Re: Visual odometry crashing / robot_localization integration

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Visual-odometry-crashing-robot-localization-integration-tp997p998.html

Hi,

Are you using the binaries or rtabmap built from source? It seems that it is only the rtabmapviz node (visualization node) that is crashing, visual odometry and rtabmap nodes seem running.

I know that PCL visualization + Qt + VTK integration may crashes on some platforms (and depending on PCL and VTK versions). However, this will only affect the visualization node (rtabmapviz). You could use RVIZ instead of rtabmapviz (if you use stereo_mapping.launch or rgbd_mapping.launch, you can launch with "rtabmapviz:=false rviz:=true" arguments).

rtabmapviz crashing should not influence the visual odometry or rtabmap processing, so the TFs should still be published. If you are using robot_localization, you may want to disable TF published by the visual odometry node (for stereo_odometry node or rgbd_odometry_node):

<node pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry">
  [...]
  <param name="publish_tf" type="bool" value="false"/>
</node>

as robot_localization would already provide it:

From robot_localization doc:
"If the user's world_frame parameter is set to the value of odom_frame, a transform is published from the frame given by the odom_frame parameter to the frame given by the base_link_frame parameter."

To dig more into the rtabmapviz error, starting the node with gdb may give more information on the crash.

cheers,
Mathieu