search

introlab / rtabmap_ros

RTAB-Map's ROS package.
http://wiki.ros.org/rtabmap_ros
BSD 3-Clause "New" or "Revised" License
922 stars 549 forks source link

[rtabmap/stereo_odometry-3] process has died #1027

Open mahammadirfan opened 10 months ago

mahammadirfan commented 10 months ago

Hi, I am using ubuntu noetic, whenever i start the rtabmap the odometry node crashes. Help me please Screenshot from 2023-08-29 17-28-47

mahammadirfan commented 10 months ago

my Screenshot from 2023-08-29 17-34-27 gdb result

mahammadirfan commented 10 months ago

Hi, I have installed fresh rtabmap & rtabmap_ros latest for noetic....installed successfully but gives the warning at the end.....i am posting the installation & when i am launching rtabmap_ros ...it crashes like same with odometry error........

[ 95%] Built target rtabmap_odom Scanning dependencies of target rtabmap_odom_plugins [ 95%] Building CXX object rtabmap_ros/rtabmap_odom/CMakeFiles/rtabmap_odom_plugins.dir/src/nodelets/rgbd_odometry.cpp.o [ 96%] Building CXX object rtabmap_ros/rtabmap_odom/CMakeFiles/rtabmap_odom_plugins.dir/src/nodelets/stereo_odometry.cpp.o [ 96%] Linking CXX shared library /home/drone/rtabmap_ws/devel/lib/librtabmap_legacy_plugins.so [ 96%] Built target rtabmap_legacy_plugins [ 96%] Building CXX object rtabmap_ros/rtabmap_odom/CMakeFiles/rtabmap_odom_plugins.dir/src/nodelets/rgbdicp_odometry.cpp.o [ 96%] Linking CXX shared library /home/drone/rtabmap_ws/devel/lib/librtabmap_slam_plugins.so [ 96%] Building CXX object rtabmap_ros/rtabmap_odom/CMakeFiles/rtabmap_odom_plugins.dir/src/nodelets/icp_odometry.cpp.o [ 96%] Built target rtabmap_slam_plugins [ 97%] Linking CXX shared library /home/drone/rtabmap_ws/devel/lib/librtabmap_odom_plugins.so [ 97%] Built target rtabmap_odom_plugins Scanning dependencies of target rtabmap_rgbd_odometry Scanning dependencies of target rtabmap_rgbdicp_odometry Scanning dependencies of target rtabmap_icp_odometry Scanning dependencies of target rtabmap_stereo_odometry [ 97%] Building CXX object rtabmap_ros/rtabmap_odom/CMakeFiles/rtabmap_rgbd_odometry.dir/src/RGBDOdometryNode.cpp.o [ 97%] Building CXX object rtabmap_ros/rtabmap_odom/CMakeFiles/rtabmap_rgbdicp_odometry.dir/src/RGBDICPOdometryNode.cpp.o [ 97%] Building CXX object rtabmap_ros/rtabmap_odom/CMakeFiles/rtabmap_icp_odometry.dir/src/ICPOdometryNode.cpp.o [ 97%] Building CXX object rtabmap_ros/rtabmap_odom/CMakeFiles/rtabmap_stereo_odometry.dir/src/StereoOdometryNode.cpp.o [ 97%] Linking CXX executable /home/drone/rtabmap_ws/devel/lib/rtabmap_odom/icp_odometry [ 98%] Linking CXX executable /home/drone/rtabmap_ws/devel/lib/rtabmap_odom/rgbd_odometry [100%] Linking CXX executable /home/drone/rtabmap_ws/devel/lib/rtabmap_odom/stereo_odometry [100%] Linking CXX executable /home/drone/rtabmap_ws/devel/lib/rtabmap_odom/rgbdicp_odometry /usr/bin/ld: warning: libopencv_stitching.so.4.5, needed by /usr/local/lib/librtabmap_core.so.0.21.1, may conflict with libopencv_stitching.so.4.2 /usr/bin/ld: warning: libopencv_photo.so.4.5, needed by /usr/local/lib/librtabmap_core.so.0.21.1, may conflict with libopencv_photo.so.4.2 /usr/bin/ld: warning: libopencv_video.so.4.5, needed by /usr/local/lib/librtabmap_core.so.0.21.1, may conflict with libopencv_video.so.4.2 /usr/bin/ld: warning: libopencv_videoio.so.4.5, needed by /usr/local/lib/librtabmap_core.so.0.21.1, may conflict with libopencv_videoio.so.4.2 /usr/bin/ld: warning: libopencv_calib3d.so.4.5, needed by /usr/local/lib/librtabmap_core.so.0.21.1, may conflict with libopencv_calib3d.so.4.2 /usr/bin/ld: warning: libopencv_dnn.so.4.5, needed by /usr/lib/aarch64-linux-gnu/libopencv_video.so.4.5.4, may conflict with libopencv_dnn.so.4.2 [100%] Built target