Posted by
baike960 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Rviz-quitted-suddenly-when-running-the-find-object-demo-tp3660.html
I follow the instruction on 3.4 in the link
http://wiki.ros.org/rtabmap_ros#Robot_mapping_with_Find-Objectand I successfully got the rviz running the demo rosbag. The robot showed on the grid and mapping and point cloud were constructed slowly as the robot was moving. However, after a while, rviz quitted suddenly with the following message.
autodriving@rabbit:~/catkin_ws/src/rtabmap_ros/launch/demo$ roslaunch rtabmap_ros demo_find_object.launch
... logging to /home/autodriving/.ros/log/abd2206e-8566-11e7-8393-1c872c5ffb7c/roslaunch-rabbit-508.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server
http://rabbit:44017/SUMMARY
========
PARAMETERS
* /find_object_3d/depth_registered/image_transport: compressedDepth
* /find_object_3d/gui: True
* /find_object_3d/objects_path: /home/autodriving...
* /find_object_3d/rgb/image_transport: compressed
* /find_object_3d/settings_path: /home/autodriving...
* /find_object_3d/subscribe_depth: True
* /points_xyzrgb/depth/image_transport: compressedDepth
* /points_xyzrgb/queue_size: 10
* /points_xyzrgb/rgb/image_transport: compressed
* /points_xyzrgb/voxel_size: 0.01
* /rosdistro: kinetic
* /rosversion: 1.12.7
* /rtabmap/rtabmap/Icp/CorrespondenceRatio: 0.3
* /rtabmap/rtabmap/Icp/Iterations: 30
* /rtabmap/rtabmap/Icp/VoxelSize: 0.025
* /rtabmap/rtabmap/Mem/BadSignaturesIgnored: false
* /rtabmap/rtabmap/Mem/NotLinkedNodesKept: false
* /rtabmap/rtabmap/Mem/RehearsalSimilarity: 0.45
* /rtabmap/rtabmap/Optimizer/Slam2D: true
* /rtabmap/rtabmap/RGBD/AngularUpdate: 0.01
* /rtabmap/rtabmap/RGBD/LinearUpdate: 0.01
* /rtabmap/rtabmap/RGBD/NeighborLinkRefining: true
* /rtabmap/rtabmap/RGBD/ProximityBySpace: true
* /rtabmap/rtabmap/Reg/Force3DoF: true
* /rtabmap/rtabmap/Reg/Strategy: 1
* /rtabmap/rtabmap/Rtabmap/TimeThr: 700
* /rtabmap/rtabmap/Vis/InlierDistance: 0.1
* /rtabmap/rtabmap/Vis/MaxDepth: 4.0
* /rtabmap/rtabmap/Vis/MinInliers: 10
* /rtabmap/rtabmap/depth/image_transport: compressedDepth
* /rtabmap/rtabmap/frame_id: base_footprint
* /rtabmap/rtabmap/queue_size: 10
* /rtabmap/rtabmap/rgb/image_transport: compressed
* /rtabmap/rtabmap/subscribe_depth: True
* /rtabmap/rtabmap/subscribe_scan: True
* /use_sim_time: True
NODES
/rtabmap/
rtabmap (rtabmap_ros/rtabmap)
/
find_object_3d (find_object_2d/find_object_2d)
points_xyzrgb (nodelet/nodelet)
rviz (rviz/rviz)
ROS_MASTER_URI=
http://localhost:11311core service [/rosout] found
process[rtabmap/rtabmap-1]: started with pid [526]
process[rviz-2]: started with pid [527]
process[points_xyzrgb-3]: started with pid [528]
process[find_object_3d-4]: started with pid [529]
[ INFO] [1503219602.432609538]: gui=1
[ INFO] [1503219602.432667995]: objects_path=/home/autodriving/catkin_ws/src/rtabmap_ros/launch/data/books
[ INFO] [1503219602.432686352]: session_path=
[ INFO] [1503219602.432703792]: settings_path=/home/autodriving/catkin_ws/src/rtabmap_ros/launch/config/find_object.ini
[ INFO] [1503219602.432716176]: subscribe_depth = true
[ INFO] [1503219602.432726910]: obj_frame_prefix = object
[ INFO] [1503219602.457148370]: Starting node...
[ INFO] [1503219602.468535573]: rviz version 1.12.10
[ INFO] [1503219602.468575083]: compiled against Qt version 5.5.1
[ INFO] [1503219602.468584815]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1503219602.485348819]: Initializing nodelet with 8 worker threads.
[ INFO] [1503219602.617810443]: Stereo is NOT SUPPORTED
[ INFO] [1503219602.617936452]: OpenGl version: 3 (GLSL 1.3).
