Rtabmap-ros problem

[DorEdel]

hi!

I've tried running the command(s)

rosrun depthimage_to_laserscan depthimage_to_laserscan image:=/camera/depth/image_raw & roslaunch rtabmap_ros rgbd_mapping.launch rgb_topic:=/camera/color/image_raw depth_registered_topic:=/camera/depth/image_raw camera_info_topic:=/camera/color/camera_info frame_id:=camera_link rtabmap_args:="--delete_db_on_start" estimation:=1

but got this...

[1] 3584
[rospack] Error: package 'depthimage_to_laserscan' not found
... logging to /home/dvision/.ros/log/5b037e40-a587-11e6-93d4-68172961f64d/roslaunch-Dvision-3585.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
WARNING: disk usage in log directory [/home/dvision/.ros/log] is over 1GB.
It's recommended that you use the 'rosclean' command.

WARN: unrecognized 'param' tag in <include> tag
started roslaunch server http://Dvision:41302/

SUMMARY
========

PARAMETERS
 * /rosdistro: indigo
 * /rosversion: 1.11.20
 * /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 [3606]
process[rtabmap/rtabmap-2]: started with pid [3607]
process[rtabmap/rtabmapviz-3]: started with pid [3608]
/home/dvision/catkin_ws/devel/lib/rtabmap_ros/rtabmapviz: error while loading shared libraries: libcostmap_2d.so: cannot open shared object file: No such file or directory
[rtabmap/rtabmapviz-3] process has died [pid 3608, exit code 127, cmd /home/dvision/catkin_ws/devel/lib/rtabmap_ros/rtabmapviz -d /home/dvision/catkin_ws/src/rtabmap_ros/launch/config/rgbd_gui.ini rgb/image:=/camera/color/image_raw depth/image:=/camera/depth/image_raw rgb/camera_info:=/camera/color/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/dvision/.ros/log/5b037e40-a587-11e6-93d4-68172961f64d/rtabmap-rtabmapviz-3.log].
log file: /home/dvision/.ros/log/5b037e40-a587-11e6-93d4-68172961f64d/rtabmap-rtabmapviz-3*.log
[ INFO] [1478591426.274375806]: Starting node...
[ INFO] [1478591426.306259891]: Initializing nodelet with 8 worker threads.
[ INFO] [1478591426.306653981]: Initializing nodelet with 8 worker threads.
[ERROR] [1478591426.369227225]: Failed to load nodelet [/rtabmap/rgbd_odometry] of type [rtabmap_ros/rgbd_odometry] even after refreshing the cache: Failed to load library /home/dvision/catkin_ws/devel/lib//librtabmap_ros.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = libcostmap_2d.so: cannot open shared object file: No such file or directory)
[ERROR] [1478591426.369273911]: The error before refreshing the cache was: Failed to load library /home/dvision/catkin_ws/devel/lib//librtabmap_ros.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = libcostmap_2d.so: cannot open shared object file: No such file or directory)
[ERROR] [1478591426.369903208]: Failed to load nodelet [/rtabmap/rtabmap] of type [rtabmap_ros/rtabmap] even after refreshing the cache: Failed to load library /home/dvision/catkin_ws/devel/lib//librtabmap_ros.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = libcostmap_2d.so: cannot open shared object file: No such file or directory)
[ERROR] [1478591426.369939521]: The error before refreshing the cache was: Failed to load library /home/dvision/catkin_ws/devel/lib//librtabmap_ros.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = libcostmap_2d.so: cannot open shared object file: No such file or directory)
[ INFO] [1478591426.369960143]: rtabmap 0.11.11 started...


can anyone tell me what is wrong?

thanks in advance :)

[matlabbe]

Hi,

The package depthimage_to_laserscan is missing, and not sure why libcostmap_2d.so library is missing (should be installed as dependency with ros-indigo-rtabmap-ros though), so install them:

 $ sudo apt-get install ros-indigo-depthimage-to-laserscan ros-indigo-costmap-2d

cheers,
Mathieu

[DorEdel]

Thank you soooo much!!!