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-tp444p460.html

Hello,

nice to see that at least rtabmap standalone works (I was linking the problem to this old issue that I've just imported from the old googlecode repository). For the performance, by 3D mapping rate you mean the odometry update rate? The rtabmap rate is fixed to 1 fps by default.

Yeah, the problem may be in the ros package. So can you try some rtabmap_ros nodes to see if they all fail?

$ rosrun rtabmap_ros rtabmap
$ rosrun rtabmap_ros rtabmapviz
$ rosrun rtabmap_ros data_recorder
$ rosrun rtabmap_ros map_assembler
$ rosrun rtabmap_ros grid_map_assembler
$ rosrun rtabmap_ros rgbd_odometry
$ rosrun rtabmap_ros stereo_odometry
$ rosrun rtabmap_ros map_optimizer

You can also start a node with gdb to see more info about the error:

debug.launch :
<launch>
<node name="rtabmap" type="rtabmap" pkg="rtabmap_ros" launch-prefix="gdb -ex run --args" output="screen"/>
</launch>

$ roslaunch debug.launch

cheers