Re: Rtabmap node that publishes map --> odom crashes

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Rtabmap-node-that-publishes-map-odom-crashes-tp7424p7431.html

Hi,

The error is there:

[FATAL] (2021-02-04 17:09:21.975) BayesFilter.cpp:357::generatePrediction() No 0 margin neighbor for signature 1156 !?!?

I fixed this assert in this commit. The problem is that the optimized graph in the database doesn't match the nodes in Working Memory. Instead of asserting, it now forces re-optimizing the map with current nodes in Working Memory.

Do you have memory management enabled (Rtabmap/TimeThr>0)? Just to know in which condition this assert happened, because if memory management is disabled, this is a bug.

cheers,
Mathieu