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-tp11071p11208.html

I ran it the exact same way and I also switched my setup to default rmw instead of zenoh and now ran it outside of docker. So afaik the only difference with your setup is I'm running jazzy on ubuntu noble.

   PLATFORM INFORMATION
system           : Linux
platform info    : Linux-6.9.3-76060903-generic-x86_64-with-glibc2.39
release          : 6.9.3-76060903-generic
processor        : x86_64

   QOS COMPATIBILITY LIST
compatibility status    : No publisher/subscriber pairs found

   RMW MIDDLEWARE
middleware name    : rmw_fastrtps_cpp

   ROS 2 INFORMATION
distribution name      : jazzy
distribution type      : ros2
distribution status    : active
release platforms      : {'debian': ['bookworm'], 'rhel': ['9'], 'ubuntu': ['noble']}

The log

ros2 run rtabmap_slam rtabmap -d --ros-args --log-level debug
...
^C[INFO] [1748355542.137371437] [rclcpp]: signal_handler(signum=2)
[DEBUG] [1748355542.137435127] [rclcpp]: signal_handler(): notifying deferred signal handler
[DEBUG] [1748355542.137513694] [rclcpp]: deferred_signal_handler(): woken up due to SIGINT/SIGTERM or uninstall
[DEBUG] [1748355542.137551917] [rclcpp]: deferred_signal_handler(): shutting down
[DEBUG] [1748355542.137686506] [rclcpp]: deferred_signal_handler(): shutting down rclcpp::Context @ 0x62d2ae08fa20, because it had shutdown_on_signal == true
[DEBUG] [1748355542.137718033] [rcl]: Shutting down ROS client library, for context at address: 0x62d2ae017820
[DEBUG] [1748355542.137788282] [rcl]: Finalizing publisher
terminate called after throwing an instance of 'std::runtime_error'
  what():  context cannot be slept with because it's invalid
[ros2run]: Aborted

On another note, as mentioned earlier, I made new ros bags including the camera-feeds. I've sent them to your email, so feel free to have a look if you're interested to. I wasn't sure whether I should have the emitter enabled or not, but decided in the end to enable it and capture rgb, aligned_depth_to_color, point-cloud and both infra topics.