Re: RTAB crashes after set_mode_localization service call

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-crashes-after-set-mode-localization-service-call-tp10383p10412.html

Hi,

I was not able to reproduce the issue with this example (with use_zed_odometry:=true) and toggling mapping/localization on-off. An odometry topic with invalid covariance may have been received. I verified and zed_wrapper should return odometry with fixed covariance "1e-10" like the following, so you may verify if you see the same thing:

ros2 topic echo /zed/zed_node/odom --field pose.covariance

[1.00000001e-10 0.00000000e+00 0.00000000e+00 0.00000000e+00
 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000001e-10
 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00
 0.00000000e+00 0.00000000e+00 1.00000001e-10 0.00000000e+00
 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00
 0.00000000e+00 1.00000001e-10 0.00000000e+00 0.00000000e+00
 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00
 1.00000001e-10 0.00000000e+00 0.00000000e+00 0.00000000e+00
 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000001e-10]

Otherwise, if you can reproduce easily and the covariance looks okay, you may try to launch rtabmap node with "--udebug" argument to show more debug logs.

cheers,
Mathieu