error in launching the commands given RGBD mapping tutorial

[Aman virmani]

[rtabmap/rgbd_odometry-1] process has died [pid 16042, exit code -11, cmd /home/aman/catkin_ws/devel/lib/rtabmap_ros/rgbd_odometry --delete_db_on_start --Optimizer/GravitySigma 0.3 rgb/image:=/camera/color/image_raw depth/image:=/camera/aligned_depth_to_color/image_raw rgb/camera_info:=/camera/color/camera_info rgbd_image:=rgbd_image_relay odom:=odom imu:=/rtabmap/imu __name:=rgbd_odometry __log:=/home/aman/.ros/log/98b40094-33f3-11eb-8d9c-c0b5d7cfde65/rtabmap-rgbd_odometry-1.log].
log file: /home/aman/.ros/log/98b40094-33f3-11eb-8d9c-c0b5d7cfde65/rtabmap-rgbd_odometry-1*.log

This is the error coming when I am launching

roslaunch rtabmap_ros rtabmap.launch     rtabmap_args:="--delete_db_on_start --Optimizer/GravitySigma 0.3"     depth_topic:=/camera/aligned_depth_to_color/image_raw     rgb_topic:=/camera/color/image_raw     camera_info_topic:=/camera/color/camera_info     approx_sync:=false     wait_imu_to_init:=true     imu_topic:=/rtabmap/imu

i am using D455 camera. Can you please tell the reason for this error /rtabmap/rgbd_odometry node is getting killed

[Aman virmani]

 roslaunch rtabmap_ros rtabmap.launch     rtabmap_args:="--delete_db_on_start --Optimizer/GravitySigma 0.3"     depth_topic:=/camera/aligned_depth_to_color/image_raw     rgb_topic:=/camera/color/image_raw     camera_info_topic:=/camera/color/camera_info     approx_sync:=false     wait_imu_to_init:=true     imu_topic:=/rtabmap/imu

error is coming on launching this command

[rtabmap/rgbd_odometry-2] process has died [pid 3379, exit code -11, cmd /home/aman/catkin_ws/devel/lib/rtabmap_ros/rgbd_odometry rgbd_image:=rgbd_image __name:=rgbd_odometry __log:=/home/aman/.ros/log/ba328d40-3451-11eb-997d-c0b5d7cfde65/rtabmap-rgbd_odometry-2.log].
log file: /home/aman/.ros/log/ba328d40-3451-11eb-997d-c0b5d7cfde65/rtabmap-rgbd_odometry-2*.log

stuck at this for almost 2 days. Have installed uninstalled rtabmap still was not able to solve the issue. Am using D455 camera and all topics are being published.

[Aman virmani]

... logging to /home/aman/.ros/log/ba328d40-3451-11eb-997d-c0b5d7cfde65/roslaunch-jannet-2782.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://jannet:33619/

SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.10
 * /rtabmap/rgbd_odometry/approx_sync: False
 * /rtabmap/rgbd_odometry/config_path:
 * /rtabmap/rgbd_odometry/expected_update_rate: 0.0
 * /rtabmap/rgbd_odometry/frame_id: camera_link
 * /rtabmap/rgbd_odometry/ground_truth_base_frame_id:
 * /rtabmap/rgbd_odometry/ground_truth_frame_id:
 * /rtabmap/rgbd_odometry/guess_frame_id:
 * /rtabmap/rgbd_odometry/guess_min_rotation: 0.0
 * /rtabmap/rgbd_odometry/guess_min_translation: 0.0
 * /rtabmap/rgbd_odometry/max_update_rate: 0.0
 * /rtabmap/rgbd_odometry/odom_frame_id: odom
 * /rtabmap/rgbd_odometry/publish_tf: True
 * /rtabmap/rgbd_odometry/queue_size: 10
 * /rtabmap/rgbd_odometry/subscribe_rgbd: False
 * /rtabmap/rgbd_odometry/wait_for_transform_duration: 0.2
 * /rtabmap/rgbd_odometry/wait_imu_to_init: True
 * /rtabmap/rtabmap/Mem/IncrementalMemory: true
 * /rtabmap/rtabmap/Mem/InitWMWithAllNodes: false
 * /rtabmap/rtabmap/approx_sync: False
 * /rtabmap/rtabmap/config_path:
 * /rtabmap/rtabmap/database_path: ~/.ros/rtabmap.db
 * /rtabmap/rtabmap/frame_id: camera_link
 * /rtabmap/rtabmap/ground_truth_base_frame_id:
 * /rtabmap/rtabmap/ground_truth_frame_id:
 * /rtabmap/rtabmap/landmark_angular_variance: 9999.0
 * /rtabmap/rtabmap/landmark_linear_variance: 0.0001
 * /rtabmap/rtabmap/map_frame_id: map
 * /rtabmap/rtabmap/odom_frame_id:
 * /rtabmap/rtabmap/odom_sensor_sync: False
 * /rtabmap/rtabmap/odom_tf_angular_variance: 1.0
 * /rtabmap/rtabmap/odom_tf_linear_variance: 1.0
 * /rtabmap/rtabmap/publish_tf: True
 * /rtabmap/rtabmap/queue_size: 10
 * /rtabmap/rtabmap/scan_cloud_max_points: 0
 * /rtabmap/rtabmap/subscribe_depth: True
 * /rtabmap/rtabmap/subscribe_odom_info: True
 * /rtabmap/rtabmap/subscribe_rgb: True
 * /rtabmap/rtabmap/subscribe_rgbd: False
 * /rtabmap/rtabmap/subscribe_scan: False
 * /rtabmap/rtabmap/subscribe_scan_cloud: False
 * /rtabmap/rtabmap/subscribe_scan_descriptor: False
 * /rtabmap/rtabmap/subscribe_stereo: False
 * /rtabmap/rtabmap/subscribe_user_data: False
 * /rtabmap/rtabmap/wait_for_transform_duration: 0.2
 * /rtabmap/rtabmapviz/approx_sync: False
 * /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_rgbd: False
 * /rtabmap/rtabmapviz/subscribe_scan: False
 * /rtabmap/rtabmapviz/subscribe_scan_cloud: False
 * /rtabmap/rtabmapviz/subscribe_scan_descriptor: 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