rtabmap_icp_odometry /usr/bin/ld: warning: libopencv_stitching.so.4.5, needed by /usr/local/lib/librtabmap_core.so.0.21.1, may conflict with libopencv_stitching.so.4.2 /usr/bin/ld: warning: libopencv_photo.so.4.5, needed by /usr/local/lib/librtabmap_core.so.0.21.1, may conflict with libopencv_photo.so.4.2 /usr/bin/ld: warning: libopencv_video.so.4.5, needed by /usr/local/lib/librtabmap_core.so.0.21.1, may conflict with libopencv_video.so.4.2 /usr/bin/ld: warning: libopencv_videoio.so.4.5, needed by /usr/local/lib/librtabmap_core.so.0.21.1, may conflict with libopencv_videoio.so.4.2 /usr/bin/ld: warning: libopencv_calib3d.so.4.5, needed by /usr/local/lib/librtabmap_core.so.0.21.1, may conflict with libopencv_calib3d.so.4.2 /usr/bin/ld: warning: libopencv_dnn.so.4.5, needed by /usr/lib/aarch64-linux-gnu/libopencv_video.so.4.5.4, may conflict with libopencv_dnn.so.4.2 [100%] Built target rtabmap_rgbd_odometry /usr/bin/ld: warning: libopencv_stitching.so.4.5, needed by /usr/local/lib/librtabmap_core.so.0.21.1, may conflict with libopencv_stitching.so.4.2 /usr/bin/ld: warning: libopencv_photo.so.4.5, needed by /usr/local/lib/librtabmap_core.so.0.21.1, may conflict with libopencv_photo.so.4.2 /usr/bin/ld: warning: libopencv_video.so.4.5, needed by /usr/local/lib/librtabmap_core.so.0.21.1, may conflict with libopencv_video.so.4.2 /usr/bin/ld: warning: libopencv_videoio.so.4.5, needed by /usr/local/lib/librtabmap_core.so.0.21.1, may conflict with libopencv_videoio.so.4.2 /usr/bin/ld: warning: libopencv_calib3d.so.4.5, needed by /usr/local/lib/librtabmap_core.so.0.21.1, may conflict with libopencv_calib3d.so.4.2 /usr/bin/ld: warning: libopencv_dnn.so.4.5, needed by /usr/lib/aarch64-linux-gnu/libopencv_video.so.4.5.4, may conflict with libopencv_dnn.so.4.2 [100%] Built target rtabmap_stereo_odometry /usr/bin/ld: warning: libopencv_stitching.so.4.5, needed by /usr/local/lib/librtabmap_core.so.0.21.1, may conflict with libopencv_stitching.so.4.2 /usr/bin/ld: warning: libopencv_photo.so.4.5, needed by /usr/local/lib/librtabmap_core.so.0.21.1, may conflict with libopencv_photo.so.4.2 /usr/bin/ld: warning: libopencv_video.so.4.5, needed by /usr/local/lib/librtabmap_core.so.0.21.1, may conflict with libopencv_video.so.4.2 /usr/bin/ld: warning: libopencv_videoio.so.4.5, needed by /usr/local/lib/librtabmap_core.so.0.21.1, may conflict with libopencv_videoio.so.4.2 /usr/bin/ld: warning: libopencv_calib3d.so.4.5, needed by /usr/local/lib/librtabmap_core.so.0.21.1, may conflict with libopencv_calib3d.so.4.2 /usr/bin/ld: warning: libopencv_dnn.so.4.5, needed by /usr/lib/aarch64-linux-gnu/libopencv_video.so.4.5.4, may conflict with libopencv_dnn.so.4.2 [100%] Built target rtabmap_rgbdicp_odometry drone@ubuntu:~/rtabmap_ws$ source devel/setup.bash drone@ubuntu:~/rtabmap_ws$ roslaunch rtabmap_launch rtabmap_dji.launch rtabmap_args:="--delete_db_on_start" left_image_topic:=/dji_osdk_ros/stereo/left/image_raw right_image_topic:=/dji_osdk_ros/stereo/right/image_raw left_camera_info_topic:=/dji_osdk_ros/stereo/left/camera_info right_camera_info_topic:=/dji_osdk_ros/stereo/right/camera_info^C drone@ubuntu:~/rtabmap_ws$ roslaunch rtabmap_launch rtabmap.launch Display all 107 possibilities? (y or n) drone@ubuntu:~/rtabmap_ws$ roslaunch rtabmap_launch rtabmap.launch rtabmap_args:="--delete_db_on_start" left_image_topic:=/dji_osdk_ros/stereo/left/image_raw right_image_topic:=/dji_osdk_ros/stereo/right/image_raw left_camera_info_topic:=/dji_osdk_ros/stereo/left/camera_info right_camera_info_topic:=/dji_osdk_ros/stereo/right/camera_info ... logging to /home/drone/.ros/log/f9d49ee8-4731-11ee-8dd1-48b02d3a8516/roslaunch-ubuntu-13189.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://ubuntu:40827/

