rtabmap_ros error launching
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i am trying to apply vslam using rtabmap_ros and kinect 360.
in the first terminal i launch: roslaunch freenect_launch freenect.launch depth_registration:=true data_skip:=2 in the second terminal i launch: roslaunch rtabmap_ros rgbd_mapping.launch rtabmap_args:="--delete_db_on_start --Vis/MaxFeatures 500 --Mem/ImagePreDecimation 2 --Mem/ImagePostDecimation 2 --Kp/DetectorStrategy 6 --OdomF2M/MaxSize 1000 --Odom/ImageDecimation 2" rtabmapviz:=false the output i get is as follows: 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://192.168.0.107:44739/ SUMMARY ======== PARAMETERS * /rosdistro: melodic * /rosversion: 1.14.6 * /rtabmap/rgbd_odometry/approx_sync: True * /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: False * /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/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 NODES /rtabmap/ rgbd_odometry (rtabmap_ros/rgbd_odometry) rtabmap (rtabmap_ros/rtabmap) ROS_MASTER_URI=http://192.168.0.107:11311 process[rtabmap/rgbd_odometry-1]: started with pid [4145] process[rtabmap/rtabmap-2]: started with pid [4146] [ INFO] [1592411346.835670582]: Starting node... [ INFO] [1592411346.883650522]: Initializing nodelet with 4 worker threads. [ INFO] [1592411346.910683739]: Initializing nodelet with 4 worker threads. [ INFO] [1592411347.309206962]: Odometry: frame_id = camera_link [ INFO] [1592411347.309360791]: Odometry: odom_frame_id = /odom [ INFO] [1592411347.309395848]: Odometry: publish_tf = true [ INFO] [1592411347.309422339]: Odometry: wait_for_transform = true [ INFO] [1592411347.309458554]: Odometry: wait_for_transform_duration = 0.200000 [ INFO] [1592411347.309553836]: Odometry: initial_pose = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 [ INFO] [1592411347.309587131]: Odometry: ground_truth_frame_id = [ INFO] [1592411347.309635560]: Odometry: ground_truth_base_frame_id = [ INFO] [1592411347.309663863]: Odometry: config_path = [ INFO] [1592411347.309689196]: Odometry: publish_null_when_lost = true [ INFO] [1592411347.309717570]: Odometry: guess_frame_id = [ INFO] [1592411347.309752697]: Odometry: guess_min_translation = 0.000000 [ INFO] [1592411347.309781341]: Odometry: guess_min_rotation = 0.000000 [ INFO] [1592411347.309811616]: Odometry: guess_min_time = 0.000000 [ INFO] [1592411347.309840105]: Odometry: expected_update_rate = 0.000000 Hz [ INFO] [1592411347.309875104]: Odometry: max_update_rate = 0.000000 Hz [ INFO] [1592411347.309903618]: Odometry: wait_imu_to_init = false [ INFO] [1592411347.309965108]: Odometry: stereoParams_=0 visParams_=1 icpParams_=0 [ INFO] [1592411347.472513057]: /rtabmap/rtabmap(maps): map_filter_radius = 0.000000 [ INFO] [1592411347.472628601]: /rtabmap/rtabmap(maps): map_filter_angle = 30.000000 [ INFO] [1592411347.472650315]: /rtabmap/rtabmap(maps): map_cleanup = true [ INFO] [1592411347.472677641]: /rtabmap/rtabmap(maps): map_always_update = false [ INFO] [1592411347.472694342]: /rtabmap/rtabmap(maps): map_empty_ray_tracing = true [ INFO] [1592411347.472710923]: /rtabmap/rtabmap(maps): cloud_output_voxelized = true [ INFO] [1592411347.472726060]: /rtabmap/rtabmap(maps): cloud_subtract_filtering = false [ INFO] [1592411347.472747599]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2 [ INFO] [1592411347.586296941]: rtabmap: frame_id = camera_link [ INFO] [1592411347.586442800]: rtabmap: map_frame_id = map [ INFO] [1592411347.586493560]: rtabmap: use_action_for_goal = false [ INFO] [1592411347.586536261]: rtabmap: tf_delay = 