Ghada09
commented
2 months ago Open Ghada09 opened 2 months ago
Ghada09
commented
2 months ago 
matlabbe
commented
2 months ago Are you using rtabmap noetic binaries or it has been rebuilt from source?
May be a duplicate of https://github.com/introlab/rtabmap/issues/872
Ghada09
commented
2 months ago I built it from source, I tried the solutions in the link provided but nothing changed
matlabbe
commented
2 months ago I'll give a try on my RPI4, but in the mean time can you show output of cmake for rtabmap library?
cd rtabmap/build
cmake ..Also can you show output of:
ldd ~/catkin_ws/devel/lib/rtabmap_slam/rtabmapCan you run rtabmap alone? (typing rtabmap in terminal)
Which os distro are you using?(I am testing on ubuntu mate 20.04)
matlabbe
commented
2 months ago If you want to avoid rebuilding from source to use latest dependencies (which is pretty long on RPI4), you can use latest docker image directly: https://github.com/introlab/rtabmap_ros/tree/master/docker
Your launch would look like this instead:
docker run -it --rm \
--user $UID \
-e ROS_HOME=/tmp/.ros \
--network host \
-v ~/.ros:/tmp/.ros \
introlab3it/rtabmap_ros:noetic-latest \
roslaunch rtabmap_launch rtabmap.launch rtabmap_viz:=false database_path:=/tmp/.ros/rtabmap.db rtabmap_args:="--delete_db_on_start" \
rgb_topic:=/stereo_inertial_publisher/color/image \
depth_topic:=/stereo_inertial_publisher/stereo/depth \
camera_info_topic:=/stereo_inertial_publisher/color/camera_info \
imu_topic:=/stereo_inertial_publisher/imu/data \
frame_id:=oak-d_frame \
approx_sync:=true \
wait_imu_to_init:=falseThis is the cmake output:
pi@clover-9222:~/rtabmap/build $ cmake ..
-- MOBILE_BUILD=OFF
-- Eigen found (include: /usr/include/eigen3, version: 3.3.7)
-- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so)
-- The imported target "vtkParseOGLExt" references the file
"/usr/bin/vtkParseOGLExt-7.1"
but this file does not exist. Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
"/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.
-- The imported target "vtkRenderingPythonTkWidgets" references the file
"/usr/lib/arm-linux-gnueabihf/libvtkRenderingPythonTkWidgets.so"
but this file does not exist. Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
"/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.
-- The imported target "vtk" references the file
"/usr/bin/vtk"
but this file does not exist. Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
"/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.
-- FLANN found (include: , lib: lz4;flann;flann_cpp)
-- FLANN found (include: , lib: lz4;flann;flann_cpp)
-- QHULL found (include: /usr/include, lib: optimized;/usr/lib/arm-linux-gnueabihf/libqhull.so;debug;/usr/lib/arm-linux-gnueabihf/libqhull.so)
-- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so)
-- PCL definitions don't contain "-march=native", make sure all libraries using Eigen are also compiled without that flag to avoid some segmentation faults (with gdb referring to some Eigen functions).
-- Found SQLite3: /usr/include /usr/lib/arm-linux-gnueabihf/libsqlite3.so
-- Found OpenMP_C: -fopenmp
-- Found OpenMP_CXX: -fopenmp
-- Found OpenMP: TRUE found components: C CXX
-- Found OpenMP: /usr/lib/gcc/arm-linux-gnueabihf/8/libgomp.so;/usr/lib/arm-linux-gnueabihf/libpthread.so
-- Add PCL_OMP to definitions
-- Found OpenCV: /usr/include/opencv4
-- Found PCL: /usr/include/pcl-1.9;/usr/include/eigen3;/usr/include;/usr/include/ni;/usr/include/vtk-7.1;/usr/include/freetype2;/usr/include/arm-linux-gnueabihf;/usr/lib/arm-linux-gnueabihf/openmpi/include/openmpi;/usr/lib/arm-linux-gnueabihf/openmpi/include;/usr/include/python3.7m;/usr/include/hdf5/openmpi;/usr/include/jsoncpp;/usr/include/libxml2;/usr/include/tcl
-- Found ZLIB: /usr/include
-- VTK_RENDERING_BACKEND=OpenGL2
-- Found OpenNI2: /usr/include/openni2
-- Found DC1394: /usr/include/dc1394
-- Could NOT find g2o (missing: g2o_DIR)
-- RTAB-Map's cmake g2o find module used for convenience (for older g2o versions)
-- Could NOT find CSPARSE (missing: CSPARSE_INCLUDE_DIR CSPARSE_LIBRARY)
-- FlyCapture2_INCLUDE_DIR=FlyCapture2_INCLUDE_DIR-NOTFOUND
-- FlyCapture2_LIBRARY=FlyCapture2_LIBRARY-NOTFOUND
-- Triclops_INCLUDE_DIR=Triclops_INCLUDE_DIR-NOTFOUND
-- Triclops_LIBRARY=Triclops_LIBRARY-NOTFOUND
-- FlyCaptureBridge_LIBRARY=FlyCaptureBridge_LIBRARY-NOTFOUND
