Scan over maximum points

[alexr]

Hi,

I am running a bag file with ROS kinetic and the following error messages are produced frequently on the terminal screen.
Can you explain how can I solve this or what this message suggests. The messages appear sometimes in the terminal.

LaserScan.cpp:243::LaserScan() The number of points (1081) in the scan is over the maximum points (1080) defined by angle settings (min=-2.356194 max=2.356194 inc=0.004363). The scan info may be wrong!

Another error message is due to G2O and sometimes it corrupts the map building process.

[ERROR]OptimizerG2O.cpp:710::optimize() Computing marginals: vertex 151 has negative hessian index (-1). Cannot compute last pose covariance.

Thanks

[matlabbe]

Hi,

I updated the code to avoid the laser scan warning. For the G2O error, which version of rtabmap do you use? I cannot find the version with [ERROR] at that line, only [WARN].

cheers,
Mathieu

[alexr]

Hi,

The version is 0.17.6.
I git pull both rtabmap standalone and rtabmap_ros to master and rebuild everything. Still the same problem and error.

rtabmap --version
RTAB-Map:               0.17.6
OpenCV:                      3
With OpenCV nonfree:      true
With TORO:                true
With g2o:                 true
With GTSAM:              false
With Vertigo:             true
With CVSBA:              false
With OpenNI2:            false
With Freenect:            true
With Freenect2:          false
With K4W2:               false
With DC1394:             false
With FlyCapture2:        false
With ZED:                false
With RealSense:          false
With RealSense SLAM:     false
With RealSense2:         false
With libpointmatcher:    false
With octomap:             true
With cpu-tsdf:           false
With open chisel:        false
With LOAM:               false
With FOVIS:              false
With Viso2:              false
With DVO:                false
With ORB_SLAM2:          false
With OKVIS:              false
With MSCKF_VIO:          false

Another thing I noticed here is that rtabmap --version shows that rtabmap with GTSAM is off. However when I run the cmake ..  inside the rtabmap/build it shows the following:

~/rtabmap/build$ cmake ..
-- The imported target "vtkRenderingPythonTkWidgets" references the file
   "/usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-6.2/VTKTargets.cmake"
but not all the files it references.

-- The imported target "vtk" references the file
   "/usr/bin/vtk"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-6.2/VTKTargets.cmake"
but not all the files it references.

-- PCL definitions don't contain "-march=native", make sure all libraries using Eigen are also compiled without that flag to avoid some segmentation faults (with gdb referring to some Eigen functions).
-- Found Sqlite3: /usr/include /usr/lib/x86_64-linux-gnu/libsqlite3.so
-- Found OpenMP
-- Found OpenCV: /opt/ros/kinetic/include/opencv-3.3.1-dev;/opt/ros/kinetic/include/opencv-3.3.1-dev/opencv
-- Found PCL: /usr/include/pcl-1.7;/usr/include/eigen3;/usr/include;/usr/include/ni;/usr/include/openni2;/usr/include/vtk-6.2;/usr/include/x86_64-linux-gnu;/usr/include/tcl;/usr/include/hdf5/openmpi;/usr/lib/openmpi/include/openmpi/opal/mca/event/libevent2021/libevent;/usr/lib/openmpi/include/openmpi/opal/mca/event/libevent2021/libevent/include;/usr/lib/openmpi/include;/usr/lib/openmpi/include/openmpi;/usr/include/jsoncpp;/usr/include/freetype2;/usr/include/x86_64-linux-gnu/freetype2;/usr/include/python2.7;/usr/include/libxml2
-- Found ZLIB: /usr/include
-- VTK_RENDERING_BACKEND=OpenGL
-- Found Freenect: /opt/ros/kinetic/include/libfreenect
-- Found OpenNI2: /usr/include/openni2
-- Found DC1394: /usr/include/dc1394
-- Old g2o version detected with c++03 interface (config file: /opt/ros/kinetic/include/g2o/config.h).
-- Found g2o: /opt/ros/kinetic/include;/usr/include/suitesparse;/usr/include/suitesparse
-- GTSAM include directory:  /usr/local/lib/cmake/GTSAM/../../../include;/usr/include;/usr/include/eigen3
-- FlyCapture2_INCLUDE_DIR=FlyCapture2_INCLUDE_DIR-NOTFOUND
-- FlyCapture2_LIBRARY=FlyCapture2_LIBRARY-NOTFOUND
-- Triclops_INCLUDE_DIR=Triclops_INCLUDE_DIR-NOTFOUND
-- Triclops_LIBRARY=Triclops_LIBRARY-NOTFOUND
-- FlyCaptureBridge_LIBRARY=FlyCaptureBridge_LIBRARY-NOTFOUND
-- Found cvsba: /usr/local/include
-- Found libpointmatcher: /usr/local/include;/usr/include;/usr/include/eigen3;/usr/include/eigen3;/usr/local/include;/home/arav/extra_lib/libpointmatcher/pointmatcher;/home/arav/extra_lib/libpointmatcher/pointmatcher/DataPointsFilters;/home/arav/extra_lib/libpointmatcher/pointmatcher/DataPointsFilters/utils
-- Using CATKIN_DEVEL_PREFIX: /home/arav/rtabmap/build/devel
-- Using CMAKE_PREFIX_PATH: /home/arav/catkin_ws/devel;/opt/ros/kinetic
-- This workspace overlays: /home/arav/catkin_ws/devel;/opt/ros/kinetic
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/arav/rtabmap/build/test_results
-- Found gmock sources under '/usr/src/gmock': gmock will be built
CMake Warning (dev) at /usr/src/gmock/CMakeLists.txt:40 (project):
  Policy CMP0048 is not set: project() command manages VERSION variables.
  Run "cmake --help-policy CMP0048" for policy details.  Use the cmake_policy
  command to set the policy and suppress this warning.