process[rtabmap/rgbd_odometry-1]: started with pid [2808]
process[rtabmap/rtabmap-2]: started with pid [2809]
process[rtabmap/rtabmapviz-3]: started with pid [2810]
[ INFO] [1606884089.385879803]: Starting node...
[ INFO] [1606884089.406063667]: Initializing nodelet with 12 worker threads.
[ INFO] [1606884089.409109924]: Initializing nodelet with 12 worker threads.
[ INFO] [1606884089.467570971]: Starting node...
[ INFO] [1606884089.488066158]: Odometry: frame_id               = camera_link
[ INFO] [1606884089.488124908]: Odometry: odom_frame_id          = odom
[ INFO] [1606884089.488154783]: Odometry: publish_tf             = true
[ INFO] [1606884089.488184175]: Odometry: wait_for_transform     = true
[ INFO] [1606884089.488219488]: Odometry: wait_for_transform_duration  = 0.200000
[ INFO] [1606884089.488278718]: Odometry: initial_pose           = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000
[ INFO] [1606884089.488294768]: Odometry: ground_truth_frame_id  =
[ INFO] [1606884089.488310633]: Odometry: ground_truth_base_frame_id =
[ INFO] [1606884089.488326094]: Odometry: config_path            =
[ INFO] [1606884089.488340796]: Odometry: publish_null_when_lost = true
[ INFO] [1606884089.488355549]: Odometry: guess_frame_id         =
[ INFO] [1606884089.488370721]: Odometry: guess_min_translation  = 0.000000
[ INFO] [1606884089.488386485]: Odometry: guess_min_rotation     = 0.000000
[ INFO] [1606884089.488402222]: Odometry: guess_min_time         = 0.000000
[ INFO] [1606884089.488416828]: Odometry: expected_update_rate   = 0.000000 Hz
[ INFO] [1606884089.488431765]: Odometry: max_update_rate        = 0.000000 Hz
[ INFO] [1606884089.488446814]: Odometry: wait_imu_to_init       = true
[ INFO] [1606884089.488477604]: Odometry: stereoParams_=0 visParams_=1 icpParams_=0
[ INFO] [1606884089.548700096]: /rtabmap/rtabmap(maps): map_filter_radius          = 0.000000
[ INFO] [1606884089.548744416]: /rtabmap/rtabmap(maps): map_filter_angle           = 30.000000
[ INFO] [1606884089.548757280]: /rtabmap/rtabmap(maps): map_cleanup                = true
[ INFO] [1606884089.548765470]: /rtabmap/rtabmap(maps): map_always_update          = false
[ INFO] [1606884089.548772708]: /rtabmap/rtabmap(maps): map_empty_ray_tracing      = true
[ INFO] [1606884089.548781116]: /rtabmap/rtabmap(maps): cloud_output_voxelized     = true
[ INFO] [1606884089.548789687]: /rtabmap/rtabmap(maps): cloud_subtract_filtering   = false
[ INFO] [1606884089.548798436]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1606884089.561475541]: /rtabmap/rtabmap(maps): octomap_tree_depth         = 16
[ INFO] [1606884089.593105926]: rtabmapviz: Using configuration from "/home/aman/.ros/rtabmap_gui.ini"
[ INFO] [1606884089.596969568]: rtabmap: frame_id      = camera_link
[ INFO] [1606884089.596990705]: rtabmap: map_frame_id  = map
[ INFO] [1606884089.597000898]: rtabmap: use_action_for_goal  = false
[ INFO] [1606884089.597011775]: rtabmap: tf_delay      = 0.050000
[ INFO] [1606884089.597022964]: rtabmap: tf_tolerance  = 0.100000
[ INFO] [1606884089.597032863]: rtabmap: odom_sensor_sync   = false
[ INFO] [1606884089.716134000]: Update odometry parameter "Optimizer/GravitySigma"="0.3" from arguments
[ INFO] [1606884089.765091159]: odometry: Subscribing to IMU topic /rtabmap/imu
[ INFO] [1606884089.768350430]: RGBDOdometry: approx_sync    = false
[ INFO] [1606884089.768373824]: RGBDOdometry: queue_size     = 10
[ INFO] [1606884089.768382497]: RGBDOdometry: subscribe_rgbd = false
[ INFO] [1606884089.768392340]: RGBDOdometry: rgbd_cameras   = 1
[ INFO] [1606884089.768405012]: RGBDOdometry: keep_color     = false
[ INFO] [1606884089.779039274]:
/rtabmap/rgbd_odometry subscribed to (exact sync):
   /camera/color/image_raw \
   /camera/aligned_depth_to_color/image_raw \
   /camera/color/camera_info
[ INFO] [1606884089.782759959]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1606884089.783019521]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[ INFO] [1606884089.901797175]: Update RTAB-Map parameter "Optimizer/GravitySigma"="0.3" from arguments
[ INFO] [1606884089.986953417]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1606884089.987090895]: rtabmap: Deleted database "/home/aman/.ros/rtabmap.db" (--delete_db_on_start or -d are set).
[ INFO] [1606884089.987126210]: rtabmap: Using database from "/home/aman/.ros/rtabmap.db" (0 MB).
[ WARN] (2020-12-02 10:11:29.993) OdometryF2M.cpp:239::computeTransform() Updated initial pose from xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 to xyz=0.000000,0.000000,0.000000 rpy=0.094401,-0.325939,0.286019 with IMU orientation
[ INFO] [1606884090.043574951]: rtabmap: Database version = "0.20.7".
