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v-slam (rtabmap-error)

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hasan95

v-slam (rtabmap-error)

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://192.168.0.112:11311

process[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.

matlabbe

Re: v-slam (rtabmap-error)

Administrator

Hi,

your rtabmap_ros may be loading different rtabmap libraries on runtime than those it was built with. Make sure to uninstall rtabmap binaries (to avoid confusion if you also have rtabmap built locally):

sudo apt remove ros-melodic-rtabmap

cheers,
Mathieu