rtabmap_ros installation
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Hi,
I m using ubuntu 18.04, and rtabmap_ros is succesfully installed, while running the rtabmap launch file ,it throw the error is process is died, command is "roslaunch rtabmap_ros rtabmap.launch" default file. .. logging to /home/xyz/.ros/log/e84ec568-ffbe-11e9-9a70-0c5415899284/roslaunch-xyz-NUC8i7HNK-15835.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://xyz-NUC8i7HNK:37539/ SUMMARY ======== PARAMETERS * /rosdistro: melodic * /rosversion: 1.14.3 * /rtabmap/rgbd_odometry/approx_sync: True * /rtabmap/rgbd_odometry/config_path: * /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/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_normal_k: 0 * /rtabmap/rtabmap/subscribe_depth: True * /rtabmap/rtabmap/subscribe_odom_info: True * /rtabmap/rtabmap/subscribe_rgbd: False * /rtabmap/rtabmap/subscribe_scan: False * /rtabmap/rtabmap/subscribe_scan_cloud: False * /rtabmap/rtabmap/subscribe_stereo: False * /rtabmap/rtabmap/subscribe_user_data: False * /rtabmap/rtabmap/wait_for_transform_duration: 0.2 * /rtabmap/rtabmapviz/approx_sync: True * /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_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) auto-starting new master process[master]: started with pid [15846] ROS_MASTER_URI=http://localhost:11311 setting /run_id to e84ec568-ffbe-11e9-9a70-0c5415899284 process[rosout-1]: started with pid [15857] started core service [/rosout] process[rtabmap/rgbd_odometry-2]: started with pid [15864] /home/xyz/catkin_ws/devel/lib/rtabmap_ros/rgbd_odometry: error while loading shared libraries: libg2o_core.so: cannot open shared object file: No such file or directory process[rtabmap/rtabmap-3]: started with pid [15865] /home/xyz/catkin_ws/devel/lib/rtabmap_ros/rtabmap: error while loading shared libraries: libg2o_core.so: cannot open shared object file: No such file or directory process[rtabmap/rtabmapviz-4]: started with pid [15866] /home/xyz/catkin_ws/devel/lib/rtabmap_ros/rtabmapviz: error while loading shared libraries: libg2o_core.so: cannot open shared object file: No such file or directory [rtabmap/rgbd_odometry-2] process has died [pid 15864, exit code 127, cmd /home/xyz/catkin_ws/devel/lib/rtabmap_ros/rgbd_odometry 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/xyz/.ros/log/e84ec568-ffbe-11e9-9a70-0c5415899284/rtabmap-rgbd_odometry-2.log]. log file: /home/xyz/.ros/log/e84ec568-ffbe-11e9-9a70-0c5415899284/rtabmap-rgbd_odometry-2*.log [rtabmap/rtabmap-3] process has died [pid 15865, exit code 127, cmd /home/xyz/catkin_ws/devel/lib/rtabmap_ros/rtabmap 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 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:=/scan scan_cloud:=/scan_cloud user_data:=/user_data user_data_async:=/user_data_async gps/fix:=/gps/fix tag_detections:=/tag_detections odom:=odom imu:=/imu/data __name:=rtabmap __log:=/home/xyz/.ros/log/e84ec568-ffbe-11e9-9a70-0c5415899284/rtabmap-rtabmap-3.log]. log file: /home/xyz/.ros/log/e84ec568-ffbe-11e9-9a70-0c5415899284/rtabmap-rtabmap-3*.log [rtabmap/rtabmapviz-4] process has died [pid 15866, exit code 127, cmd /home/xyz/catkin_ws/devel/lib/rtabmap_ros/rtabmapviz -d ~/.ros/rtabmap_gui.ini 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 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:=/scan scan_cloud:=/scan_cloud odom:=odom __name:=rtabmapviz __log:=/home/xyz/.ros/log/e84ec568-ffbe-11e9-9a70-0c5415899284/rtabmap-rtabmapviz-4.log]. log file: /home/xyz/.ros/log/e84ec568-ffbe-11e9-9a70-0c5415899284/rtabmap-rtabmapviz-4*.log Thanks for advance. |
Administrator
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Did you install g2o from source? It seems libg2o_core.so cannot be found. You can try to add the directory containing it to LD_LIBRARY_PATH.
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I build the g2o libraries from source and binaries also tried, Its not working, but realsense ros is working fine, and i will try to add a LD_LIBRARY_PATH
Thank you for reply |
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I applied the changes that you mentioned then i got the below output.
