Re: RTAB-MAP with only 3D LIDAR and no loop closing

Posted by Amber on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-MAP-with-only-3D-LIDAR-and-no-loop-closing-tp8282p8761.html

Hi Matheu,

It is not working in my system. When I launch the save_detector_data.launch, I get the following error.

[FATAL] [1638968435.476764729]: ASSERTION FAILED
        file = /home/drive/cmr_ws/src/cmr_lidarloop/src/save_data_for_detector.cpp
        line = 136
        cond = s.globalDescriptors().size() == 1

[cmr_lidarloop/save_data_for_detector-2] process has died [pid 4924, exit code -5, cmd /home/drive/cmr_ws/devel/lib/cmr_lidarloop/save_data_for_detector __name:=save_data_for_detector __log:=/home/drive/.ros/log/cc9515da-5826-11ec-a9b4-9c5c8e6e5977/cmr_lidarloop-save_data_for_detector-2.log].
log file: /home/drive/.ros/log/cc9515da-5826-11ec-a9b4-9c5c8e6e5977/cmr_lidarloop-save_data_for_detector-2*.log

Also, s.globalDescriptors().size() becomes zero my simulation. I have put

 
 <remap from="rgbd_image"       to="/rgbd_image/compressed"/>
 apart from setting  subscribe_scan_descriptor=true.

Please note that I am using rtabmap-0.20.7 version at present. I also made the changes that you committed in the above response.

Best,