Official RTAB-Map Forum - Re: Rtabmap error in process rtabmap/rgbd_odometry-1

Re: Rtabmap error in process rtabmap/rgbd_odometry-1 - ubuntu on raspberry pi

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Rtabmap-error-in-process-rtabmap-rgbd-odometry-1-ubuntu-on-raspberry-pi-tp444p445.html

For some reasons, the binaries don't work on all machines. Uninstall ros-indigo-rtabmap and try with rtabmap built from source.

This is what I got on a virtual box with Trusty+Indigo:

$ roslaunch rtabmap_ros rgbd_mapping.launch rtabmapviz:=false
... logging to /home/mathieu/.ros/log/5f2b9e36-023a-11e5-aab6-0800277bc8c1/roslaunch-mathieu-23547.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://mathieu:33998/

SUMMARY
========

PARAMETERS
 * /rosdistro: indigo
 * /rosversion: 1.11.10
 * /rtabmap/rgbd_odometry/Odom/FeatureType: 6
 * /rtabmap/rgbd_odometry/Odom/FillInfoData: true
 * /rtabmap/rgbd_odometry/Odom/InlierDistance: 0.02
 * /rtabmap/rgbd_odometry/Odom/MaxDepth: 4.0
 * /rtabmap/rgbd_odometry/Odom/MinInliers: 20
 * /rtabmap/rgbd_odometry/Odom/Strategy: 0
 * /rtabmap/rgbd_odometry/OdomBow/LocalHistorySize: 1000
 * /rtabmap/rgbd_odometry/OdomBow/NNType: 3
 * /rtabmap/rgbd_odometry/frame_id: camera_link
 * /rtabmap/rtabmap/LccBow/InlierDistance: 0.02
 * /rtabmap/rtabmap/LccBow/MinInliers: 10
 * /rtabmap/rtabmap/frame_id: camera_link
 * /rtabmap/rtabmap/subscribe_depth: True

NODES
  /rtabmap/
    rgbd_odometry (rtabmap_ros/rgbd_odometry)
    rtabmap (rtabmap_ros/rtabmap)

auto-starting new master
process[master]: started with pid [23559]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 5f2b9e36-023a-11e5-aab6-0800277bc8c1
process[rosout-1]: started with pid [23572]
started core service [/rosout]
process[rtabmap/rgbd_odometry-2]: started with pid [23589]
process[rtabmap/rtabmap-3]: started with pid [23590]
[ INFO] [1432488544.335679400]: Starting node...
[ INFO] [1432488544.499607602]: rtabmap: frame_id = camera_link
[ INFO] [1432488544.499740519]: rtabmap: map_frame_id = map
[ INFO] [1432488544.499784839]: rtabmap: queue_size = 10
[ INFO] [1432488544.499832514]: rtabmap: tf_delay = 0.050000
[ INFO] [1432488544.962177998]: Setting RTAB-Map parameter "LccBow/InlierDistance"="0.02"
[ INFO] [1432488544.991443170]: Setting RTAB-Map parameter "LccBow/MinInliers"="10"
[ INFO] [1432488545.089169463]: Setting odometry parameter "Odom/FeatureType"="6"
[ INFO] [1432488545.091561665]: Setting odometry parameter "Odom/FillInfoData"="true"
[ INFO] [1432488545.100429381]: Setting odometry parameter "Odom/InlierDistance"="0.02"
[ INFO] [1432488545.129776848]: Setting odometry parameter "Odom/MaxDepth"="4.0"
[ INFO] [1432488545.143116221]: Setting odometry parameter "Odom/MinInliers"="20"
[ INFO] [1432488545.203574521]: Setting odometry parameter "Odom/Strategy"="0"
[ INFO] [1432488545.205434629]: Setting odometry parameter "OdomBow/LocalHistorySize"="1000"
[ INFO] [1432488545.215406613]: Setting odometry parameter "OdomBow/NNType"="3"
[ INFO] [1432488545.755010047]: Using OdometryBOW
[ INFO] [1432488546.053525123]: 
/rtabmap/rgbd_odometry subscribed to:
   /camera/rgb/image_rect_color,
   /camera/depth_registered/image_raw,
   /camera/rgb/camera_info
[ INFO] [1432488546.219635570]: RTAB-Map rate detection = 1.000000 Hz
[ INFO] [1432488546.219832355]: rtabmap: Deleted database "/home/mathieu/.ros/rtabmap.db" (--delete_db_on_start is set).
[ INFO] [1432488546.219873291]: rtabmap: Using database from "/home/mathieu/.ros/rtabmap.db".
[ INFO] [1432488546.699859682]: Registering Depth callback...
[ INFO] [1432488546.701031500]: 
/rtabmap/rtabmap subscribed to:
   /camera/rgb/image_rect_color,
   /camera/depth_registered/image_raw,
   /camera/rgb/camera_info,
   /rtabmap/odom
[ INFO] [1432488546.701774004]: rtabmap started...

cheers