Seg fault when running the application

[ashnarayan13]

Hi,

I was testing the package for the occupancy grid generation. But I get a seg fault when I start the rosbag.

I just changed the topic names and the camera calibration parameters. The ORBSLAM visualization starts with the first frame and then there is a seg fault.

`Camera Parameters:

• fx: 350.991
• fy: 350.991
• cx: 351.951
• cy: 175.497
• k1: -0.172415
• k2: 0.0247573
• p1: 0
• p2: 0
• fps: 30
• color order: RGB (ignored if grayscale)

ORB Extractor Parameters:

• Number of Features: 2400
• Scale Levels: 8
• Scale Factor: 1.2
• Initial Fast Threshold: 15
• Minimum Fast Threshold: 7

Depth Threshold (Close/Far Points): 4.80696 New map created with 102 points Segmentation fault (core dumped)`

Additionally, the rosrun tf static_transform_publisher 0 0 0 0 0 0 map ORB_SLAM/odom gives the following error [ERROR] [1521720489.728266546]: static_transform_publisher exited due to not having the right number of arguments Is this because of the frame_id mismatch?

Any leads would be helpful,

Thanks

[27Apoorva]

Hi. I think the way you are calling the static transform publisher is wrong. It should take a frame rate also in the end. Try running rosrun tf static_transform_publisher 0 0 0 0 0 0 0 map ORB_SLAM/odom 10