... logging to /home/xyz/.ros/log/79a4d9dc-007b-11ea-9a70-0c5415899284/roslaunch-xyz-NUC8i7HNK-22472.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. xacro: in-order processing became default in ROS Melodic. You can drop the option. started roslaunch server http://xyz-NUC8i7HNK:35305/ SUMMARY ======== CLEAR PARAMETERS * /ukf_se/ PARAMETERS * /d435/realsense2_camera/accel_fps: 0 * /d435/realsense2_camera/accel_frame_id: d435_accel_frame * /d435/realsense2_camera/accel_optical_frame_id: d435_accel_optica... * /d435/realsense2_camera/align_depth: True * /d435/realsense2_camera/aligned_depth_to_color_frame_id: d435_aligned_dept... * /d435/realsense2_camera/aligned_depth_to_fisheye1_frame_id: d435_aligned_dept... * /d435/realsense2_camera/aligned_depth_to_fisheye2_frame_id: d435_aligned_dept... * /d435/realsense2_camera/aligned_depth_to_fisheye_frame_id: d435_aligned_dept... * /d435/realsense2_camera/aligned_depth_to_infra1_frame_id: d435_aligned_dept... * /d435/realsense2_camera/aligned_depth_to_infra2_frame_id: d435_aligned_dept... * /d435/realsense2_camera/allow_no_texture_points: False * /d435/realsense2_camera/base_frame_id: d435_link * /d435/realsense2_camera/calib_odom_file: * /d435/realsense2_camera/clip_distance: 4.0 * /d435/realsense2_camera/color_fps: 30 * /d435/realsense2_camera/color_frame_id: d435_color_frame * /d435/realsense2_camera/color_height: 480 * /d435/realsense2_camera/color_optical_frame_id: d435_color_optica... * /d435/realsense2_camera/color_width: 848 * /d435/realsense2_camera/depth_fps: 30 * /d435/realsense2_camera/depth_frame_id: d435_depth_frame * /d435/realsense2_camera/depth_height: 480 * /d435/realsense2_camera/depth_optical_frame_id: d435_depth_optica... * /d435/realsense2_camera/depth_width: 848 * /d435/realsense2_camera/device_type: * /d435/realsense2_camera/enable_accel: True * /d435/realsense2_camera/enable_color: True * /d435/realsense2_camera/enable_depth: True * /d435/realsense2_camera/enable_fisheye1: True * /d435/realsense2_camera/enable_fisheye2: True * /d435/realsense2_camera/enable_fisheye: True * /d435/realsense2_camera/enable_gyro: True * /d435/realsense2_camera/enable_infra1: False * /d435/realsense2_camera/enable_infra2: False * /d435/realsense2_camera/enable_pointcloud: False * /d435/realsense2_camera/enable_sync: True * /d435/realsense2_camera/filters: pointcloud * /d435/realsense2_camera/fisheye1_frame_id: d435_fisheye1_frame * /d435/realsense2_camera/fisheye1_optical_frame_id: d435_fisheye1_opt... * /d435/realsense2_camera/fisheye2_frame_id: d435_fisheye2_frame * /d435/realsense2_camera/fisheye2_optical_frame_id: d435_fisheye2_opt... * /d435/realsense2_camera/fisheye_fps: 30 * /d435/realsense2_camera/fisheye_frame_id: d435_fisheye_frame * /d435/realsense2_camera/fisheye_height: 0 * /d435/realsense2_camera/fisheye_optical_frame_id: d435_fisheye_opti... * /d435/realsense2_camera/fisheye_width: 0 * /d435/realsense2_camera/gyro_fps: 0 * /d435/realsense2_camera/gyro_frame_id: d435_gyro_frame * /d435/realsense2_camera/gyro_optical_frame_id: d435_gyro_optical... * /d435/realsense2_camera/imu_optical_frame_id: d435_imu_optical_... * /d435/realsense2_camera/infra1_frame_id: d435_infra1_frame * /d435/realsense2_camera/infra1_optical_frame_id: d435_infra1_optic... * /d435/realsense2_camera/infra2_frame_id: d435_infra2_frame * /d435/realsense2_camera/infra2_optical_frame_id: d435_infra2_optic... * /d435/realsense2_camera/infra_fps: 30 * /d435/realsense2_camera/infra_height: 480 * /d435/realsense2_camera/infra_width: 640 * /d435/realsense2_camera/initial_reset: False * /d435/realsense2_camera/json_file_path: * /d435/realsense2_camera/linear_accel_cov: 0.01 * /d435/realsense2_camera/odom_frame_id: d435_odom_frame * /d435/realsense2_camera/pointcloud_texture_index: 0 * /d435/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR * /d435/realsense2_camera/pose_frame_id: d435_pose_frame * /d435/realsense2_camera/pose_optical_frame_id: d435_pose_optical... * /d435/realsense2_camera/publish_odom_tf: True * /d435/realsense2_camera/publish_tf: True * /d435/realsense2_camera/rosbag_filename: * /d435/realsense2_camera/serial_no: 832112071023 * /d435/realsense2_camera/tf_publish_rate: 0.0 * /d435/realsense2_camera/topic_odom_in: d435/odom_in * /d435/realsense2_camera/unite_imu_method: none * /d435/realsense2_camera/usb_port_id: * /points_xyzrgb/approx_sync: False * /points_xyzrgb/decimation: 4.0 * /points_xyzrgb/voxel_size: 0.0 * /robot_description: <?xml version="1.... * /rosdistro: melodic * /rosversion: 1.14.3 * /rtabmap/rtabmap/frame_id: robot_pose * /rtabmap/rtabmapviz/frame_id: robot_pose * /rtabmap/visual_odometry/Odom/ResetCountdown: 1 * /rtabmap/visual_odometry/Odom/Strategy: 1 * /rtabmap/visual_odometry/approx_sync: False * /rtabmap/visual_odometry/frame_id: robot_pose * /rtabmap/visual_odometry/publish_null_when_lost: False * /rtabmap/visual_odometry/publish_tf: False * /t265/realsense2_camera/accel_fps: 62 * /t265/realsense2_camera/accel_frame_id: t265_accel_frame * /t265/realsense2_camera/accel_optical_frame_id: t265_accel_optica... * /t265/realsense2_camera/align_depth: False * /t265/realsense2_camera/aligned_depth_to_color_frame_id: t265_aligned_dept... * /t265/realsense2_camera/aligned_depth_to_fisheye1_frame_id: t265_aligned_dept... * /t265/realsense2_camera/aligned_depth_to_fisheye2_frame_id: t265_aligned_dept... * /t265/realsense2_camera/aligned_depth_to_fisheye_frame_id: t265_aligned_dept... * /t265/realsense2_camera/aligned_depth_to_infra1_frame_id: t265_aligned_dept... * /t265/realsense2_camera/aligned_depth_to_infra2_frame_id: t265_aligned_dept... * /t265/realsense2_camera/allow_no_texture_points: False * /t265/realsense2_camera/base_frame_id: t265_link * /t265/realsense2_camera/calib_odom_file: * /t265/realsense2_camera/clip_distance: -1.0 * /t265/realsense2_camera/color_fps: 30 * /t265/realsense2_camera/color_frame_id: t265_color_frame * /t265/realsense2_camera/color_height: 480 * /t265/realsense2_camera/color_optical_frame_id: t265_color_optica... * /t265/realsense2_camera/color_width: 640 * /t265/realsense2_camera/depth_fps: 30 * /t265/realsense2_camera/depth_frame_id: t265_depth_frame * /t265/realsense2_camera/depth_height: 480 * /t265/realsense2_camera/depth_optical_frame_id: t265_depth_optica... * /t265/realsense2_camera/depth_width: 640 * /t265/realsense2_camera/device_type: * /t265/realsense2_camera/enable_accel: True * /t265/realsense2_camera/enable_color: True * /t265/realsense2_camera/enable_depth: True * /t265/realsense2_camera/enable_fisheye1: True * /t265/realsense2_camera/enable_fisheye2: True * /t265/realsense2_camera/enable_fisheye: True * /t265/realsense2_camera/enable_gyro: True * /t265/realsense2_camera/enable_infra1: True * /t265/realsense2_camera/enable_infra2: True * /t265/realsense2_camera/enable_pointcloud: False * /t265/realsense2_camera/enable_sync: False * /t265/realsense2_camera/filters: * /t265/realsense2_camera/fisheye1_frame_id: t265_fisheye1_frame * /t265/realsense2_camera/fisheye1_optical_frame_id: t265_fisheye1_opt... * /t265/realsense2_camera/fisheye2_frame_id: t265_fisheye2_frame * /t265/realsense2_camera/fisheye2_optical_frame_id: t265_fisheye2_opt... * /t265/realsense2_camera/fisheye_fps: 30 * /t265/realsense2_camera/fisheye_frame_id: t265_fisheye_frame * /t265/realsense2_camera/fisheye_height: 800 * /t265/realsense2_camera/fisheye_optical_frame_id: t265_fisheye_opti... * /t265/realsense2_camera/fisheye_width: 848 * /t265/realsense2_camera/gyro_fps: 200 * /t265/realsense2_camera/gyro_frame_id: t265_gyro_frame * /t265/realsense2_camera/gyro_optical_frame_id: t265_gyro_optical... * /t265/realsense2_camera/imu_optical_frame_id: t265_imu_optical_... * /t265/realsense2_camera/infra1_frame_id: t265_infra1_frame * /t265/realsense2_camera/infra1_optical_frame_id: t265_infra1_optic... * /t265/realsense2_camera/infra2_frame_id: t265_infra2_frame * /t265/realsense2_camera/infra2_optical_frame_id: t265_infra2_optic... * /t265/realsense2_camera/infra_fps: 30 * /t265/realsense2_camera/infra_height: 480 * /t265/realsense2_camera/infra_width: 640 * /t265/realsense2_camera/initial_reset: False * /t265/realsense2_camera/json_file_path: * /t265/realsense2_camera/linear_accel_cov: 0.01 * /t265/realsense2_camera/odom_frame_id: odom * /t265/realsense2_camera/pointcloud_texture_index: 0 * /t265/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR * /t265/realsense2_camera/pose_frame_id: robot_pose * /t265/realsense2_camera/pose_optical_frame_id: t265_pose_optical... * /t265/realsense2_camera/publish_odom_tf: True * /t265/realsense2_camera/publish_tf: True * /t265/realsense2_camera/rosbag_filename: * /t265/realsense2_camera/serial_no: 925122110764 * /t265/realsense2_camera/tf_publish_rate: 0.0 * /t265/realsense2_camera/topic_odom_in: odom_in * /t265/realsense2_camera/unite_imu_method: none * /t265/realsense2_camera/usb_port_id: * /ukf_se/acceleration_gains: [0.8, 0.0, 0.0, 