[ INFO] [1606884090.060955839]: /rtabmap/rtabmap: subscribe_depth = true
[ INFO] [1606884090.060986083]: /rtabmap/rtabmap: subscribe_rgb = true
[ INFO] [1606884090.061021147]: /rtabmap/rtabmap: subscribe_stereo = false
[ INFO] [1606884090.061049653]: /rtabmap/rtabmap: subscribe_rgbd = false (rgbd_cameras=1)
[ INFO] [1606884090.061076464]: /rtabmap/rtabmap: subscribe_odom_info = true
[ INFO] [1606884090.061101558]: /rtabmap/rtabmap: subscribe_user_data = false
[ INFO] [1606884090.061134167]: /rtabmap/rtabmap: subscribe_scan = false
[ INFO] [1606884090.061149912]: /rtabmap/rtabmap: subscribe_scan_cloud = false
[ INFO] [1606884090.061165616]: /rtabmap/rtabmap: subscribe_scan_descriptor = false
[ INFO] [1606884090.061182735]: /rtabmap/rtabmap: queue_size    = 10
[ INFO] [1606884090.061216697]: /rtabmap/rtabmap: approx_sync   = false
[ INFO] [1606884090.061310287]: Setup depth callback
[ INFO] [1606884090.070567181]:
/rtabmap/rtabmap subscribed to (exact sync):
   /rtabmap/odom \
   /camera/color/image_raw \
   /camera/aligned_depth_to_color/image_raw \
   /camera/color/camera_info \
   /rtabmap/odom_info
[ INFO] [1606884090.162129601]: rtabmap 0.20.7 started...
[rtabmap/rgbd_odometry-1] process has died [pid 2808, exit code -11, cmd /home/aman/catkin_ws/devel/lib/rtabmap_ros/rgbd_odometry --delete_db_on_start --Optimizer/GravitySigma 0.3 rgb/image:=/camera/color/image_raw depth/image:=/camera/aligned_depth_to_color/image_raw rgb/camera_info:=/camera/color/camera_info rgbd_image:=rgbd_image_relay odom:=odom imu:=/rtabmap/imu __name:=rgbd_odometry __log:=/home/aman/.ros/log/ba328d40-3451-11eb-997d-c0b5d7cfde65/rtabmap-rgbd_odometry-1.log].
log file: /home/aman/.ros/log/ba328d40-3451-11eb-997d-c0b5d7cfde65/rtabmap-rgbd_odometry-1*.log
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
[ INFO] [1606884090.421392128]: Reading parameters from the ROS server...
[ INFO] [1606884090.531028481]: Parameters read = 340
[ INFO] [1606884090.531048520]: Parameters successfully read.
[ INFO] [1606884090.661257832]: /rtabmap/rtabmapviz: subscribe_depth = true
[ INFO] [1606884090.661293757]: /rtabmap/rtabmapviz: subscribe_rgb = false
[ INFO] [1606884090.661309179]: /rtabmap/rtabmapviz: subscribe_stereo = false
[ INFO] [1606884090.661324858]: /rtabmap/rtabmapviz: subscribe_rgbd = false (rgbd_cameras=1)
[ INFO] [1606884090.661338665]: /rtabmap/rtabmapviz: subscribe_odom_info = true
[ INFO] [1606884090.661352141]: /rtabmap/rtabmapviz: subscribe_user_data = false
[ INFO] [1606884090.661400989]: /rtabmap/rtabmapviz: subscribe_scan = false
[ INFO] [1606884090.661413997]: /rtabmap/rtabmapviz: subscribe_scan_cloud = false
[ INFO] [1606884090.661446413]: /rtabmap/rtabmapviz: subscribe_scan_descriptor = false
[ INFO] [1606884090.661479320]: /rtabmap/rtabmapviz: queue_size    = 10
[ INFO] [1606884090.661492612]: /rtabmap/rtabmapviz: approx_sync   = false
[ INFO] [1606884090.661523170]: Setup depth callback
[ INFO] [1606884090.685744469]:
/rtabmap/rtabmapviz subscribed to (exact sync):
   /rtabmap/odom \
   /camera/color/image_raw \
   /camera/aligned_depth_to_color/image_raw \
   /camera/color/camera_info \
   /rtabmap/odom_info
[ INFO] [1606884090.685822617]: rtabmapviz started.
[ WARN] [1606884095.070821580]: /rtabmap/rtabmap: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
/rtabmap/rtabmap subscribed to (exact sync):
   /rtabmap/odom \
   /camera/color/image_raw \
   /camera/aligned_depth_to_color/image_raw \
   /camera/color/camera_info \
   /rtabmap/odom_info
[ WARN] [1606884095.685892895]: /rtabmap/rtabmapviz: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
/rtabmap/rtabmapviz subscribed to (exact sync):
   /rtabmap/odom \
   /camera/color/image_raw \
   /camera/aligned_depth_to_color/image_raw \
   /camera/color/camera_info \
   /rtabmap/odom_info
[ INFO] [1606884096.767335740]: rtabmapviz stopping spinner...
[ INFO] [1606884096.785717735]: rtabmapviz deleting qt stuff...
^C[rtabmap/rtabmap-2] killing on exit
[rtabmap/rtabmapviz-3] killing on exit
[ INFO] [1606884097.808485161]: rtabmapviz: ctrl-c catched! Exiting Qt app...
rtabmap: Saving database/long-term memory... (located at /home/aman/.ros/rtabmap.db)
rtabmap: Saving database/long-term memory...done! (located at /home/aman/.ros/rtabmap.db, 0 MB)
OpenCV Error: Assertion failed (tlsSlots.size() > slotIdx) in releaseSlot, file /build/opencv-L2vuMj/opencv-3.2.0+dfsg/modules/core/src/system.cpp, line 1092
terminate called after throwing an instance of 'cv::Exception'
  what():  /build/opencv-L2vuMj/opencv-3.2.0+dfsg/modules/core/src/system.cpp:1092: error: (-215) tlsSlots.size() > slotIdx in function releaseSlot

