Intraprocess Communication

Posted by Kameel Amareen on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Intraprocess-Communication-tp11042.html

Hello, hope this message finds everyone well !

So I have defined a python ComposableNodeContainer that launches RTABMAP Slam as a ComposableNode.

Everything works except when extra_arguments=[{"use_intra_process_comms": True}], argument is set. Where the error of:

[component_container-1] [ERROR] [1743440036.747046855] [rtabmap_container]: Component constructor threw an exception: intraprocess communication allowed only with volatile durability
[ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'rtabmap_slam' of type 'rtabmap_slam::CoreWrapper' in container '/rtabmap_container': Component constructor threw an exception: intraprocess communication allowed only with volatile durability

I have tried changing the mapGraphpub_ to:

mapGraphPub_ = this->create_publisher<rtabmap_msgs::msg::MapGraph>("mapGraph", rclcpp::QoS(1).reliable().durability(RMW_QOS_POLICY_DURABILITY_VOLATILE));

But the issue persists, any tips ?