Rviz quitted suddenly when running the find-object demo

[baike960]

I follow the instruction on 3.4 in the link http://wiki.ros.org/rtabmap_ros#Robot_mapping_with_Find-Object
and I successfully got the rviz running the demo rosbag. The robot showed on the grid and mapping and point cloud were constructed slowly as the robot was moving. However, after a while, rviz quitted suddenly with the following message.



autodriving@rabbit:~/catkin_ws/src/rtabmap_ros/launch/demo$ roslaunch rtabmap_ros demo_find_object.launch
... logging to /home/autodriving/.ros/log/abd2206e-8566-11e7-8393-1c872c5ffb7c/roslaunch-rabbit-508.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://rabbit:44017/

SUMMARY
========

PARAMETERS
 * /find_object_3d/depth_registered/image_transport: compressedDepth
 * /find_object_3d/gui: True
 * /find_object_3d/objects_path: /home/autodriving...
 * /find_object_3d/rgb/image_transport: compressed
 * /find_object_3d/settings_path: /home/autodriving...
 * /find_object_3d/subscribe_depth: True
 * /points_xyzrgb/depth/image_transport: compressedDepth
 * /points_xyzrgb/queue_size: 10
 * /points_xyzrgb/rgb/image_transport: compressed
 * /points_xyzrgb/voxel_size: 0.01
 * /rosdistro: kinetic
 * /rosversion: 1.12.7
 * /rtabmap/rtabmap/Icp/CorrespondenceRatio: 0.3
 * /rtabmap/rtabmap/Icp/Iterations: 30
 * /rtabmap/rtabmap/Icp/VoxelSize: 0.025
 * /rtabmap/rtabmap/Mem/BadSignaturesIgnored: false
 * /rtabmap/rtabmap/Mem/NotLinkedNodesKept: false
 * /rtabmap/rtabmap/Mem/RehearsalSimilarity: 0.45
 * /rtabmap/rtabmap/Optimizer/Slam2D: true
 * /rtabmap/rtabmap/RGBD/AngularUpdate: 0.01
 * /rtabmap/rtabmap/RGBD/LinearUpdate: 0.01
 * /rtabmap/rtabmap/RGBD/NeighborLinkRefining: true
 * /rtabmap/rtabmap/RGBD/ProximityBySpace: true
 * /rtabmap/rtabmap/Reg/Force3DoF: true
 * /rtabmap/rtabmap/Reg/Strategy: 1
 * /rtabmap/rtabmap/Rtabmap/TimeThr: 700
 * /rtabmap/rtabmap/Vis/InlierDistance: 0.1
 * /rtabmap/rtabmap/Vis/MaxDepth: 4.0
 * /rtabmap/rtabmap/Vis/MinInliers: 10
 * /rtabmap/rtabmap/depth/image_transport: compressedDepth
 * /rtabmap/rtabmap/frame_id: base_footprint
 * /rtabmap/rtabmap/queue_size: 10
 * /rtabmap/rtabmap/rgb/image_transport: compressed
 * /rtabmap/rtabmap/subscribe_depth: True
 * /rtabmap/rtabmap/subscribe_scan: True
 * /use_sim_time: True

