Re: Improving a lidar-only setup

Posted by Robin on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Improving-a-lidar-only-setup-tp11071p11164.html

This is what I get when I ctrl-C my launch (I just stopped it after a minute or so of mapping with a rosbag). Could be related to my setup though, so not sure if this is a bug. I'm running in a devcontainer (using jazzy and zenoh rmw).

[rtabmap-7] [DEBUG] [2025-05-12 09:53:11.710] [rcl]: Subscription take succeeded: true
[rtabmap-7] [DEBUG] [2025-05-12 09:53:11.713] [rcl]: Subscription taking message
[rtabmap-7] [DEBUG] [2025-05-12 09:53:11.713] [rcl]: Subscription take succeeded: true
[rtabmap-7] [DEBUG] [2025-05-12 09:53:11.714] [rcl]: Subscription taking message
[rtabmap-7] [DEBUG] [2025-05-12 09:53:11.714] [rcl]: Subscription take succeeded: true
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[rtabmap-7] [INFO] [2025-05-12 09:53:11.715] [rclcpp]: signal_handler(signum=2)
[rtabmap-7] [DEBUG] [2025-05-12 09:53:11.715] [rclcpp]: signal_handler(): notifying deferred signal handler
[rtabmap-7] [DEBUG] [2025-05-12 09:53:11.715] [rclcpp]: deferred_signal_handler(): woken up due to SIGINT/SIGTERM or uninstall
[rtabmap-7] [DEBUG] [2025-05-12 09:53:11.715] [rclcpp]: deferred_signal_handler(): shutting down
[rtabmap-7] [DEBUG] [2025-05-12 09:53:11.715] [rclcpp]: deferred_signal_handler(): shutting down rclcpp::Context @ 0x5f53cdeec010, because it had shutdown_on_signal == true
[rtabmap-7] [DEBUG] [2025-05-12 09:53:11.715] [rcl]: Shutting down ROS client library, for context at address: 0x5f53cdeea700
[rtabmap-7] [DEBUG] [2025-05-12 09:53:11.716] [rcl]: Finalizing publisher
[rtabmap-7] terminate called after throwing an instance of 'std::runtime_error'
[rtabmap-7]   what():  context cannot be slept with because it's invalid

(As for speed of the robot, that rosbag was indeed about 0.3m/s, as it's intended to make a map. In reality the robot on average drives 1.2m/s and at max 2m/s)

And thanks for the tips with databaseViewer, that's really helpful!