[semantic_graph_slam_node-9] process has died

[He-Rong]

Hi, I have finished all the steps following the instructions and nothing goes wrong. But when I run

roslaunch semantic_SLAM ps_slam_with_snap_pose_bucket_det_lab_data_with_octomap.launch bagfile:=${HOME}/Downloads/entire_lab_3_rounds.bag show_rviz:=true

I get errors like this.

done
keyframe_delta_trans 0.5
keyframe_delta_angle 0.5
keyframe_delta_time 1
use_const_inf_matrix: 1
const_stddev_x: 0.00667
const_stddev_q: 1e-05
camera angle in radians: 0.59219
update keyframe every detection: 1
add first landmark: 0
[ INFO] [1591944956.099907360, 1661396775.076756992]: waitForService: Service [/depth_rectifier_manager/load_nodelet] is now available.
[ INFO] [1591944956.100243666, 1661396775.076756992]: waitForService: Service [/depth_manager/load_nodelet] is now available.
[ INFO] [1591944956.545617511, 1661396775.518832629]: Stereo is NOT SUPPORTED
[ INFO] [1591944956.545842654, 1661396775.518832629]: OpenGl version: 4.5 (GLSL 4.5).
[pcl::OrganizedNeighbor::radiusSearch] Input dataset is not from a projective device!
Residual (MSE) 0.000614, using 1248 valid points
[pcl::OrganizedNeighbor::radiusSearch] Input dataset is not from a projective device!
Residual (MSE) 0.000748, using 1444 valid points
[pcl::OrganizedNeighbor::radiusSearch] Input dataset is not from a projective device!
Residual (MSE) 0.001710, using 2303 valid points
[semantic_graph_slam_node-9] process has died [pid 27314, exit code -9, cmd /home/nrc/hd/workspace/ros/semantic_slam_ws/devel/lib/semantic_SLAM/semantic_graph_SLAM_node __name:=semantic_graph_slam_node __log:=/home/nrc/.ros/log/c2c4ddd8-ac79-11ea-96ed-8ca982ff1833/semantic_graph_slam_node-9.log].
log file: /home/nrc/.ros/log/c2c4ddd8-ac79-11ea-96ed-8ca982ff1833/semantic_graph_slam_node-9*.log

When it occurs

[pcl::OrganizedNeighbor::radiusSearch] Input dataset is not from a projective device!
Residual (MSE) 0.000614, using 1248 valid points

the program is still mapping , so I think the problem is not caused by 'pcl'.

I tried to run the launchfile seperately :

ROS_NAMESPACE=camera/color rosrun image_proc image_proc 
roslaunch semantic_SLAM shape.launch  
rosrun semantic_SLAM  semantic_graph_SLAM_node

But at the last step i got 'Segmentation fault :

add first landmark: 0
Segmentation fault (core dumped)

Do you have any idea about it? Thanks a lot !!!

[hridaybavle]

Sorry to hear that. Could you enable verbose: true in file bucket_detector_workspace.yaml which is in the folder cfg and tell send me the output. Also which version of ROS are you using? I am unable to reproduce your error at my end.

[He-Rong]

Hi, I have enabled verbose: true in 'bucket_detector_workspace.yaml ' and I'm using ros-kinetic. I've tried several times but it still got errors. Here are the outputs of my two runs: output1: output2: I'm not sure what the problem is. Thanks ! !

[hridaybavle]

Yes it seems to be a g2o library issue. #1 is having the same issue. I will try and see if I can replicate this issue at my end.

[He-Rong]

OKKKKK! THANKS A LOT!

[hridaybavle]

Hi,

I have added a docker image of the repo with all the instructions. You can use the docker image for your tests.

[He-Rong]

it works. thanks a lot!!!