Rtabmap node that publishes map --> odom crashes

[Princemjp]

Hi,

been using rtabmap to map decently small areas with no problems using velodyne lidar alone with rtabmap.db going up till 1gb

today i just tried making a larger map which was about 2.5gb in the database around my workplace and when i wanted to launch my localization, i noticed cloud_map topic was not published and the terminal was saying that i still did not have my transform from map --> base_footprint for my move_base to work. so when i went to check i realised that my rtabmap node had crashed, and this happens all the time when i try to launch. would you know any way to solve this? As my use case would be to make my robot autonomously navigate a large mapped area with accurate localization.

getting this in the terminal


[ INFO] [1612429761.235720152]: Odom: ratio=0.982379, std dev=0.004937m|0.001561rad, update time=0.012166s
[ INFO] [1612429761.336804389]: Odom: ratio=0.971725, std dev=0.005976m|0.001890rad, update time=0.013901s
[ INFO] [1612429761.433874008]: Odom: ratio=0.979534, std dev=0.004947m|0.001565rad, update time=0.010961s
[ INFO] [1612429761.540032065]: Odom: ratio=0.966854, std dev=0.005162m|0.001632rad, update time=0.015899s
[ WARN] [1612429761.559344146]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.100889 timeout was 0.1.
[ INFO] [1612429761.644694395]: Odom: ratio=0.963727, std dev=0.005510m|0.001742rad, update time=0.020077s
[ INFO] [1612429761.744099589]: Odom: ratio=0.961610, std dev=0.005338m|0.001688rad, update time=0.014526s
[ INFO] [1612429761.842713300]: Odom: ratio=0.974254, std dev=0.004551m|0.001439rad, update time=0.012514s
[ WARN] (2021-02-04 17:09:21.874) OccupancyGrid.cpp:199::parseParameters() "Grid/MaxGroundHeight" should be not equal to 0 if not using normals segmentation approach. Setting it to cell size (0.100000).
[ INFO] [1612429761.943629715]: Odom: ratio=0.961023, std dev=0.005005m|0.001583rad, update time=0.014729s
[FATAL] (2021-02-04 17:09:21.975) BayesFilter.cpp:357::generatePrediction() No 0 margin neighbor for signature 1156 !?!?
[ INFO] [1612429762.040949697]: Odom: ratio=0.979323, std dev=0.005373m|0.001699rad, update time=0.012058s
[ INFO] [1612429762.100278176]: Parameters are not saved! (No configuration file provided...)
[ INFO] [1612429762.148707891]: Odom: ratio=0.972719, std dev=0.005087m|0.001609rad, update time=0.019813s
rtabmap: Saving database/long-term memory... (located at /home/Prince/.ros/rtabmap.db)
rtabmap: Saving database/long-term memory...done! (located at /home/Prince/.ros/rtabmap.db, 2429 MB)
[ INFO] [1612429762.248286360]: Odom: ratio=0.977645, std dev=0.004027m|0.001273rad, update time=0.017047s
[ INFO] [1612429762.345832078]: Odom: ratio=0.976437, std dev=0.005371m|0.001698rad, update time=0.014339s
[ INFO] [1612429762.451642707]: Odom: ratio=0.973091, std dev=0.005008m|0.001584rad, update time=0.011933s
[ INFO] [1612429762.549344373]: Odom: ratio=0.976737, std dev=0.004460m|0.001410rad, update time=0.012275s
[ INFO] [1612429762.646753517]: Odom: ratio=0.978562, std dev=0.004879m|0.001543rad, update time=0.009425s
[rtabmap/rtabmap-2] process has died [pid 2753, exit code -11, cmd /home/Prince/catkin_ws2/devel/lib/rtabmap_ros/rtabmap move_base:=/move_base odom:=odom scan_cloud:=assembled_cloud __name:=rtabmap __log:=/home/Prince/.ros/log/8e2d0c94-66c8-11eb-977e-1c697a6ef6a3/rtabmap-rtabmap-2.log].
log file: /home/Prince/.ros/log/8e2d0c94-66c8-11eb-977e-1c697a6ef6a3/rtabmap-rtabmap-2*.log
[ INFO] [1612429762.750879631]: Odom: ratio=0.978818, std dev=0.005658m|0.001789rad, update time=0.011919s
[ INFO] [1612429762.852142440]: Odom: ratio=0.969830, std dev=0.005401m|0.001708rad, update time=0.014031s
[ INFO] [1612429762.957237178]: Odom: ratio=0.976693, std dev=0.005058m|0.001599rad, update time=0.019049s




as shown, my map not published to odom as rtabmap node has crashed

[matlabbe]

Hi,

The error is there:

[FATAL] (2021-02-04 17:09:21.975) BayesFilter.cpp:357::generatePrediction() No 0 margin neighbor for signature 1156 !?!?

I fixed this assert in this commit. The problem is that the optimized graph in the database doesn't match the nodes in Working Memory. Instead of asserting, it now forces re-optimizing the map with current nodes in Working Memory.

Do you have memory management enabled (Rtabmap/TimeThr>0)? Just to know in which condition this assert happened, because if memory management is disabled, this is a bug.

cheers,
Mathieu