Re: rtabmap process error

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtabmap-process-error-tp1031p1053.html

Hi,

A problem with TF would not make rtabmap crash. In both logs above, the code is crashing inside this code block or this one. You can disable these code sections with the parameter "LccReextract/Activated" set to false:

<node type="rtabmap" ... >
   <param name="LccReextract/Activated" type="string" value="false"/>
</node>

That do not solve the problem indeed. If you can launch the code with gdb (see launch_prefix:="xterm -e gdb -ex run --args" argument), that may give better understanding on where it crashes precisely (like a memory allocation issue?). With my previous example:

roslaunch rtabmap_ros rtabmap.launch launch_prefix:="xterm -e gdb -ex run --args" rgb_topic:=/rgb/image_raw depth_topic:=/depth/image_raw camera_info_topic:=/camera/rgb/camera_info subscribe_scan:=true frame_id:=/base_link rtabmap_args:="--delete_db_on_start" rtabmapviz:=false rviz:=true 

Note that I've just updated rtabmap.launch with launch_prefix set to rtabmap node too. If you were using rgbd_mapping.launch, you don't need to update.

cheers