0.050000 [ INFO] [1592411347.586581964]: rtabmap: tf_tolerance = 0.100000 [ INFO] [1592411347.586643845]: rtabmap: odom_sensor_sync = false [ INFO] [1592411348.313374736]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true" [ INFO] [1592411348.313947104]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false" [ INFO] [1592411348.483263230]: Odometry: Ignored parameter "Kp/DetectorStrategy"="6" from arguments [ INFO] [1592411348.483372597]: Odometry: Ignored parameter "Mem/ImagePostDecimation"="2" from arguments [ INFO] [1592411348.483414791]: Odometry: Ignored parameter "Mem/ImagePreDecimation"="2" from arguments [ INFO] [1592411348.483434931]: Update odometry parameter "Odom/ImageDecimation"="2" from arguments [ INFO] [1592411348.483448850]: Update odometry parameter "OdomF2M/MaxSize"="1000" from arguments [ INFO] [1592411348.483474448]: Update odometry parameter "Vis/MaxFeatures"="500" from arguments [ INFO] [1592411348.668993136]: RGBDOdometry: approx_sync = true [ INFO] [1592411348.669085058]: RGBDOdometry: queue_size = 10 [ INFO] [1592411348.669106143]: RGBDOdometry: subscribe_rgbd = false [ INFO] [1592411348.669121382]: RGBDOdometry: rgbd_cameras = 1 [ INFO] [1592411348.745498082]: /rtabmap/rgbd_odometry subscribed to (approx sync): /camera/rgb/image_rect_color, /camera/depth_registered/image_raw, /camera/rgb/camera_info [ INFO] [1592411349.016744475]: Update RTAB-Map parameter "Kp/DetectorStrategy"="6" from arguments [ INFO] [1592411349.016823813]: Update RTAB-Map parameter "Mem/ImagePostDecimation"="2" from arguments [ INFO] [1592411349.016854477]: Update RTAB-Map parameter "Mem/ImagePreDecimation"="2" from arguments [ INFO] [1592411349.016878797]: Update RTAB-Map parameter "Odom/ImageDecimation"="2" from arguments [ INFO] [1592411349.016900373]: Update RTAB-Map parameter "OdomF2M/MaxSize"="1000" from arguments [ INFO] [1592411349.016926636]: Update RTAB-Map parameter "Vis/MaxFeatures"="500" from arguments [ INFO] [1592411349.068119244]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.018670s /home/hasan/mapping_ws/devel/lib/rtabmap_ros/rgbd_odometry: symbol lookup error: /usr/local/lib/librtabmap_core.so.0.20: undefined symbol: _ZN3g2o17csparse_extension14cs_cholsolsymbEPK9cs_sparsePdPK11cs_symbolicS4_Pi [rtabmap/rgbd_odometry-1] process has died [pid 4145, exit code 127, cmd /home/hasan/mapping_ws/devel/lib/rtabmap_ros/rgbd_odometry --delete_db_on_start --Vis/MaxFeatures 500 --Mem/ImagePreDecimation 2 --Mem/ImagePostDecimation 2 --Kp/DetectorStrategy 6 --OdomF2M/MaxSize 1000 --Odom/ImageDecimation 2 --delete_db_on_start --Vis/MaxFeatures 500 --Mem/ImagePreDecimation 2 --Mem/ImagePostDecimation 2 --Kp/DetectorStrategy 6 --OdomF2M/MaxSize 1000 --Odom/ImageDecimation 2 rgb/image:=/camera/rgb/image_rect_color depth/image:=/camera/depth_registered/image_raw rgb/camera_info:=/camera/rgb/camera_info rgbd_image:=rgbd_image_relay odom:=/odom imu:=/imu/data __name:=rgbd_odometry __log:=/home/hasan/.ros/log/297e9de2-b0b3-11ea-b41e-3ca067802a1d/rtabmap-rgbd_odometry-1.log]. log file: /home/hasan/.ros/log/297e9de2-b0b3-11ea-b41e-3ca067802a1d/rtabmap-rgbd_odometry-1*.log [ INFO] [1592411349.413246038]: RTAB-Map detection rate = 1.000000 Hz [ INFO] [1592411349.413456857]: rtabmap: Deleted database "/home/hasan/.ros/rtabmap.db" (--delete_db_on_start or -d are set). [ INFO] [1592411349.413510712]: rtabmap: Using database from "/home/hasan/.ros/rtabmap.db" (0 MB). [ WARN] (2020-06-17 19:29:09.413) Features2d.cpp:529::create() BRIEF and FREAK features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead. [ WARN] (2020-06-17 19:29:09.416) Features2d.cpp:529::create() BRIEF and FREAK features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead. [ WARN] (2020-06-17 19:29:09.418) Memory.cpp:738::parseParameters() Mem/UseOdomFeatures is enabled, but Vis/FeatureType and Kp/DetectorStrategy parameters are not the same! Disabling Mem/UseOdomFeatures... [ WARN] (2020-06-17 19:29:09.418) Features2d.cpp:529::create() BRIEF and FREAK features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead. [ WARN] (2020-06-17 19:29:09.420) Memory.cpp:738::parseParameters() Mem/UseOdomFeatures is enabled, but Vis/FeatureType and Kp/DetectorStrategy parameters are not the same! Disabling Mem/UseOdomFeatures... [ WARN] (2020-06-17 19:29:09.572) Features2d.cpp:529::create() BRIEF and FREAK features cannot be used because OpenCV was not built with xfeatures2d module. GFTT/ORB is used instead. [ WARN] (2020-06-17 19:29:09.575) Memory.cpp:738::parseParameters() Mem/UseOdomFeatures is enabled, but Vis/FeatureType and Kp/DetectorStrategy parameters are not the same! Disabling Mem/UseOdomFeatures... [ INFO] [1592411349.577720192]: rtabmap: Database version = "0.20.1". [ INFO] [1592411349.670793927]: /rtabmap/rtabmap: subscribe_depth = true [ INFO] [1592411349.670874170]: /rtabmap/rtabmap: subscribe_rgb = true [ INFO] [1592411349.670895935]: /rtabmap/rtabmap: subscribe_stereo = false [ INFO] [1592411349.670925548]: /rtabmap/rtabmap: subscribe_rgbd = false (rgbd_cameras=1) [ INFO] [1592411349.670971325]: /rtabmap/rtabmap: subscribe_odom_info = true [ INFO] [1592411349.670990815]: /rtabmap/rtabmap: subscribe_user_data = false [ INFO] [1592411349.671007914]: /rtabmap/rtabmap: subscribe_scan = false [ INFO] [1592411349.671035553]: /rtabmap/rtabmap: subscribe_scan_cloud = false [ INFO] [1592411349.671052980]: /rtabmap/rtabmap: subscribe_scan_descriptor = false [ INFO] [1592411349.671074453]: /rtabmap/rtabmap: queue_size = 10 [ INFO] [1592411349.671098674]: /rtabmap/rtabmap: approx_sync = true [ INFO] [1592411349.671244779]: Setup depth callback [ INFO] [1592411349.769220711]: /rtabmap/rtabmap subscribed to (approx sync): /odom, /camera/rgb/image_rect_color, /camera/depth_registered/image_raw, /camera/rgb/camera_info, /rtabmap/odom_info [ INFO] [1592411350.151359757]: rtabmap 0.20.1 started... [ WARN] [1592411354.769689938]: /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"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10). /rtabmap/rtabmap subscribed to (approx sync): /odom, /camera/rgb/image_rect_color, /camera/depth_registered/image_raw, /camera/rgb/camera_info, /rtabmap/odom_info [ WARN] [1592411359.769980725]: /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"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10). /rtabmap/rtabmap subscribed to (approx sync): /odom, /camera/rgb/image_rect_color, /camera/depth_registered/image_raw, /camera/rgb/camera_info, /rtabmap/odom_info how can i solve this problem? i think there is more then one problem. thank you in advance. |
Administrator
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Hi,
rgbd_odometry node is crashing on start because of an undefined function: /home/hasan/mapping_ws/devel/lib/rtabmap_ros/rgbd_odometry: symbol lookup error: /usr/local/lib/librtabmap_core.so.0.20: undefined symbol: _ZN3g2o17csparse_extension14cs_cholsolsymbEPK9cs_sparsePdPK11cs_symbolicS4_Pi Can you have the log the cmake ouput for rtabmap library? Is g2o built from source too? EDIT: Is rtabmap standalone app able to start? cheers, Mathieu |
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