Angular information roll should not be null

Posted by flabrosse on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Angular-information-roll-should-not-be-null-tp8300.html

I have been playing for a while with rtabmap using a simulated robot and environment (in gazebo using the kinect plugin) and am now moving onto the real robot. When I start rtabmap I get, shortly after starting:

[FATAL] (2021-07-13 16:52:52.576) Link.cpp:139::setInfMatrix() Condition (uIsFinite(infMatrix.at<double>(3,3)) && infMatrix.at<double>(3,3)>0) not met! [Angular information roll should not be null! Value=inf (set to 1 if unknown or <=1/9999 to be ignored in some 
computations).] 

shortly followed by

[rtabmap/rtabmap-2] process has died [pid 6848, exit code -6, cmd /opt/ros/noetic/lib/rtabmap_ros/rtabmap --delete_db_on_start rgb/image:=/tryfan/zed/rgb/image_rect_color depth/image:=/tryfan/zed/depth/depth_registered rgb/camera_info:=/tryfan/zed/rgb/camera_info odom:=/tryfan/odom scan:=/tryfan/front_laser/scan rgbd_image:=rgbd_image gps/fix:=/tryfan/gps/fix imu:=/tryfan/imu/data grid_map:=/map __name:=rtabmap __log:=/home/ffl/.ros/log/6dd8e7e4-e3e9-11eb-8016-d7840c42cc3d/rtabmap-rtabmap-2.log].computations).] 

The mentioned log file does not exist.

rtabmap is still running after that (rtabmapviz still shows a pointcloud being constructed) but there are no loop closures being detected (I think not even attempts at detecting any, so I think this is what crashed).

Anybody can tell me what is wrong? I can provide info if needed.

Cheers,

Fred