rtabmap_ros jetson tx2 and zed camera launch issue

Posted by abmros1 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtabmap-ros-jetson-tx2-and-zed-camera-launch-issue-tp3625.html

Hello,

I am testing rtabmap_ros on the jetson tx2 with the Zed camera. I follow the tutorial http://wiki.ros.org/rtabmap_ros/Tutorials/HandHeldMapping without success. When launch with:
 $ rosrun tf static_transform_publisher 0 0 0 -1.5707963267948966 0 -1.5707963267948966 camera_link zed_initial_frame 100
 $ rosrun tf static_transform_publisher 0 0 0 0 0 0 zed_current_frame ZED_left_camera  100
 $ roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/camera/depth/depth_registered approx_sync:=false

I got the following error:

[ INFO] [1502839748.556378811]: Reading parameters from the ROS server...
OpenCV Error: Assertion failed (channels() == CV_MAT_CN(dtype)) in copyTo, file /tmp/binarydeb/ros-kinetic-opencv3-3.2.0/modules/core/src/copy.cpp, line 259
terminate called after throwing an instance of 'cv::Exception'
  what():  /tmp/binarydeb/ros-kinetic-opencv3-3.2.0/modules/core/src/copy.cpp:259: error: (-215) channels() == CV_MAT_CN(dtype) in function copyTo

[rtabmap/rgbd_odometry-1] process has died [pid 5702, exit code -6, cmd /home/nvidia/catkin_ws/devel/lib/rtabmap_ros/rgbd_odometry --delete_db_on_start rgb/image:=/camera/rgb/image_rect_color depth/image:=/camera/depth/depth_registered rgb/camera_info:=/camera/rgb/camera_info rgbd_image:=/camera/rgbd_image __name:=rgbd_odometry __log:=/home/nvidia/.ros/log/46fe7a5a-8211-11e7-a1b5-00044b8c57b6/rtabmap-rgbd_odometry-1.log].
log file: /home/nvidia/.ros/log/46fe7a5a-8211-11e7-a1b5-00044b8c57b6/rtabmap-rgbd_odometry-1*.log

also warnings :
[ WARN] [1502839755.301427490]: /rtabmap/rtabmapviz: Did not receive data since 5 seconds! ...

rtabmapviz shows blank screen!

Is there a conflict with the opencv version used in the jetson (2.4...) (got it working on my ubuntu destop). Any help is appreciated.

Thanks