shutting down processing monitor...
... shutting down processing monitor complete
done

[Aman virmani]

eagerly waiting for your reply

[matlabbe]

[rtabmap/rgbd_odometry-1] process has died

generally caused by combination of dependencies not built with same compiler settings (in particular for Eigen). Which dependencies of rtabmap did you also built from source? What is the output of rtabmap/build cmake output?

[emontero]

Hello, I have the same error and I dont know how to solve that.
I am running $ roslaunch realsense2_camera opensource_tracking.launch the rtabmapviz is opened but I can not see nothing. I built from the source

[rtabmap/rtabmapviz-8] process has died [pid 20213, exit code -6, cmd /home/elvia-msdl/camera_ws/devel/lib/rtabmap_ros/rtabmapviz -d ~/.ros/rtabmap_gui.ini rgb/image:=/camera/color/image_raw depth/image:=/camera/aligned_depth_to_color/image_raw rgb/camera_info:=/camera/color/camera_info rgbd_image:=rgbd_image 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:=/realsense_scan scan_cloud:=/camera/depth/color/points odom:=odom __name:=rtabmapviz __log:=/home/elvia-msdl/.ros/log/b8c1fa2e-b2ee-11eb-8ac8-18c04dc1d527/rtabmap-rtabmapviz-8.log].
log file: /home/elvia-msdl/.ros/log/b8c1fa2e-b2ee-11eb-8ac8-18c04dc1d527/rtabmap-rtabmapviz-8*.log

[matlabbe]

It is difficult to say without cmake log. Note that you can use "roslaunch realsense2_camera opensource_tracking.launch" with rtabmap binaries (you may check if it works before debugging the compilation).