RTABMAP closes with error when mapping for long durations

Posted by alexr on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTABMAP-closes-with-error-when-mapping-for-long-durations-tp150.html

Hi Mathieu,

I am having this trouble when using rtabmap with the robot and mapping for long durations. I was trying to make a loop for long corridors (approx 40m x 4 ). The loop closes nicely but when I ctrl-c the terminal where the rtabmap is running, it exits with a error messages. I get the following errors:

[ INFO] [1422700213.490803637]: rtabmap: Update rate=0.500000s, Limit=0.000000s, Processing time = 0.420058s (1543 local nodes)
[mobile_base_nodelet_manager-25] killing on exit
 [turtlebot_teleop_joystick-27] killing on exit
[rviz-24] killing on exit
[joystick-28] killing on exit
[ WARN] (2015-01-31 19:30:14.017) Rtabmap.cpp:1335::process() Cannot compute a loop closure transform between 2479 and 2489: Not enough inliers 0/5 between 2479 and 2489
[ INFO] [1422700214.021549977]: rtabmap: Update rate=0.500000s, Limit=0.000000s, Processing time = 0.351387s (1543 local nodes)
[teleop_velocity_smoother-26] killing on exit
[rtabmap/grid_map_assembler-23] killing on exit
[hokuyo-21] killing on exit
[rtabmap/rtabmap-22] killing on exit
[ WARN] (2015-01-31 19:30:18.770) Rtabmap.cpp:1335::process() Cannot compute a loop closure transform between 2479 and 2489: Not enough inliers 0/5 between 2479 and 2489
[INFO] [WallTime: 1422700228.082291] Mapper Finished
[soundplay-31] escalating to SIGTERM
[rviz-24] escalating to SIGTERM
[turtlebot_teleop_joystick-27] escalating to SIGTERM[mapper-30] escalating to SIGTERM

 [rtabmap/rtabmap-22] escalating to SIGTERM
 [soundplay-31] escalating to SIGKILL
[teleop_velocity_smoother-26] escalating to SIGTERM
[hokuyo-21] escalating to SIGTERM
[rtabmap/grid_map_assembler-23] escalating to SIGTERM
[joystick-28] escalating to SIGTERM
[mobile_base_nodelet_manager-25] escalating to SIGTERM
[camera_base_link3-20] killing on exit
[camera_base_link2-19] killing on exit
[camera_base_link1-18] killing on exit
[camera_base_link-17] killing on exit
[camera/points_xyzrgb_hw_registered-16] killing on exit
[camera/depth_registered_rectify_depth-15] killing on exit
[camera/depth_points-14] killing on exit
[camera/depth_metric-13] killing on exit
[camera/depth_metric_rect-12] killing on exit
[camera/depth_rectify_depth-11] killing on exit
[ INFO] [1422700235.800179809]: Stopping depth stream.
[camera/rectify_color-10] killing on exit
[camera/driver-9] killing on exit
[camera/camera_nodelet_manager-8] killing on exit
[relay2-7] killing on exit
[relay1-6] killing on exit
[RosAria-5] killing on exit
[static_transform_publisher3-4] killing on exit
[static_transform_publisher2-3] killing on exit
[static_transform_publisherx-2] killing on exit
[robot_state_publisher-1] killing on exit
[camera/camera_nodelet_manager-8] escalating to SIGTERM
Shutdown errors:
 * process[soundplay-31, pid 2545]: required SIGKILL. May still be running.
shutting down processing monitor...
... shutting down processing monitor complete
done

The rtabmap.db that gets saved in /.ros/rtabmap.db is only 14.3 kb and all the data is lost.
The total number of nodes generated were around 1500. This happened with me on two occasions. What might be the reason and how do I resolve it.?

Thanks

Alex