NODES
  /rtabmap/
    rtabmap (rtabmap_ros/rtabmap)
  /
    find_object_3d (find_object_2d/find_object_2d)
    points_xyzrgb (nodelet/nodelet)
    rviz (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[rtabmap/rtabmap-1]: started with pid [526]
process[rviz-2]: started with pid [527]
process[points_xyzrgb-3]: started with pid [528]
process[find_object_3d-4]: started with pid [529]
[ INFO] [1503219602.432609538]: gui=1
[ INFO] [1503219602.432667995]: objects_path=/home/autodriving/catkin_ws/src/rtabmap_ros/launch/data/books
[ INFO] [1503219602.432686352]: session_path=
[ INFO] [1503219602.432703792]: settings_path=/home/autodriving/catkin_ws/src/rtabmap_ros/launch/config/find_object.ini
[ INFO] [1503219602.432716176]: subscribe_depth = true
[ INFO] [1503219602.432726910]: obj_frame_prefix = object
[ INFO] [1503219602.457148370]: Starting node...
[ INFO] [1503219602.468535573]: rviz version 1.12.10
[ INFO] [1503219602.468575083]: compiled against Qt version 5.5.1
[ INFO] [1503219602.468584815]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1503219602.485348819]: Initializing nodelet with 8 worker threads.
[ INFO] [1503219602.617810443]: Stereo is NOT SUPPORTED
[ INFO] [1503219602.617936452]: OpenGl version: 3 (GLSL 1.3).
[ INFO] [1503219602.626382422]: find_object_ros: queue_size = 10
[ INFO] [1503219602.768654936, 1407866595.737785851]: /rtabmap/rtabmap(maps): map_filter_radius          = 0.000000
[ INFO] [1503219602.768768182, 1407866595.737785851]: /rtabmap/rtabmap(maps): map_filter_angle           = 30.000000
[ INFO] [1503219602.768823312, 1407866595.737785851]: /rtabmap/rtabmap(maps): map_cleanup                = true
[ INFO] [1503219602.768875349, 1407866595.737785851]: /rtabmap/rtabmap(maps): map_negative_poses_ignored = false
[ INFO] [1503219602.768925594, 1407866595.737785851]: /rtabmap/rtabmap(maps): map_negative_scan_ray_tracing = true
[ INFO] [1503219602.768974223, 1407866595.737785851]: /rtabmap/rtabmap(maps): cloud_output_voxelized     = true
[ INFO] [1503219602.769020912, 1407866595.737785851]: /rtabmap/rtabmap(maps): cloud_subtract_filtering   = false
[ INFO] [1503219602.769067338, 1407866595.737785851]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1503219602.770870407, 1407866595.737785851]: /rtabmap/rtabmap(maps): octomap_tree_depth         = 16
[ INFO] [1503219602.770947574, 1407866595.737785851]: /rtabmap/rtabmap(maps): octomap_occupancy_thr      = 0.500000
[ INFO] [1503219602.791438191, 1407866595.757900251]: rtabmap: frame_id      = base_footprint
[ INFO] [1503219602.791486846, 1407866595.757900251]: rtabmap: map_frame_id  = map
[ INFO] [1503219602.791515794, 1407866595.757900251]: rtabmap: tf_delay      = 0.050000
[ INFO] [1503219602.791533308, 1407866595.757900251]: rtabmap: tf_tolerance  = 0.100000
[ INFO] [1503219602.791547425, 1407866595.757900251]: rtabmap: odom_sensor_sync   = false
[ INFO] [1503219602.925281499, 1407866595.888742171]: Setting RTAB-Map parameter "Icp/CorrespondenceRatio"="0.3"
[ INFO] [1503219602.935840599, 1407866595.901566402]: Setting RTAB-Map parameter "Icp/Iterations"="30"
[ INFO] [1503219602.953689595, 1407866595.921872239]: Setting RTAB-Map parameter "Icp/VoxelSize"="0.025"
[ INFO] [1503219603.000063847, 1407866595.965150181]: Setting RTAB-Map parameter "Mem/BadSignaturesIgnored"="false"
[ INFO] [1503219603.024347254, 1407866595.995532507]: Setting RTAB-Map parameter "Mem/NotLinkedNodesKept"="false"
[ INFO] [1503219603.035753210, 1407866596.005608561]: Setting RTAB-Map parameter "Mem/RehearsalSimilarity"="0.45"
[ INFO] [1503219603.169052380, 1407866596.136397694]: Setting RTAB-Map parameter "RGBD/AngularUpdate"="0.01"
[ INFO] [1503219603.175275686, 1407866596.146469369]: Setting RTAB-Map parameter "RGBD/LinearUpdate"="0.01"
[ INFO] [1503219603.180553467, 1407866596.146469369]: Setting RTAB-Map parameter "RGBD/NeighborLinkRefining"="true"
[ INFO] [1503219603.190970107, 1407866596.156534757]: Setting RTAB-Map parameter "RGBD/ProximityBySpace"="true"
[ INFO] [1503219603.201782930, 1407866596.166590756]: Setting RTAB-Map parameter "Reg/Force3DoF"="true"
[ INFO] [1503219603.202201387, 1407866596.166590756]: Setting RTAB-Map parameter "Reg/Strategy"="1"
[ INFO] [1503219603.223623168, 1407866596.186702159]: Setting RTAB-Map parameter "Rtabmap/TimeThr"="700"
[ INFO] [1503219603.291677291, 1407866596.257167098]: Setting RTAB-Map parameter "Vis/InlierDistance"="0.1"
[ INFO] [1503219603.294216531, 1407866596.257167098]: Setting RTAB-Map parameter "Vis/MaxDepth"="4.0"
[ INFO] [1503219603.297378266, 1407866596.267221732]: Setting RTAB-Map parameter "Vis/MinInliers"="10"
[ WARN] [1503219603.347601636, 1407866596.317484146]: Rtabmap: Parameter name changed: "Optimizer/Slam2D" -> "Reg/Force3DoF". Please update your launch file accordingly. Value "true" is still set to the new parameter name.
