    value="true"/>
            <param name="frame_id"             type="string"  value="$(arg frame_id)"/>
            <param name="subscribe_scan"       type="bool"    value="true"/>            
            <param name="Grid/DepthDecimation"                    value="2"/> 
            <param name="Grid/RangeMax"                     value="5.0"/> 
            <param name="Grid/CellSize"                    value="0.01"/> 
            <param name="map_cleanup"          type="bool"    value="false"/> 
	    <param name="Grid/FromDepth" type="string" value="false"/> 
	    <param name="RGBD/ProximityPathMaxNeighbors" type="string" value="10"/>
	    <param name="queue_size" value="100"/>     
	
            <remap from="rgb/image"            to="/camera/rgb/image_rect_color"/>
            <remap from="depth/image"          to="/camera/depth_registered/image_raw"/>
            <remap from="rgb/camera_info"      to="/camera/rgb/camera_info"/>
            <remap from="depth_camera_info_topic"      to="/camera/depth/camera_info"/>
            <remap from="scan"                 to="/scan_filtered"/>
            <remap from="odom"                 to="/odom"/>

            <param name="approx_sync" type="bool" value="true"/>
            <param name="Reg/Strategy"       type="string" value="2"/>    <!-- edited here ...........................0=Visual, 1=ICP, 2=Visual+ICP -->
            <param name="Vis/MaxDepth"       type="string" value="8.0"/>  <!-- 3D visual words maximum depth 0=infinity -->
            <param name="Vis/InlierDistance" type="string" value="0.1"/>  <!-- 3D visual words correspondence distance -->
            <!--param name="Optimizer/Slam2D"   type="string" value="true"/-->
            <param name="Reg/Force3DoF"      type="string" value="true"/>
        </node>
   </group>
  
  
   <!-- Visualization in RVIZ -->
   <node pkg="rviz" type="rviz" name="rviz" args="-d $(find self_e)/rviz/2d_3d_slam.rviz"/>
  
   <node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap_ros/point_cloud_xyzrgb standalone_nodelet">
        <remap from="rgb/image"       to="data_odom_sync/image"/>
        <remap from="depth/image"     to="data_odom_sync/depth"/>
        <remap from="rgb/camera_info" to="data_odom_sync/camera_info"/>
        <remap from="cloud"           to="voxel_cloud" />
        <param name="voxel_size"      type="double" value="0.01"/>
   </node>
   
</launch>

and gmapping is running great but in RTabMap I get this

/rtabmap/rtabmap subscribed to (approx sync):
   /odom,
   /camera/rgb/image_rect_color,
   /camera/depth_registered/image_raw,
   /camera/rgb/camera_info,
   /scan_filtered
[ INFO] [1535643596.399870975]: rtabmap 0.17.4 started...
[FATAL] (2018-08-30 21:09:57.861) util3d_mapping.cpp:810::rayTrace() Condition (end.x >= 0 && end.x < grid.cols) not met! [end.x=236 grid.cols=191]
terminate called after throwing an instance of 'UException'
  what():  [FATAL] (2018-08-30 21:09:57.861) util3d_mapping.cpp:810::rayTrace() Condition (end.x >= 0 && end.x < grid.cols) not met! [end.x=236 grid.cols=191]
[rtabmap/rtabmap-27] process has died [pid 4668, exit code -6, cmd /home/user/mapping/devel/lib/rtabmap_ros/rtabmap --delete_db_on_start rgb/image:=/camera/rgb/image_rect_color depth/image:=/camera/depth_registered/image_raw rgb/camera_info:=/camera/rgb/camera_info depth_camera_info_topic:=/camera/depth/camera_info scan:=/scan_filtered odom:=/odom __name:=rtabmap __log:=/home/user/.ros/log/faccf7fe-ac69-11e8-b7fb-e0946779494c/rtabmap-rtabmap-27.log].
log file: /home/user/.ros/log/faccf7fe-ac69-11e8-b7fb-e0946779494c/rtabmap-rtabmap-27*.log

how to overcome this problem?
I am actually trying to use Kinect XBOX360-freenect, RPLidar-A1-scan, IMU+ENCODER=odom to do RTabMap. Please ignore gmapping if it was meaning less to both simultaneously. But help me use KINECT+ODOM+SCAN............

[matlabbe]

From one of the comment of this post:

This is an issue with the released binaries version when Grid/CellSize is set to 1 cm, that issue is fixed in latest source code (see this issue). Set it back to 5 cm as a workaround if you don't want to rebuild rtabmap from source.