  The following variable(s) would be set to empty:

    PROJECT_VERSION
    PROJECT_VERSION_MAJOR
    PROJECT_VERSION_MINOR
    PROJECT_VERSION_PATCH
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at /usr/src/gtest/CMakeLists.txt:42 (project):
  Policy CMP0048 is not set: project() command manages VERSION variables.
  Run "cmake --help-policy CMP0048" for policy details.  Use the cmake_policy
  command to set the policy and suppress this warning.

  The following variable(s) would be set to empty:

    PROJECT_VERSION
    PROJECT_VERSION_MAJOR
    PROJECT_VERSION_MINOR
    PROJECT_VERSION_PATCH
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Found gtest sources under '/usr/src/gmock': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.14
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Found loam_velodyne: /home/arav/catkin_ws/src/loam_velodyne/include;/usr/include/eigen3;/usr/include/pcl-1.7;/usr/include;/usr/include/ni;/usr/include/openni2;/usr/include/vtk-6.2;/usr/include/x86_64-linux-gnu;/usr/include/tcl;/usr/include/hdf5/openmpi;/usr/lib/openmpi/include/openmpi/opal/mca/event/libevent2021/libevent;/usr/lib/openmpi/include/openmpi/opal/mca/event/libevent2021/libevent/include;/usr/lib/openmpi/include;/usr/lib/openmpi/include/openmpi;/usr/include/jsoncpp;/usr/include/freetype2;/usr/include/x86_64-linux-gnu/freetype2;/usr/include/python2.7;/usr/include/libxml2;/opt/ros/kinetic/include;/opt/ros/kinetic/share/xmlrpcpp/cmake/../../../include/xmlrpcpp
-- Found RealSense: /opt/ros/kinetic/include
-- Found octomap 1.8.1: /opt/ros/kinetic/include
-- Found libfovis: /home/arav/catkin_ws/src/libfovis/libfovis
-- Found libviso2: /home/arav/catkin_ws/src/viso2/libviso2/libviso2/src
-- Found Pthreads
-- --------------------------------------------
-- Info :
--   Version : 0.18.2
--   CMAKE_INSTALL_PREFIX = /usr/local
--   CMAKE_BUILD_TYPE =     Release
--   CMAKE_INSTALL_LIBDIR = lib
--   BUILD_APP =            ON
--   BUILD_TOOLS =          ON
--   BUILD_EXAMPLES =       ON
--   BUILD_SHARED_LIBS =    ON
--   CMAKE_CXX_FLAGS =  -fmessage-length=0  -fopenmp -std=c++14
--   PCL_DEFINITIONS = -DEIGEN_USE_NEW_STDVECTOR;-DEIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET;-DFLANN_STATIC;-Dqh_QHpointer
-- Optional dependencies ('*' affects some default parameters) :
--  *With OpenCV 3 xfeatures2d module (SIFT/SURF/BRIEF/FREAK) = YES (License: Non commercial)
--   With external SQLite3     = YES (License: Public Domain)
--   With Freenect             = YES (License: Apache v2 and/or GPLv2)
--   With OpenNI2              = YES (License: Apache v2)
--   With Freenect2            = NO (libfreenect2 not found)
--   With Kinect for Windows 2 = NO (Kinect for Windows 2 SDK not found)
--   With dc1394               = YES (License: LGPL)
--   With FlyCapture2/Triclops = NO (Point Grey SDK not found)
--   With TORO                 = YES (License: Creative Commons [Attribution-NonCommercial-ShareAlike])
--  *With g2o                  = YES (License: BSD)
--  *With GTSAM                = YES (License: BSD)
--   With VERTIGO              = YES (License: GPLv3)
--   With cvsba                = YES (License: GPLv2)
--  *With libpointmatcher      = YES (License: BSD)
--   With loam_velodyne        = YES (License: BSD)
--   With ZED                  = NO (ZED sdk not found)
--   With RealSense            = YES (License: Apache-2)
--   With RealSenseSlam        = NO (WITH_REALSENSE_SLAM=OFF)
--   With RealSense2           = NO (librealsense2 not found)
--   With OCTOMAP              = YES (License: BSD)
--   With CPUTSDF              = NO (CPUTSDF not found)
--   With OpenChisel           = NO (open_chisel not found)
--   With libfovis             = YES (License: GPLv2)
--   With libviso2             = YES (License: GPLv3)
--   With dvo_core             = NO (dvo_core not found)
--   With okvis                = NO (okvis not found)
--   With msckf_vio            = NO (WITH_MSCKF_VIO=OFF)
--   With ORB_SLAM2            = NO (WITH_G2O should be OFF as ORB_SLAM2 uses its own g2o version)
--   With Qt5                  = YES (License: Open Source or Commercial)
-- --------------------------------------------
-- Configuring done
-- Generating done
-- Build files have been written to: /home/arav/rtabmap/build

Here the version is 0.18.2 with GTSAM true. What should be the reason for this discrepancy.
Thanks

[matlabbe]

Do "which rtabmap", this is maybe the binary version you are launching, not the one you just built. Uninstall all rtabmap binaries if you rebuild it to avoid confusion of which one is used.

sudo apt-get remove ros-kinetic-rtabmap

[alexr]

Hi
Thanks removing the binaries no longer gives any problems.
Also the scan error is resolved thanks.

Another thing I would like to know is whether, I can use rtabmap/grid_map node in place of slam_gmapping node for mapping and making grid maps.

thanks

[matlabbe]

Yes, it has the same purpose as gmapping's occupancy grid.