[ WARN] [1503219603.379297212, 1407866596.348078475]: Setting "Grid/FromDepth" parameter to false (default true) as "subscribe_scan" or "subscribe_scan_cloud" is true. The occupancy grid map will be constructed from laser scans. To get occupancy grid map from cloud projection, set "Grid/FromDepth" to true. To suppress this warning, add
[ WARN] [1503219603.379378011, 1407866596.348078475]: Setting "RGBD/ProximityPathMaxNeighbors" parameter to 10 (default 0) as "subscribe_scan" is true and "Reg/Strategy" uses ICP. Proximity detection by space will be also done by merging close scans. To disable, set "RGBD/ProximityPathMaxNeighbors" to 0. To suppress this warning, add
[ INFO] [1503219603.571509831, 1407866596.539242537]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1503219603.572432034, 1407866596.539242537]: rtabmap: Deleted database "/home/autodriving/.ros/rtabmap.db" (--delete_db_on_start or -d are set).
[ INFO] [1503219603.572460519, 1407866596.539242537]: rtabmap: Using database from "/home/autodriving/.ros/rtabmap.db" (0 MB).
[ INFO] [1503219605.700756439, 1407866598.665949197]: rtabmap: Database version = "0.13.2".
[ INFO] [1503219605.728120739, 1407866598.696131556]: /rtabmap/rtabmap: queue_size    = 10
[ INFO] [1503219605.728240176, 1407866598.696131556]: /rtabmap/rtabmap: rgbd_cameras = 1
[ INFO] [1503219605.728315902, 1407866598.696131556]: /rtabmap/rtabmap: approx_sync   = true
[ INFO] [1503219605.728459619, 1407866598.696131556]: Setup depth callback
[ INFO] [1503219605.836931874, 1407866598.806916725]:
/rtabmap/rtabmap subscribed to (approx sync):
   /base_controller/odom,
   /camera/data_throttled_image/compressed,
   /camera/data_throttled_image_depth/compressedDepth,
   /camera/data_throttled_camera_info,
   /base_scan
[ INFO] [1503219605.843209578, 1407866598.806916725]: rtabmap 0.13.2 started...
[ INFO] [1503219606.251107006, 1407866599.219873140]: rtabmap (1): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0464s, Maps update=0.0127s pub=0.0025s (local map=1, WM=1)
[ INFO] [1503219606.382749288, 1407866599.350720557]: Creating 1 swatches
[ INFO] [1503219607.244434668, 1407866600.208717973]: rtabmap (2): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0588s, Maps update=0.0036s pub=0.0007s (local map=2, WM=2)
[ INFO] [1503219607.283771564, 1407866600.249013697]: Creating 1 swatches
[ INFO] [1503219608.365145143, 1407866601.337507352]: rtabmap (3): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0495s, Maps update=0.0034s pub=0.0005s (local map=3, WM=3)
rviz: /usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:258：void Eigen::PlainObjectBase<Derived>::resize(Eigen::Index, Eigen::Index) [with Derived = Eigen::Matrix<float, 3, 3>; Eigen::Index = long int]: 假设 ‘(!(RowsAtCompileTime!=Dynamic) || (rows==RowsAtCompileTime)) && (!(ColsAtCompileTime!=Dynamic) || (cols==ColsAtCompileTime)) && (!(RowsAtCompileTime==Dynamic && MaxRowsAtCompileTime!=Dynamic) || (rows<=MaxRowsAtCompileTime)) && (!(ColsAtCompileTime==Dynamic && MaxColsAtCompileTime!=Dynamic) || (cols<=MaxColsAtCompileTime)) && rows>=0 && cols>=0 && "Invalid sizes when resizing a matrix or array."’ 失败。
[rviz-2] process has died [pid 527, exit code -6, cmd /opt/ros/kinetic/lib/rviz/rviz -d /home/autodriving/catkin_ws/src/rtabmap_ros/launch/config/demo_find_object.rviz __name:=rviz __log:=/home/autodriving/.ros/log/abd2206e-8566-11e7-8393-1c872c5ffb7c/rviz-2.log].
log file: /home/autodriving/.ros/log/abd2206e-8566-11e7-8393-1c872c5ffb7c/rviz-2*.log
[ INFO] [1503219609.347267904, 1407866602.314083575]: rtabmap (4): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0364s, Maps update=0.0018s pub=0.0004s (local map=4, WM=4)
[ INFO] [1503219610.294849900, 1407866603.260239974]: rtabmap (5): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0293s, Maps update=0.0001s pub=0.0003s (local map=5, WM=5)
^C[find_object_3d-4] killing on exit
[points_xyzrgb-3] killing on exit
[rtabmap/rtabmap-1] killing on exit
rtabmap: Saving database/long-term memory... (located at /home/autodriving/.ros/rtabmap.db)
rtabmap: Saving database/long-term memory...done! (located at /home/autodriving/.ros/rtabmap.db, 1 MB)
shutting down processing monitor...
... shutting down processing monitor complete
done


It looks like there is something wrong with the EIgen package but I do not know the specific reason and solution. Anyone knows what problem is that? Thanks in advance!

[matlabbe]

Hi,

I've seen this problem some times, but not sure what is the cause (could be indeed different versions of Eigen used by Rviz plugins). Just relaunch RVIZ alone or uncheck MapCloud plugin.

cheers,
Mathieu

[baike960]

Thank you for the reply. I think if I launch the pointcloud or the find-object package only, it works fine.