SUMMARY

CLEAR PARAMETERS

PARAMETERS

NODES / camera_base_link1 (tf/static_transform_publisher) points_xyzrgb (nodelet/nodelet) rviz (rviz/rviz) /rtabmap/ rtabmap (rtabmap_slam/rtabmap) stereo_odometry (rtabmap_odom/stereo_odometry)

auto-starting new master process[master]: started with pid [13197] ROS_MASTER_URI=http://localhost:11311

setting /run_id to f9d49ee8-4731-11ee-8dd1-48b02d3a8516 process[rosout-1]: started with pid [13208] started core service [/rosout] process[camera_base_link1-2]: started with pid [13216] process[rtabmap/stereo_odometry-3]: started with pid [13217] process[rtabmap/rtabmap-4]: started with pid [13222] process[rviz-5]: started with pid [13224] process[points_xyzrgb-6]: started with pid [13225] type is rtabmap_util/point_cloud_xyzrgb [ INFO] [1693399051.795211051]: Starting node... [ INFO] [1693399051.967647067]: Initializing nodelet with 6 worker threads. [ INFO] [1693399052.128353506]: Initializing nodelet with 6 worker threads. [ INFO] [1693399052.548983390]: Approximate time sync = false [rtabmap/stereo_odometry-3] process has died [pid 13217, exit code -11, cmd /home/drone/rtabmap_ws/devel/lib/rtabmap_odom/stereo_odometry --delete_db_on_start left/image_rect:=/dji_osdk_ros/stereo/left/image_raw right/image_rect:=/dji_osdk_ros/stereo/right/image_raw left/camera_info:=/dji_osdk_ros/stereo/left/camera_info right/camera_info:=/dji_osdk_ros/stereo/right/camera_info rgbd_image:=rgbd_image_relay odom:=odom imu:=/imu/data __name:=stereo_odometry log:=/home/drone/.ros/log/f9d49ee8-4731-11ee-8dd1-48b02d3a8516/rtabmap-stereo_odometry-3.log]. log file: /home/drone/.ros/log/f9d49ee8-4731-11ee-8dd1-48b02d3a8516/rtabmap-stereo_odometry-3*.log [rtabmap/rtabmap-4] process has died [pid 13222, exit code -11, cmd /home/drone/rtabmap_ws/devel/lib/rtabmap_slam/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:=/dji_osdk_ros/stereo/left/image_raw right/image_rect:=/dji_osdk_ros/stereo/right/image_raw left/camera_info:=/dji_osdk_ros/stereo/left/camera_info right/camera_info:=/dji_osdk_ros/stereo/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 fiducial_transforms:=/fiducial_transforms odom:=odom imu:=/imu/data name:=rtabmap __log:=/home/drone/.ros/log/f9d49ee8-4731-11ee-8dd1-48b02d3a8516/rtabmap-rtabmap-4.log]. log file: /home/drone/.ros/log/f9d49ee8-4731-11ee-8dd1-48b02d3a8516/rtabmap-rtabmap-4*.log ^C[points_xyzrgb-6] killing on exit [rviz-5] killing on exit [camera_base_link1-2] killing on exit ^C^C^C^C^C^C^C^C^C^C^C^C^C^C[rosout-1] killing on exit ^C^C[master] killing on exit ^Cshutting down processing monitor... ... shutting down processing monitor complete

matlabbe commented 10 months ago

It looks like you have two opencv versions installed. On runtime, the wrong library is taken in compared to one it has been built with. From the install instructions, if you don't want to use opencv 4.2:

On Noetic, build from source with xfeatures2d module (and nonfree module if needed) the same OpenCV version already installed on the system. You will then avoid breaking cv_bridge with rtabmap_ros. If you want to install a more recent OpenCV version, I recommend to uninstall libopencv* libraries (with all ros packages depending on it) and rebuild all those ros packages in your catkin workspace (to make sure cv_bridge is linked on the OpenCV version you just compiled).