Re: Final challenge to get K4A working with rtabmap_ROS

Posted by Eric Schleicher on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Final-challenge-to-get-K4A-working-with-rtabmap-ROS-tp6114p6115.html

Update:

on the same system where the k4a sdk is installed on 18.04.   i also have libfreenect2 for the kinect2 camera.  

Attempting to run rtabmap standalone with the kinect produces an error which occurs at the same point in the capture cycle as OP crash with rtabmap_ros using the k4a (which is as soon as rtabmap starts getting data)

I rebuilt rtabmap with RelWithDebInfo and ran again with GDB to see if this isn't a specific k4a problem....  

The results are:
crash 1, implicating libjpeg-turbo
https://gist.github.com/eric-schleicher/7c2520ee1f0e850b0bdf2aa2aa19d663#file-rtabmap-gdb-output-txt-L78

curiously the reference to /home/vsts/work/1/s/extern/Azure-Kinect-Sensor-SDK/extern/libjpeg-turbo/src/jcapimin.c is for a non existent user.  but google points to this vsts a some Weird Microsoft convention that appears in k4a sdk issues (in slightly different context) https://github.com/microsoft/Azure-Kinect-Sensor-SDK/issues/501


i created a symlink to a valid matching folder for *my* user's sdk location, in the hope that it would resolve the issue.  which unfortunately, it didn't.    but the error did change

ln -s /home/rosuser/k4aSDK/extern/libjpeg-turbo /home/vsts/work/1/s/extern/Azure-Kinect-Sensor-SDK/extern/libjpeg-turbo

which produces crash 2 gdb log: https://gist.github.com/eric-schleicher/7c2520ee1f0e850b0bdf2aa2aa19d663#file-rtabmap-gdb-output-txt-L147


is this a cmake folder problem?  where rtabmap is finding the k4a sdk version?