Posted by
imran05 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Navigation-with-Rtabmap-and-Stereo-Camera-tp10644p10823.html
Thank You, with standalone the obstacle detection node starts working but my rtabmap slam node is crashing now even without it. I tried to figure it out but the solutions
#8 and
this i found didn't wok for me.
I am getting below errors now:
[FATAL] (2024-12-30 14:40:27.819) Features2d.cpp:2513::generateDescriptorsImpl() Condition ((int)keypoints.size() == descriptors_.rows) not met! [keypoints=600 descriptors=0]
[FATAL] [1735537227.820026726]: [FATAL] (2024-12-30 14:40:27.819) Features2d.cpp:2513::generateDescriptorsImpl() Condition ((int)keypoints.size() == descriptors_.rows) not met! [keypoints=600 descriptors=0]
terminate called after throwing an instance of 'UException'
what(): [FATAL] (2024-12-30 14:40:27.819) Features2d.cpp:2513::generateDescriptorsImpl() Condition ((int)keypoints.size() == descriptors_.rows) not met! [keypoints=600 descriptors=0]
[rtabmap/stereo_odometry-1] process has died [pid 28663, exit code -6, cmd /home/darlab/rtabmap_ws/devel/lib/rtabmap_odom/stereo_odometry left/image_rect:=/stereo_inertial_publisher/left/image_rect right/image_rect:=/stereo_inertial_publisher/right/image_rect left/camera_info:=/stereo_inertial_publisher/right/camera_info right/camera_info:=/stereo_inertial_publisher/left/camera_info rgbd_image:=rgbd_image_relay odom:=odom imu:=/stereo_inertial_publisher/imu/data __name:=stereo_odometry __log:=/home/darlab/.ros/log/4a8cc3a8-c66e-11ef-bcc0-8146ab82e6d5/rtabmap-stereo_odometry-1.log].
log file: /home/darlab/.ros/log/4a8cc3a8-c66e-11ef-bcc0-8146ab82e6d5/rtabmap-stereo_odometry-1*.log
and sometimes the below one:
FATAL] (2024-12-30 14:40:59.982) util3d_mapping.cpp:826::rayTrace() Condition (end.x >= 0 && end.x < grid.cols) not met! [end.x=-2 grid.cols=200]
[FATAL] [1735537259.982265532]: [FATAL] (2024-12-30 14:40:59.982) util3d_mapping.cpp:826::rayTrace() Condition (end.x >= 0 && end.x < grid.cols) not met! [end.x=-2 grid.cols=200]
terminate called after throwing an instance of 'UException'
what(): [FATAL] (2024-12-30 14:40:59.982) util3d_mapping.cpp:826::rayTrace() Condition (end.x >= 0 && end.x < grid.cols) not met! [end.x=-2 grid.cols=200]
[ INFO] [1735537260.049045844]: Odom: quality=459, std dev=0.019702m|0.038960rad, update time=0.096918s
[ INFO] [1735537260.178868459]: Odom: quality=449, std dev=0.023083m|0.043116rad, update time=0.038624s
[ INFO] [1735537260.307225595]: Odom: quality=447, std dev=0.027751m|0.046331rad, update time=0.075144s
[ INFO] [1735537260.401837107]: Odom: quality=448, std dev=0.027788m|0.046331rad, update time=0.068712s
[ INFO] [1735537260.481651984]: Odom: quality=444, std dev=0.030482m|0.044810rad, update time=0.048171s
[ INFO] [1735537260.603218810]: Odom: quality=439, std dev=0.031161m|0.048989rad, update time=0.067083s
[rtabmap/rtabmap-2] process has died [pid 29139, exit code -6, cmd /home/darlab/rtabmap_ws/devel/lib/rtabmap_slam/rtabmap move_base:=/move_base 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_inertial_publisher/left/image_rect right/image_rect:=/stereo_inertial_publisher/right/image_rect left/camera_info:=/stereo_inertial_publisher/right/camera_info right/camera_info:=/stereo_inertial_publisher/left/camera_info scan:=/scan scan_cloud:=/scan_cloud scan_descriptor:=/scan_descriptor user_data:=/user_data user_data_async:=/user_data_async gps/fix:=/gps/fix tag_detections:=/tag_detections fiducial_transforms:=/fiducial_transforms odom:=odom imu:=/stereo_inertial_publisher/imu/data __name:=rtabmap __log:=/home/darlab/.ros/log/4a8cc3a8-c66e-11ef-bcc0-8146ab82e6d5/rtabmap-rtabmap-2.log].
log file: /home/darlab/.ros/log/4a8cc3a8-c66e-11ef-bcc0-8146ab82e6d5/rtabmap-rtabmap-2*.log
Moreover, the standalone version is working fine, i can run the rtabmap with the previous databases.