Unable to load the db file using Rtabmap

[kolohe113]

Hi, recently I am having issue loading db file in Rtabmap. I am trying to use a Hokuyo LiDAR, a Realsense d435, and wheel encoder from turtlebot to generate a 3D map. This is the warning I got when I open the saved db file using Rtabmap:

"[ERROR] (2018-12-19 16:15:28.156) VWDictionary.cpp:616::addWordRef() Not found word 29617 (dict size=959)
[ERROR] (2018-12-19 16:15:28.156) VWDictionary.cpp:616::addWordRef() Not found word 29618 (dict size=959)
[ERROR] (2018-12-19 16:15:28.156) VWDictionary.cpp:616::addWordRef() Not found word 29619 (dict size=959)
[ERROR] (2018-12-19 16:15:28.156) VWDictionary.cpp:616::addWordRef() Not found word 29620 (dict size=959)
[ERROR] (2018-12-19 16:15:28.156) VWDictionary.cpp:616::addWordRef() Not found word 29621 (dict size=959)
[ERROR] (2018-12-19 16:15:28.156) VWDictionary.cpp:616::addWordRef() Not found word 29622 (dict size=959)
[ERROR] (2018-12-19 16:15:28.156) VWDictionary.cpp:616::addWordRef() Not found word 29623 (dict size=959)
[ERROR] (2018-12-19 16:15:28.156) VWDictionary.cpp:616::addWordRef() Not found word 29624 (dict size=959)
[ERROR] (2018-12-19 16:15:28.156) VWDictionary.cpp:616::addWordRef() Not found word 29625 (dict size=959)
[ERROR] (2018-12-19 16:15:28.156) VWDictionary.cpp:616::addWordRef() Not found word 29626 (dict size=959)
[ERROR] (2018-12-19 16:15:28.156) VWDictionary.cpp:616::addWordRef() Not found word 29627 (dict size=959)"

Does this error looks familiar to anyone?

[aviadoz]

Can you post your launch files?

[kolohe113]

Even with Rtabmap.launch and setting subscribe_scan to false and the rest unchanged, I am still unable to load the db file

[matlabbe]

Hi,

The database seems corrupted somehow. You can try to recover the database using rtabmap-recovery tool:

$ rtabmap-recovery my_map.db

cheers,
Mathieu

[kolohe113]

Do you think this has to do with the Rtabmap's version?

[matlabbe]

It could, you can see the version doing "$ rtabmap --version" or looking in the About dialog in the interface. It has been a while since I saw this problem, it means the visual word vocabulary was not correctly saved (like rtabmap didn't close properly).

cheers,
Mathieu