0... * /ukf_se/acceleration_limits: [1.3, 0.0, 0.0, 0... * /ukf_se/alpha: 0.001 * /ukf_se/base_link_frame: robot_pose * /ukf_se/beta: 2 * /ukf_se/control_config: [True, False, Fal... * /ukf_se/control_timeout: 0.2 * /ukf_se/debug: False * /ukf_se/debug_out_file: /path/to/debug/fi... * /ukf_se/deceleration_gains: [1.0, 0.0, 0.0, 0... * /ukf_se/deceleration_limits: [1.3, 0.0, 0.0, 0... * /ukf_se/frequency: 15 * /ukf_se/imu0_remove_gravitational_acceleration: True * /ukf_se/initial_estimate_covariance: ['1e-9', 0, 0, 0,... * /ukf_se/kappa: 0 * /ukf_se/map_frame: map * /ukf_se/odom0: /t265/odom/sample * /ukf_se/odom0_config: [True, True, True... * /ukf_se/odom0_differential: False * /ukf_se/odom0_nodelay: False * /ukf_se/odom0_pose_rejection_threshold: 5 * /ukf_se/odom0_queue_size: 10 * /ukf_se/odom0_relative: False * /ukf_se/odom0_twist_rejection_threshold: 1 * /ukf_se/odom1: /rtabmap/odom * /ukf_se/odom1_config: [True, True, True... * /ukf_se/odom1_differential: False * /ukf_se/odom1_nodelay: False * /ukf_se/odom1_pose_rejection_threshold: 5 * /ukf_se/odom1_queue_size: 10 * /ukf_se/odom1_relative: False * /ukf_se/odom1_twist_rejection_threshold: 1 * /ukf_se/odom_frame: odom * /ukf_se/print_diagnostics: True * /ukf_se/process_noise_covariance: [0.05, 0, 0, 0, 0... * /ukf_se/sensor_timeout: 0.1 * /ukf_se/stamped_control: False * /ukf_se/transform_time_offset: 0.0 * /ukf_se/transform_timeout: 0.2 * /ukf_se/two_d_mode: False * /ukf_se/use_control: True * /ukf_se/world_frame: odom * /use_sim_time: False NODES /rtabmap/ rtabmap (rtabmap_ros/rtabmap) rtabmapviz (rtabmap_ros/rtabmapviz) visual_odometry (rtabmap_ros/rgbd_odometry) /d435/ color_rectify_color (nodelet/nodelet) realsense2_camera (nodelet/nodelet) realsense2_camera_manager (nodelet/nodelet) / points_xyzrgb (nodelet/nodelet) robot_state_publisher (robot_state_publisher/state_publisher) ukf_se (robot_localization/ukf_localization_node) /t265/ realsense2_camera (nodelet/nodelet) realsense2_camera_manager (nodelet/nodelet) auto-starting new master process[master]: started with pid [22485] ROS_MASTER_URI=http://localhost:11311 setting /run_id to 79a4d9dc-007b-11ea-9a70-0c5415899284 process[rosout-1]: started with pid [22496] started core service [/rosout] process[d435/realsense2_camera_manager-2]: started with pid [22504] process[d435/realsense2_camera-3]: started with pid [22505] process[d435/color_rectify_color-4]: started with pid [22506] process[t265/realsense2_camera_manager-5]: started with pid [22511] [ INFO] [1573034091.805760992]: Initializing nodelet with 8 worker threads. process[t265/realsense2_camera-6]: started with pid [22519] process[robot_state_publisher-7]: started with pid [22534] process[ukf_se-8]: started with pid [22535] process[rtabmap/visual_odometry-9]: started with pid [22541] process[rtabmap/rtabmap-10]: started with pid [22551] [ INFO] [1573034091.837658777]: Initializing nodelet with 8 worker threads. process[rtabmap/rtabmapviz-11]: started with pid [22566] process[points_xyzrgb-12]: started with pid [22568] [ INFO] [1573034091.952588894]: RealSense ROS v2.2.9 [ INFO] [1573034091.952663132]: Running with LibRealSense v2.29.0 [ INFO] [1573034091.990983290]: RealSense ROS v2.2.9 [ INFO] [1573034091.991032686]: Running with LibRealSense v2.29.0 15:24:52.074 [22602] [E] Device-8E20: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY) 15:24:52.084 [22602] [E] Device-3600: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY) 15:24:52.094 [22602] [E] Device-3600: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY) 15:24:52.104 [22602] [E] Device-3600: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY) 15:24:52.115 [22602] [E] Device-3600: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY) [ INFO] [1573034092.121573840]: Starting node... [ INFO] [1573034092.123162724]: Initializing nodelet with 8 worker threads. 15:24:52.125 [22602] [E] Device-3600: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY) 15:24:52.135 [22602] [E] Device-3600: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY) [ INFO] [1573034092.144117629]: Initializing nodelet with 8 worker threads. 