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UZ-SLAMLab / ORB_SLAM3

ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM
GNU General Public License v3.0
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Running EuRoC error on Ros melodic (Aborted (core dumped)) #296

Open Mingchi-Yeh opened 3 years ago

Mingchi-Yeh commented 3 years ago

Hi, I'm trying to run ORB_SLAM3 on Ros melodic , the RGBD and Mono are working fine,but when I try to use Stereo_Inertial,Mono_Inertial or Stereo,I got the same error as following :

`rosrun ORB_SLAM3 Stereo_Inertial /home/mingchi/catkin_ws/src/ORB_SLAM3/Vocabulary/ORBvoc.txt /home/mingchi/catkin_ws/src/ORB_SLAM3/Examples/Stereo-Inertial/EuRoC.yaml true

ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza. ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza. This program comes with ABSOLUTELY NO WARRANTY; This is free software, and you are welcome to redistribute it under certain conditions. See LICENSE.txt.

Input sensor was set to: Stereo-Inertial

Loading ORB Vocabulary. This could take a while... Vocabulary loaded!

Creation of new map with id: 0 Creation of new map with last KF id: 0 Seq. Name:

Camera Parameters:

Depth Threshold (Close/Far Points): 3.85272

ORB Extractor Parameters:

I have no idea what reason that it "Aborted (core dumped)". Could you give any suggestion to solve this problem?

sumitsarkar1 commented 3 years ago

@Mingchi-Yeh please mention the rosbag you are playing ...or is it like without even playing any rosbag this error occurs

Mingchi-Yeh commented 3 years ago

I playing EuRoC dataset (MH_01_easy) and rosrun the Stereo_Inertial.

rosbag play --pause MH_01_easy.bag /cam0/image_raw:=/camera/left/image_raw /cam1/image_raw:=/camera/right/image_raw /imu0:=/imu

rosrun ORB_SLAM3 Stereo_Inertial /home/mingchi/catkin_ws/src/ORB_SLAM3/Vocabulary/ORBvoc.txt /home/mingchi/catkin_ws/src/ORB_SLAM3/Examples/Stereo-Inertial/EuRoC.yaml true

ryleymcc commented 3 years ago

Can you rosrun with gdb and execute a backtrace and post the output. I think I had the same issue. I'm not at my Linux pc but i think your command should be rosrun --prefix 'gdb -ex run' ORB_SLAM3 Stereo_Inertial /home/mingchi/catkin_ws/src/ORB_SLAM3/Vocabulary/ORBvoc.txt /home/mingchi/catkin_ws/src/ORB_SLAM3/Examples/Stereo-Inertial/EuRoC.yaml true then wait until it prompts for you to type: RET then run the command bt in the gdb command line.

Then try without rectification since it's easy to try.

If that doesn't lead to anything try this repo instead.

Mingchi-Yeh commented 3 years ago

I run gdb and find the program exit abnormally on "ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::IMU_MONOCULAR,true)",and terminal show the "double free or corruption (out) Aborted (core dumped)". What should I do?

ahuzsg commented 3 years ago

same problem with me ! have you solved?