[ INFO] [1503219602.626382422]: find_object_ros: queue_size = 10
[ INFO] [1503219602.768654936, 1407866595.737785851]: /rtabmap/rtabmap(maps): map_filter_radius = 0.000000
[ INFO] [1503219602.768768182, 1407866595.737785851]: /rtabmap/rtabmap(maps): map_filter_angle = 30.000000
[ INFO] [1503219602.768823312, 1407866595.737785851]: /rtabmap/rtabmap(maps): map_cleanup = true
[ INFO] [1503219602.768875349, 1407866595.737785851]: /rtabmap/rtabmap(maps): map_negative_poses_ignored = false
[ INFO] [1503219602.768925594, 1407866595.737785851]: /rtabmap/rtabmap(maps): map_negative_scan_ray_tracing = true
[ INFO] [1503219602.768974223, 1407866595.737785851]: /rtabmap/rtabmap(maps): cloud_output_voxelized = true
[ INFO] [1503219602.769020912, 1407866595.737785851]: /rtabmap/rtabmap(maps): cloud_subtract_filtering = false
[ INFO] [1503219602.769067338, 1407866595.737785851]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1503219602.770870407, 1407866595.737785851]: /rtabmap/rtabmap(maps): octomap_tree_depth = 16
[ INFO] [1503219602.770947574, 1407866595.737785851]: /rtabmap/rtabmap(maps): octomap_occupancy_thr = 0.500000
[ INFO] [1503219602.791438191, 1407866595.757900251]: rtabmap: frame_id = base_footprint
[ INFO] [1503219602.791486846, 1407866595.757900251]: rtabmap: map_frame_id = map
[ INFO] [1503219602.791515794, 1407866595.757900251]: rtabmap: tf_delay = 0.050000
[ INFO] [1503219602.791533308, 1407866595.757900251]: rtabmap: tf_tolerance = 0.100000
[ INFO] [1503219602.791547425, 1407866595.757900251]: rtabmap: odom_sensor_sync = false
[ INFO] [1503219602.925281499, 1407866595.888742171]: Setting RTAB-Map parameter "Icp/CorrespondenceRatio"="0.3"
[ INFO] [1503219602.935840599, 1407866595.901566402]: Setting RTAB-Map parameter "Icp/Iterations"="30"
[ INFO] [1503219602.953689595, 1407866595.921872239]: Setting RTAB-Map parameter "Icp/VoxelSize"="0.025"
[ INFO] [1503219603.000063847, 1407866595.965150181]: Setting RTAB-Map parameter "Mem/BadSignaturesIgnored"="false"
[ INFO] [1503219603.024347254, 1407866595.995532507]: Setting RTAB-Map parameter "Mem/NotLinkedNodesKept"="false"
[ INFO] [1503219603.035753210, 1407866596.005608561]: Setting RTAB-Map parameter "Mem/RehearsalSimilarity"="0.45"
[ INFO] [1503219603.169052380, 1407866596.136397694]: Setting RTAB-Map parameter "RGBD/AngularUpdate"="0.01"
[ INFO] [1503219603.175275686, 1407866596.146469369]: Setting RTAB-Map parameter "RGBD/LinearUpdate"="0.01"
[ INFO] [1503219603.180553467, 1407866596.146469369]: Setting RTAB-Map parameter "RGBD/NeighborLinkRefining"="true"
[ INFO] [1503219603.190970107, 1407866596.156534757]: Setting RTAB-Map parameter "RGBD/ProximityBySpace"="true"
[ INFO] [1503219603.201782930, 1407866596.166590756]: Setting RTAB-Map parameter "Reg/Force3DoF"="true"
[ INFO] [1503219603.202201387, 1407866596.166590756]: Setting RTAB-Map parameter "Reg/Strategy"="1"
[ INFO] [1503219603.223623168, 1407866596.186702159]: Setting RTAB-Map parameter "Rtabmap/TimeThr"="700"
[ INFO] [1503219603.291677291, 1407866596.257167098]: Setting RTAB-Map parameter "Vis/InlierDistance"="0.1"
[ INFO] [1503219603.294216531, 1407866596.257167098]: Setting RTAB-Map parameter "Vis/MaxDepth"="4.0"
[ INFO] [1503219603.297378266, 1407866596.267221732]: Setting RTAB-Map parameter "Vis/MinInliers"="10"
[ WARN] [1503219603.347601636, 1407866596.317484146]: Rtabmap: Parameter name changed: "Optimizer/Slam2D" -> "Reg/Force3DoF". Please update your launch file accordingly. Value "true" is still set to the new parameter name.