15:24:52.145 [22602] [E] Device-3600: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY) 15:24:52.155 [22602] [E] Device-3600: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY) 15:24:52.166 [22602] [E] Device-3600: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY) 15:24:52.176 [22602] [E] Device-3600: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY) 15:24:52.186 [22602] [E] Device-3600: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY) 15:24:52.196 [22602] [E] Device-3600: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY) 15:24:52.207 [22602] [E] Device-3600: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY) [ INFO] [1573034092.206964437]: Starting node... 15:24:52.217 [22602] [E] Device-3600: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY) 15:24:52.227 [22602] [E] Device-3600: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY) 15:24:52.237 [22602] [E] Device-3600: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY) 15:24:52.247 [22602] [E] Device-3600: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY) 15:24:52.258 [22602] [E] Device-3600: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY) 15:24:52.268 [22602] [E] Device-3600: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY) 15:24:52.278 [22602] [E] Device-3600: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY) 15:24:52.288 [22602] [E] Device-3600: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY) 15:24:52.298 [22602] [E] Device-3600: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY) [ INFO] [1573034092.300223529]: /rtabmap/rtabmap(maps): map_filter_radius = 0.000000 [ INFO] [1573034092.300251309]: /rtabmap/rtabmap(maps): map_filter_angle = 30.000000 [ INFO] [1573034092.300259962]: /rtabmap/rtabmap(maps): map_cleanup = true [ INFO] [1573034092.300268920]: /rtabmap/rtabmap(maps): map_always_update = false [ INFO] [1573034092.300280666]: /rtabmap/rtabmap(maps): map_empty_ray_tracing = true [ INFO] [1573034092.300291211]: /rtabmap/rtabmap(maps): cloud_output_voxelized = true [ INFO] [1573034092.300302796]: /rtabmap/rtabmap(maps): cloud_subtract_filtering = false [ INFO] [1573034092.300316483]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2 15:24:52.309 [22602] [E] Device-3600: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY) 15:24:52.319 [22602] [E] Device-3600: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY) [ INFO] [1573034092.325322504]: /rtabmap/rtabmap(maps): octomap_tree_depth = 16 15:24:52.330 [22602] [E] Device-3600: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY) [ INFO] [1573034092.338482262]: rtabmap: frame_id = robot_pose [ INFO] [1573034092.338517222]: rtabmap: map_frame_id = map [ INFO] [1573034092.338532017]: rtabmap: use_action_for_goal = false [ INFO] [1573034092.338551558]: rtabmap: tf_delay = 0.050000 [ INFO] [1573034092.338569007]: rtabmap: tf_tolerance = 0.100000 [ INFO] [1573034092.338585320]: rtabmap: odom_sensor_sync = false 15:24:52.340 [22602] [E] Device-3600: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY) [ INFO] [1573034092.346791425]: rtabmapviz: Using configuration from "/home/xyz/.ros/rtabmapGUI.ini" 15:24:52.350 [22602] [E] Device-3600: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY) 15:24:52.360 [22602] [E] Device-3600: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY) 15:24:52.370 [22602] [E] Device-3600: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY) 15:24:52.381 [22602] [E] Device-3600: Error: Failed to claim USB interface. LIBUSB_ERROR_CODE: 0xFFFFFFFA (LIBUSB_ERROR_BUSY) [ INFO] [1573034092.389278502]: [ INFO] [1573034092.400832761]: Device with serial number 832112071023 was found. [ INFO] [1573034092.400974059]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb2/2-2/2-2:1.0/video4linux/video0 was found. [ INFO] [1573034092.401060398]: Device with name Intel RealSense D435 was found. [ INFO] [1573034092.401604177]: Device with port number 2-2 was found. [ERROR] [1573034092.404459624]: The requested device with serial number 925122110764 is NOT found. Will Try again. [ INFO] [1573034092.405359128]: [ INFO] [1573034092.418292491]: Odometry: frame_id = robot_pose [ INFO] [1573034092.418333108]: Odometry: odom_frame_id = odom [ INFO] [1573034092.418359801]: Odometry: publish_tf = false [ INFO] [1573034092.418382193]: Odometry: wait_for_transform = true [ INFO] [1573034092.418403854]: Odometry: wait_for_transform_duration = 0.100000 [ INFO] [1573034092.418436252]: Odometry: initial_pose = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 [ INFO] [1573034092.418450151]: Odometry: ground_truth_frame_id = [ INFO] [1573034092.418475464]: Odometry: ground_truth_base_frame_id = robot_pose [ INFO] [1573034092.418492534]: Odometry: config_path = [ INFO] [1573034092.418508082]: Odometry: publish_null_when_lost = false [ INFO] [1573034092.418521982]: Odometry: guess_frame_id = [ INFO] [1573034092.418536146]: Odometry: guess_min_translation = 0.000000 [ INFO] [1573034092.418549943]: Odometry: guess_min_rotation = 0.000000 [ INFO] [1573034092.418563827]: Odometry: guess_min_time = 0.000000 [ INFO] [1573034092.418579809]: Odometry: expected_update_rate = 0.000000 Hz [ INFO] [1573034092.418589214]: Odometry: wait_imu_to_init = false [ INFO] [1573034092.422720441]: Device with serial number 832112071023 was found. [ INFO] [1573034092.422760866]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb2/2-2/2-2:1.0/video4linux/video0 was found. [ INFO] [1573034092.422775549]: Device with name Intel RealSense D435 was found. [ INFO] [1573034092.423166815]: Device with port number 2-2 was found. [ INFO] [1573034092.433620370]: getParameters... [ INFO] [1573034092.535740258]: setupDevice... [ INFO] [1573034092.535768609]: JSON file is not provided [ INFO] [1573034092.535779905]: ROS Node Namespace: d435 [ INFO] [1573034092.535796685]: Device Name: Intel RealSense D435 [ INFO] [1573034092.535805162]: Device Serial No: 832112071023 [ INFO] [1573034092.535818039]: Device physical port: /sys/devices/pci0000:00/0000:00:14.0/usb2/2-2/2-2:1.0/video4linux/video0 [ INFO] [1573034092.535830234]: Device FW version: 05.11.15.00 [ INFO] [1573034092.535842982]: Device Product ID: 0x0B07 [ INFO] [1573034092.535851836]: Enable PointCloud: On [ INFO] [1573034092.535872712]: Align Depth: On [ INFO] [1573034092.535891877]: Sync Mode: On [ INFO] [1573034092.536070979]: Device Sensors: [ INFO] [1573034092.536143367]: Stereo Module was found. [ INFO] [1573034092.536166023]: RGB Camera was found. [ INFO] [1573034092.536208928]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1573034092.536227048]: (Fisheye, 1) sensor isn't supported by current device! -- Skipping... [ INFO] [1573034092.536245169]: (Fisheye, 2) sensor isn't supported by current device! -- Skipping... [ INFO] [1573034092.536260974]: (Gyro, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1573034092.536276495]: (Accel, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1573034092.536293490]: (Pose, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1573034092.536335786]: Add Filter: pointcloud [ INFO] [1573034092.541311966]: num_filters: 1 [ INFO] [1573034092.541340210]: Setting Dynamic reconfig parameters. [ INFO] [1573034092.548966229]: Setting odometry parameter "Odom/ResetCountdown"="1" [ INFO] [1573034092.552886381]: Setting odometry parameter "Odom/Strategy"="1" [ INFO] [1573034092.604842183]: Done Setting Dynamic reconfig parameters. [ INFO] [1573034092.611214372]: depth stream is enabled - width: 848, height: 480, fps: 30, Format: Z16 06/11 15:24:52,611 WARNING [139734066005760] (backend-v4l2.cpp:1148) Pixel format 36315752-1a66-a242-9065-d01814a likely requires patch for fourcc code RW16! [ INFO] [1573034092.618886277]: color stream is enabled - width: 848, height: 480, fps: 30, Format: RGB8 [ INFO] [1573034092.620327370]: setupPublishers... [ INFO] [1573034092.623656217]: Expected frequency for depth = 30.00000 [ INFO] [1573034092.657901613]: Expected frequency for color = 30.00000 [ INFO] [1573034092.696232233]: Expected frequency for aligned_depth_to_color = 30.00000 [ INFO] [1573034092.740370691]: setupStreams... [ INFO] [1573034092.741789880]: insert Depth to Stereo Module [ INFO] [1573034092.741865537]: insert Color to RGB Camera [ INFO] [1573034092.855829008]: SELECTED BASE:Depth, 0 [ INFO] [1573034092.872639126]: RealSense Node Is Up! [ INFO] [1573034092.924558827]: RGBDOdometry: approx_sync = false [ INFO] [1573034092.924586142]: RGBDOdometry: queue_size = 5 [ INFO] [1573034092.924595109]: RGBDOdometry: subscribe_rgbd = false [ INFO] [1573034092.924605039]: RGBDOdometry: rgbd_cameras = 1 06/11 15:24:52,927 WARNING [139734032434944] (ds5-timestamp.cpp:64) UVC metadata payloads not available. Please refer to the installation chapter for details. [ INFO] [1573034092.937941108]: /rtabmap/visual_odometry subscribed to (exact sync): /d435/color/image_raw, /d435/aligned_depth_to_color/image_raw, /d435/color/camera_info [ WARN] [1573034092.940851568]: Frame metadata isn't available! (frame_timestamp_domain = RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME) 06/11 15:24:52,975 WARNING [139734024042240] (ds5-timestamp.cpp:64) UVC metadata payloads not available. Please refer to the installation chapter for details. [ INFO] [1573034093.123117409]: RTAB-Map detection rate = 1.000000 Hz [ INFO] [1573034093.123294792]: rtabmap: Deleted database "/home/xyz/.ros/rtabmap.db" (--delete_db_on_start or -d are set). [ INFO] [1573034093.123345500]: rtabmap: Using database from "/home/xyz/.ros/rtabmap.db" (0 MB). libpng warning: iCCP: known incorrect sRGB profile libpng warning: iCCP: known incorrect sRGB profile [ INFO] [1573034093.278761611]: rtabmap: Database version = "0.19.3". [ INFO] [1573034093.289919972]: /rtabmap/rtabmap: subscribe_depth = true [ INFO] [1573034093.289951419]: /rtabmap/rtabmap: subscribe_rgb = true [ INFO] [1573034093.289982978]: /rtabmap/rtabmap: subscribe_stereo = false [ INFO] [1573034093.289998142]: /rtabmap/rtabmap: subscribe_rgbd = false (rgbd_cameras=1) [ INFO] [1573034093.290012207]: /rtabmap/rtabmap: subscribe_odom_info = false [ INFO] [1573034093.290023082]: /rtabmap/rtabmap: subscribe_user_data = false [ INFO] [1573034093.290035512]: /rtabmap/rtabmap: subscribe_scan = false [ INFO] [1573034093.290045163]: /rtabmap/rtabmap: subscribe_scan_cloud = false [ INFO] [1573034093.290058213]: /rtabmap/rtabmap: queue_size = 10 [ INFO] [1573034093.290073766]: /rtabmap/rtabmap: approx_sync = true [ INFO] [1573034093.290164362]: Setup depth callback [ INFO] [1573034093.293816002]: Reading parameters from the ROS server... [ INFO] [1573034093.305133160]: /rtabmap/rtabmap subscribed to (approx sync): /odometry/filtered, /d435/color/image_raw, /d435/aligned_depth_to_color/image_raw, /d435/color/camera_info [ INFO] [1573034093.315332218]: rtabmap 0.19.6 started... [ INFO] [1573034093.415314548]: Parameters read = 311 [ INFO] [1573034093.415344685]: Parameters successfully read. [ INFO] [1573034093.514963064]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.028667s [ INFO] [1573034093.643957174]: /rtabmap/rtabmapviz: subscribe_depth = false [ INFO] [1573034093.643987893]: /rtabmap/rtabmapviz: subscribe_rgb = false [ INFO] [1573034093.643999343]: /rtabmap/rtabmapviz: subscribe_stereo = false [ INFO] [1573034093.644012756]: /rtabmap/rtabmapviz: subscribe_rgbd = false (rgbd_cameras=1) [ INFO] [1573034093.644050768]: /rtabmap/rtabmapviz: subscribe_odom_info = false [ INFO] [1573034093.644067633]: /rtabmap/rtabmapviz: subscribe_user_data = false [ INFO] [1573034093.644084917]: /rtabmap/rtabmapviz: subscribe_scan = false [ INFO] [1573034093.644101985]: /rtabmap/rtabmapviz: subscribe_scan_cloud = false [ INFO] [1573034093.644118764]: /rtabmap/rtabmapviz: queue_size = 10 [ INFO] [1573034093.644135554]: /rtabmap/rtabmapviz: approx_sync = true [ INFO] [1573034093.644180761]: Setup scan callback [ INFO] [1573034093.646232078]: /rtabmap/rtabmapviz subscribed to: /odometry/filtered [ INFO] [1573034093.646317832]: rtabmapviz started. [rtabmap/visual_odometry-9] process has died [pid 22541, exit code -11, cmd /home/xyz/catkin_ws/devel/lib/rtabmap_ros/rgbd_odometry rgb/image:=/d435/color/image_raw depth/image:=/d435/aligned_depth_to_color/image_raw rgb/camera_info:=/d435/color/camera_info __name:=visual_odometry __log:=/home/xyz/.ros/log/79a4d9dc-007b-11ea-9a70-0c5415899284/rtabmap-visual_odometry-9.log]. log file: /home/xyz/.ros/log/79a4d9dc-007b-11ea-9a70-0c5415899284/rtabmap-visual_odometry-9*.log [ WARN] [1573034095.228176237]: Messages of type 1 arrived out of order (will print only once) [ WARN] [1573034095.228244785]: Messages of type 3 arrived out of order (will print only once) [ WARN] [1573034098.305268285]: /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): /odometry/filtered, /d435/color/image_raw, /d435/aligned_depth_to_color/image_raw, /d435/color/camera_info [ INFO] [1573034098.407067479]: [ INFO] [1573034098.412505965]: Device with serial number 832112071023 was found. [ INFO] [1573034098.412578658]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb2/2-2/2-2:1.0/video4linux/video0 was found. [ INFO] [1573034098.412610751]: Device with name Intel RealSense D435 was found. [ INFO] [1573034098.412927991]: Device with port number 2-2 was found. [ INFO] [1573034098.420034419]: Device with serial number 925122110764 was found. [ INFO] [1573034098.420067585]: Device with physical ID vid_8087 pid_0B37 bus_2 port_3 was found. [ INFO] [1573034098.420081322]: Device with name Intel RealSense T265 was found. [ INFO] [1573034098.420224315]: Device with port number 2-3 was found. [ INFO] [1573034098.425684030]: No calib_odom_file. No input odometry accepted. [ INFO] [1573034098.425719858]: getParameters... [ INFO] [1573034098.451100741]: setupDevice... [ INFO] [1573034098.451144018]: JSON file is not provided [ INFO] [1573034098.451156775]: ROS Node Namespace: t265 [ INFO] [1573034098.451177317]: Device Name: Intel RealSense T265 [ INFO] [1573034098.451190997]: Device Serial No: 925122110764 [ INFO] [1573034098.451204259]: Device physical port: vid_8087 pid_0B37 bus_2 port_3 [ INFO] [1573034098.451216994]: Device FW version: 0.1.0.279 [ INFO] [1573034098.451230135]: Device Product ID: 0x0B37 [ INFO] [1573034098.451241405]: Enable PointCloud: Off [ INFO] [1573034098.451253129]: Align Depth: Off [ INFO] [1573034098.451266641]: Sync Mode: Off [ INFO] [1573034098.451306950]: Device Sensors: [ INFO] [1573034098.451348135]: Tracking Module was found. [ INFO] [1573034098.451378825]: (Depth, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1573034098.451395953]: (Color, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1573034098.451410000]: (Infrared, 1) sensor isn't supported by current device! -- Skipping... [ INFO] [1573034098.451423088]: (Infrared, 2) sensor isn't supported by current device! -- Skipping... [ INFO] [1573034098.451436480]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping... [ INFO] [1573034098.451463228]: num_filters: 0 [ INFO] [1573034098.451477173]: Setting Dynamic reconfig parameters. [ INFO] [1573034098.455636664]: Done Setting Dynamic reconfig parameters. [ INFO] [1573034098.456161056]: fisheye1 stream is enabled - width: 848, height: 800, fps: 30, Format: Y8 [ INFO] [1573034098.456474077]: fisheye2 stream is enabled - width: 848, height: 800, fps: 30, Format: Y8 [ INFO] [1573034098.456505988]: setupPublishers... [ INFO] [1573034098.458184445]: Expected frequency for fisheye1 = 30.00000 [ INFO] [1573034098.471225164]: Expected frequency for fisheye2 = 30.00000 [ INFO] [1573034098.486058055]: setupStreams... [ INFO] [1573034098.486118878]: insert Fisheye to Tracking Module [ INFO] [1573034098.486149797]: insert Fisheye to Tracking Module [ INFO] [1573034098.486169025]: insert Gyro to Tracking Module [ INFO] [1573034098.486185134]: insert Accel to Tracking Module [ INFO] [1573034098.486202308]: insert Pose to Tracking Module [ INFO] [1573034098.513665976]: SELECTED BASE:Pose, 0 [ INFO] [1573034098.515127136]: RealSense Node Is Up! [ WARN] [1573034098.646341262]: /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"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10). /rtabmap/rtabmapviz subscribed to: /odometry/filtered terminate called after throwing an instance of 'std::bad_alloc' what(): std::bad_alloc [rtabmap/rtabmapviz-11] process has died [pid 22566, exit code -6, cmd /home/xyz/catkin_ws/devel/lib/rtabmap_ros/rtabmapviz rgb/image:=/d435/color/image_raw depth/image:=/d435/aligned_depth_to_color/image_raw rgb/camera_info:=/d435/color/camera_info scan_cloud:=voxel_cloud odom:=/odometry/filtered __name:=rtabmapviz __log:=/home/xyz/.ros/log/79a4d9dc-007b-11ea-9a70-0c5415899284/rtabmap-rtabmapviz-11.log]. log file: /home/xyz/.ros/log/79a4d9dc-007b-11ea-9a70-0c5415899284/rtabmap-rtabmapviz-11*.log [rtabmap/rtabmap-10] process has died [pid 22551, exit code -11, cmd /home/xyz/catkin_ws/devel/lib/rtabmap_ros/rtabmap --delete_db_on_start rgb/image:=/d435/color/image_raw depth/image:=/d435/aligned_depth_to_color/image_raw rgb/camera_info:=/d435/color/camera_info scan_cloud:=voxel_cloud odom:=/odometry/filtered __name:=rtabmap __log:=/home/xyz/.ros/log/79a4d9dc-007b-11ea-9a70-0c5415899284/rtabmap-rtabmap-10.log]. log file: /home/xyz/.ros/log/79a4d9dc-007b-11ea-9a70-0c5415899284/rtabmap-rtabmap-10*.log |
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Administrator
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Hi,
Make sure you disabled "-march=native" when building g2o from source as explained in the "Build from source" instructions: It is recommended to just use the g2o binaries installed with ROS (the official rtabmap binaries use them). If you want to try them, uninstall your g2o built from source, cleanup the build directory of rtabmap to reset CMake cache, then make sure when cmake is running that the g2o version in /opt/ros is found. You can also try to debug with gdb, at least to see if the seg fault happens in Eigen stuff, so you will know it is a "-march=native" problem. cheers, Mathieu |
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HI,
Thank you sir, I wil try that and tell the result. |
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