Re: RTABMAP closes with error when mapping for long durations

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTABMAP-closes-with-error-when-mapping-for-long-durations-tp150p155.html

How much RAM memory is used before you kill the processes? As I can see, many processes crashed (many "escalating to SIGTERM"). Maybe your RAM was full.

If the database is almost empty, it is because it is in RAM (saved on hard drive on exit) and/or memory management is disabled (which keeps all locations in Working Memory, [in RAM]). So when rtabmap crashes, nothing is saved.

For large-scale mapping, I recommend to use database on hard drive and set a real-time or memory limit.
To set database on hard drive (not required to set explicitly since it is the default):

<param name="DbSqlite3/InMemory" type="string" value="false"/>

One of these two thresholds:Time Threshold (ms) or  Memory Threshold (maximum nodes in Working Memory)

<param name="Rtabmap/TimeThr" type="string" value="700"/>
<param name="Rtabmap/MemoryThr" type="string" value="400"/>