Posted by
hasan95 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/v-slam-rtabmap-error-tp7288.html
hello,
i am building rtabmap_ros on my custome robot for my final year project as a mechatronics engineer.
i build rtabmap standalone and then installed rtabmap_ros in my catkin_ws and catkin_make.
all as mentioned in the tutorial.
i am using a desktop running ubuntu 18.04.
camera used is kinect 360.
the commands running:
terminal 1:
roscore
terminal 2:
roslaunch freenect_launch freenect.launch depth_registration:=true data_skip:=2
terminal 3:
roslaunch rtabmap_ros rgbd_mapping.launch rtabmap_args:="--delete_db_on_start" rtabmapviz:=true rviz:=true
terminals 1 and 2 are working fine and i can see all the data from the kinect in rviz.
However, when it comes to the third terminal which is the rtabmap-ros it is giving and error which i will mention below.
the rtabmap standalone is working great.
the terminal output with error:
... logging to /home/hasan/.ros/log/a6adfcf4-4505-11eb-9c43-3ca067802a1d/roslaunch-hasan-acer-20394.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server
http://192.168.0.112:41933/SUMMARY
========
PARAMETERS
* /rosdistro: melodic
* /rosversion: 1.14.10
* /rtabmap/rgbd_odometry/approx_sync: True
* /rtabmap/rgbd_odometry/config_path:
* /rtabmap/rgbd_odometry/expected_update_rate: 0.0
* /rtabmap/rgbd_odometry/frame_id: camera_link
* /rtabmap/rgbd_odometry/ground_truth_base_frame_id:
* /rtabmap/rgbd_odometry/ground_truth_frame_id:
* /rtabmap/rgbd_odometry/guess_frame_id:
* /rtabmap/rgbd_odometry/guess_min_rotation: 0.0
* /rtabmap/rgbd_odometry/guess_min_translation: 0.0
* /rtabmap/rgbd_odometry/max_update_rate: 0.0
* /rtabmap/rgbd_odometry/odom_frame_id: /odom
* /rtabmap/rgbd_odometry/publish_tf: True
* /rtabmap/rgbd_odometry/queue_size: 10
* /rtabmap/rgbd_odometry/subscribe_rgbd: False
* /rtabmap/rgbd_odometry/wait_for_transform_duration: 0.2
* /rtabmap/rgbd_odometry/wait_imu_to_init: False
* /rtabmap/rtabmap/Mem/IncrementalMemory: true
* /rtabmap/rtabmap/Mem/InitWMWithAllNodes: false
* /rtabmap/rtabmap/approx_sync: True
* /rtabmap/rtabmap/config_path:
* /rtabmap/rtabmap/database_path: ~/.ros/rtabmap.db
* /rtabmap/rtabmap/frame_id: camera_link
* /rtabmap/rtabmap/ground_truth_base_frame_id:
* /rtabmap/rtabmap/ground_truth_frame_id:
* /rtabmap/rtabmap/landmark_angular_variance: 9999.0
* /rtabmap/rtabmap/landmark_linear_variance: 0.0001
* /rtabmap/rtabmap/map_frame_id: map
* /rtabmap/rtabmap/odom_frame_id:
* /rtabmap/rtabmap/odom_sensor_sync: False
* /rtabmap/rtabmap/odom_tf_angular_variance: 1.0
* /rtabmap/rtabmap/odom_tf_linear_variance: 1.0
* /rtabmap/rtabmap/publish_tf: True
* /rtabmap/rtabmap/queue_size: 10
* /rtabmap/rtabmap/scan_cloud_max_points: 0
* /rtabmap/rtabmap/subscribe_depth: True
* /rtabmap/rtabmap/subscribe_odom_info: True
* /rtabmap/rtabmap/subscribe_rgb: True
* /rtabmap/rtabmap/subscribe_rgbd: False
* /rtabmap/rtabmap/subscribe_scan: False
* /rtabmap/rtabmap/subscribe_scan_cloud: False
* /rtabmap/rtabmap/subscribe_scan_descriptor: False
* /rtabmap/rtabmap/subscribe_stereo: False
* /rtabmap/rtabmap/subscribe_user_data: False
* /rtabmap/rtabmap/wait_for_transform_duration: 0.2
NODES
/rtabmap/
rgbd_odometry (rtabmap_ros/rgbd_odometry)
rtabmap (rtabmap_ros/rtabmap)
ROS_MASTER_URI=
http://192.168.0.112:11311process[rtabmap/rgbd_odometry-1]: started with pid [20409]
process[rtabmap/rtabmap-2]: started with pid [20410]
[ INFO] [1608717730.065894839]: Starting node...
[ INFO] [1608717730.103077801]: Initializing nodelet with 4 worker threads.
[ INFO] [1608717730.107051278]: Initializing nodelet with 4 worker threads.