[ WARN] [1503219603.379297212, 1407866596.348078475]: Setting "Grid/FromDepth" parameter to false (default true) as "subscribe_scan" or "subscribe_scan_cloud" is true. The occupancy grid map will be constructed from laser scans. To get occupancy grid map from cloud projection, set "Grid/FromDepth" to true. To suppress this warning, add
[ WARN] [1503219603.379378011, 1407866596.348078475]: Setting "RGBD/ProximityPathMaxNeighbors" parameter to 10 (default 0) as "subscribe_scan" is true and "Reg/Strategy" uses ICP. Proximity detection by space will be also done by merging close scans. To disable, set "RGBD/ProximityPathMaxNeighbors" to 0. To suppress this warning, add
[ INFO] [1503219603.571509831, 1407866596.539242537]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1503219603.572432034, 1407866596.539242537]: rtabmap: Deleted database "/home/autodriving/.ros/rtabmap.db" (--delete_db_on_start or -d are set).
[ INFO] [1503219603.572460519, 1407866596.539242537]: rtabmap: Using database from "/home/autodriving/.ros/rtabmap.db" (0 MB).
[ INFO] [1503219605.700756439, 1407866598.665949197]: rtabmap: Database version = "0.13.2".
[ INFO] [1503219605.728120739, 1407866598.696131556]: /rtabmap/rtabmap: queue_size = 10
[ INFO] [1503219605.728240176, 1407866598.696131556]: /rtabmap/rtabmap: rgbd_cameras = 1
[ INFO] [1503219605.728315902, 1407866598.696131556]: /rtabmap/rtabmap: approx_sync = true
[ INFO] [1503219605.728459619, 1407866598.696131556]: Setup depth callback
[ INFO] [1503219605.836931874, 1407866598.806916725]:
/rtabmap/rtabmap subscribed to (approx sync):
/base_controller/odom,
/camera/data_throttled_image/compressed,
/camera/data_throttled_image_depth/compressedDepth,
/camera/data_throttled_camera_info,
/base_scan
[ INFO] [1503219605.843209578, 1407866598.806916725]: rtabmap 0.13.2 started...
[ INFO] [1503219606.251107006, 1407866599.219873140]: rtabmap (1): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0464s, Maps update=0.0127s pub=0.0025s (local map=1, WM=1)
[ INFO] [1503219606.382749288, 1407866599.350720557]: Creating 1 swatches
[ INFO] [1503219607.244434668, 1407866600.208717973]: rtabmap (2): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0588s, Maps update=0.0036s pub=0.0007s (local map=2, WM=2)
[ INFO] [1503219607.283771564, 1407866600.249013697]: Creating 1 swatches
[ INFO] [1503219608.365145143, 1407866601.337507352]: rtabmap (3): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0495s, Maps update=0.0034s pub=0.0005s (local map=3, WM=3)
rviz: /usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:258：void Eigen::PlainObjectBase<Derived>::resize(Eigen::Index, Eigen::Index) [with Derived = Eigen::Matrix<float, 3, 3>; Eigen::Index = long int]: 假设 ‘(!(RowsAtCompileTime!=Dynamic) || (rows==RowsAtCompileTime)) && (!(ColsAtCompileTime!=Dynamic) || (cols==ColsAtCompileTime)) && (!(RowsAtCompileTime==Dynamic && MaxRowsAtCompileTime!=Dynamic) || (rows<=MaxRowsAtCompileTime)) && (!(ColsAtCompileTime==Dynamic && MaxColsAtCompileTime!=Dynamic) || (cols<=MaxColsAtCompileTime)) && rows>=0 && cols>=0 && "Invalid sizes when resizing a matrix or array."’ 失败。
[rviz-2] process has died [pid 527, exit code -6, cmd /opt/ros/kinetic/lib/rviz/rviz -d /home/autodriving/catkin_ws/src/rtabmap_ros/launch/config/demo_find_object.rviz __name:=rviz __log:=/home/autodriving/.ros/log/abd2206e-8566-11e7-8393-1c872c5ffb7c/rviz-2.log].
log file: /home/autodriving/.ros/log/abd2206e-8566-11e7-8393-1c872c5ffb7c/rviz-2*.log
[ INFO] [1503219609.347267904, 1407866602.314083575]: rtabmap (4): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0364s, Maps update=0.0018s pub=0.0004s (local map=4, WM=4)
[ INFO] [1503219610.294849900, 1407866603.260239974]: rtabmap (5): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0293s, Maps update=0.0001s pub=0.0003s (local map=5, WM=5)
^C[find_object_3d-4] killing on exit
[points_xyzrgb-3] killing on exit
[rtabmap/rtabmap-1] killing on exit
rtabmap: Saving database/long-term memory... (located at /home/autodriving/.ros/rtabmap.db)
rtabmap: Saving database/long-term memory...done! (located at /home/autodriving/.ros/rtabmap.db, 1 MB)
shutting down processing monitor...
... shutting down processing monitor complete
done
It looks like there is something wrong with the EIgen package but I do not know the specific reason and solution. Anyone knows what problem is that? Thanks in advance!