[ INFO] [1608717730.179395585]: Odometry: frame_id = camera_link
[ INFO] [1608717730.179441263]: Odometry: odom_frame_id = /odom
[ INFO] [1608717730.179461669]: Odometry: publish_tf = true
[ INFO] [1608717730.179483540]: Odometry: wait_for_transform = true
[ INFO] [1608717730.179514764]: Odometry: wait_for_transform_duration = 0.200000
[ INFO] [1608717730.179563082]: Odometry: initial_pose = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000
[ INFO] [1608717730.179581061]: Odometry: ground_truth_frame_id =
[ INFO] [1608717730.179597142]: Odometry: ground_truth_base_frame_id =
[ INFO] [1608717730.179611810]: Odometry: config_path =
[ INFO] [1608717730.179626513]: Odometry: publish_null_when_lost = true
[ INFO] [1608717730.179642191]: Odometry: guess_frame_id =
[ INFO] [1608717730.179657969]: Odometry: guess_min_translation = 0.000000
[ INFO] [1608717730.179677730]: Odometry: guess_min_rotation = 0.000000
[ INFO] [1608717730.179693899]: Odometry: guess_min_time = 0.000000
[ INFO] [1608717730.179710045]: Odometry: expected_update_rate = 0.000000 Hz
[ INFO] [1608717730.179725849]: Odometry: max_update_rate = 0.000000 Hz
[ INFO] [1608717730.179764927]: Odometry: wait_imu_to_init = false
[ INFO] [1608717730.179821861]: Odometry: stereoParams_=0 visParams_=1 icpParams_=0
[ INFO] [1608717730.238517046]: /rtabmap/rtabmap(maps): map_filter_radius = 0.000000
[ INFO] [1608717730.238549903]: /rtabmap/rtabmap(maps): map_filter_angle = 30.000000
[ INFO] [1608717730.238567031]: /rtabmap/rtabmap(maps): map_cleanup = true
[ INFO] [1608717730.238580060]: /rtabmap/rtabmap(maps): map_always_update = false
[ INFO] [1608717730.238591139]: /rtabmap/rtabmap(maps): map_empty_ray_tracing = true
[ INFO] [1608717730.238599256]: /rtabmap/rtabmap(maps): cloud_output_voxelized = true
[ INFO] [1608717730.238606774]: /rtabmap/rtabmap(maps): cloud_subtract_filtering = false
[ INFO] [1608717730.238614617]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1608717730.258118465]: /rtabmap/rtabmap(maps): octomap_tree_depth = 16
[ INFO] [1608717730.294824001]: rtabmap: frame_id = camera_link
[ INFO] [1608717730.294905544]: rtabmap: map_frame_id = map
[ INFO] [1608717730.294931600]: rtabmap: use_action_for_goal = false
[ INFO] [1608717730.294951459]: rtabmap: tf_delay = 0.050000
[ INFO] [1608717730.294973607]: rtabmap: tf_tolerance = 0.100000
[ INFO] [1608717730.294990630]: rtabmap: odom_sensor_sync = false
[ INFO] [1608717730.568866859]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1608717730.569343712]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[ INFO] [1608717730.616727847]: RGBDOdometry: approx_sync = true
[ INFO] [1608717730.616764958]: RGBDOdometry: queue_size = 10
[ INFO] [1608717730.616784966]: RGBDOdometry: subscribe_rgbd = false
[ INFO] [1608717730.616804434]: RGBDOdometry: rgbd_cameras = 1
[ INFO] [1608717730.616824859]: RGBDOdometry: keep_color = false
[ INFO] [1608717730.641860079]:
/rtabmap/rgbd_odometry subscribed to (approx sync):
/camera/rgb/image_rect_color \
/camera/depth_registered/image_raw \
/camera/rgb/camera_info
[ INFO] [1608717730.892800424]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1608717730.892921075]: rtabmap: Using database from "/home/hasan/.ros/rtabmap.db" (0 MB).
/home/hasan/catkin_ws/devel/lib/rtabmap_ros/rtabmap: symbol lookup error: /home/hasan/catkin_ws/devel/lib//librtabmap_sync.so: undefined symbol: _ZN7rtabmap7Rtabmap4initERKSt3mapINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_St4lessIS7_ESaISt4pairIKS7_S7_EEERSB_b
[rtabmap/rtabmap-2] process has died [pid 20410, exit code 127, cmd /home/hasan/catkin_ws/devel/lib/rtabmap_ros/rtabmap --delete_db_on_start rgb/image:=/camera/rgb/image_rect_color depth/image:=/camera/depth_registered/image_raw rgb/camera_info:=/camera/rgb/camera_info rgbd_image:=rgbd_image_relay left/image_rect:=/stereo_camera/left/image_rect_color right/image_rect:=/stereo_camera/right/image_rect left/camera_info:=/stereo_camera/left/camera_info right/camera_info:=/stereo_camera/right/camera_info scan:=/scan scan_cloud:=/scan_cloud scan_descriptor:=/scan_descriptor user_data:=/user_data user_data_async:=/user_data_async gps/fix:=/gps/fix tag_detections:=/tag_detections odom:=/odom imu:=/imu/data __name:=rtabmap __log:=/home/hasan/.ros/log/a6adfcf4-4505-11eb-9c43-3ca067802a1d/rtabmap-rtabmap-2.log].
log file: /home/hasan/.ros/log/a6adfcf4-4505-11eb-9c43-3ca067802a1d/rtabmap-rtabmap-2*.log
[ INFO] [1608717731.867383721]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.026787s
this the terminal output. i tried to get into the log file but i didn't find it.
what should i do to overcome the problem?
thank you in advance.