-- Architecture: armv7l
-- Found Pthreads
-- --------------------------------------------
-- Info :
-- RTAB-Map Version = 0.21.4
-- CMAKE_VERSION = 3.16.3
-- CMAKE_INSTALL_PREFIX = /usr/local
-- CMAKE_BUILD_TYPE = Release
-- CMAKE_INSTALL_LIBDIR = lib
-- BUILD_APP = ON
-- BUILD_TOOLS = ON
-- BUILD_EXAMPLES = ON
-- BUILD_SHARED_LIBS = ON
-- CMAKE_CXX_FLAGS = -fmessage-length=0 -fopenmp -std=c++11
-- FLANN_KDTREE_MEM_OPT = OFF
-- PCL_DEFINITIONS = -DDISABLE_OPENNI2;-DDISABLE_PCAP;-DDISABLE_PNG;-DDISABLE_LIBUSB_1_0
-- PCL_VERSION = 1.9.1
--
-- Optional dependencies ('*' affects some default parameters) :
-- *With OpenCV 4.2.0 xfeatures2d = NO, nonfree = NO (License: BSD)
-- With Qt 5.11.3 = YES (License: Open Source or Commercial)
-- With VTK 7.1 = YES (License: BSD)
-- With external SQLite3 = YES (License: Public Domain)
-- With ORB OcTree = YES (License: GPLv3)
-- With SupertPoint = NO (WITH_TORCH=OFF)
-- With Python3 = NO (WITH_PYTHON=OFF)
-- With Madgwick = YES (License: GPL)
-- With FastCV = NO (FastCV not found)
-- With PDAL = NO (PDAL not found)
--
-- Solvers:
-- With TORO = YES (License: Creative Commons [Attribution-NonCommercial-ShareAlike])
-- *With g2o = NO (g2o not found)
-- *With GTSAM = NO (GTSAM not found)
-- *With Ceres = NO (WITH_CERES=OFF)
-- With MRPT = NO (MRPT not found)
-- With VERTIGO = NO (GTSAM or g2o required)
-- With cvsba = NO (WITH_CVSBA=OFF)
-- *With libpointmatcher = NO (libpointmatcher not found)
-- With CCCoreLib = NO (WITH_CCCORELIB=OFF)
-- With Open3D = NO (WITH_OPEN3D=OFF)
-- With OpenGV = NO (OpenGV not found)
--
-- Reconstruction Approaches:
-- With OctoMap = NO (octomap not found)
-- With GridMap = NO (grid_map_core not found)
-- With CPUTSDF = NO (WITH_CPUTSDF=OFF)
-- With OpenChisel = NO (WITH_OPENCHISEL=OFF)
-- With AliceVision = NO (WITH_ALICE_VISION=OFF)
--
-- Camera Drivers:
-- With Freenect = NO (libfreenect not found)
-- With OpenNI2 = YES (License: Apache v2)
-- With Freenect2 = NO (libfreenect2 not found)
-- With Kinect for Windows 2 = NO (Kinect for Windows 2 SDK not found)
-- With Kinect for Azure = NO (Kinect for Azure SDK not found)
-- With dc1394 = YES (License: LGPL)
-- With FlyCapture2/Triclops = NO (Point Grey SDK not found)
-- With ZED = NO (ZED sdk and/or cuda not found)
-- With ZEDOC = NO (ZED Open Capture not found)
-- With RealSense = NO (librealsense not found)
-- With RealSense2 = NO (librealsense2 not found)
-- With MyntEyeS = NO (mynteye s sdk not found)
-- With DepthAI = NO (WITH_DEPTHAI=OFF)
--
-- Odometry Approaches:
-- With loam_velodyne = NO (WITH_LOAM=OFF)
-- With floam = NO (WITH_FLOAM=OFF)
-- With libfovis = NO (WITH_FOVIS=OFF)
-- With libviso2 = NO (WITH_VISO2=OFF)
-- With dvo_core = NO (WITH_DVO=OFF)
-- With okvis = NO (WITH_OKVIS=OFF)
-- With msckf_vio = NO (WITH_MSCKF_VIO=OFF)
-- With VINS-Fusion = NO (WITH_VINS=OFF)
-- With OpenVINS = NO (WITH_OPENVINS=OFF)
-- With ORB_SLAM = NO (WITH_ORB_SLAM=OFF)
-- Show all options with: cmake -LA | grep WITH_
-- --------------------------------------------
-- Configuring done
-- Generating done
-- Build files have been written to: /home/pi/rtabmap/buildand this is the "ldd ~/catkin_ws/devel/lib/rtabmap_slam/rtabmap" output:
pi@clover-9222:~ $ ldd ~/catkin_ws/devel/lib/rtabmap_slam/rtabmap
linux-vdso.so.1 (0xbefae000)
/usr/lib/arm-linux-gnueabihf/libarmmem-${PLATFORM}.so => /usr/lib/arm-linux-gnueabihf/libarmmem-v7l.so (0xb6f10000)
libroscpp_serialization.so => /opt/ros/noetic/lib/libroscpp_serialization.so (0xb6efe000)
librostime.so => /opt/ros/noetic/lib/librostime.so (0xb6ed8000)
libcpp_common.so => /opt/ros/noetic/lib/libcpp_common.so (0xb6ebf000)
libboost_system.so.1.67.0 => /lib/arm-linux-gnueabihf/libboost_system.so.1.67.0 (0xb6e65000)
libboost_thread.so.1.67.0 => /lib/arm-linux-gnueabihf/libboost_thread.so.1.67.0 (0xb6e32000)
libpthread.so.0 => /lib/arm-linux-gnueabihf/libpthread.so.0 (0xb6e08000)
libboost_chrono.so.1.67.0 => /lib/arm-linux-gnueabihf/libboost_chrono.so.1.67.0 (0xb6df1000)
libboost_date_time.so.1.67.0 => /lib/arm-linux-gnueabihf/libboost_date_time.so.1.67.0 (0xb6dd3000)
libboost_atomic.so.1.67.0 => /lib/arm-linux-gnueabihf/libboost_atomic.so.1.67.0 (0xb6dc0000)
libconsole_bridge.so.0.4 => /lib/arm-linux-gnueabihf/libconsole_bridge.so.0.4 (0xb6dac000)
librtabmap_util_plugins.so => /home/pi/catkin_ws/devel/lib/librtabmap_util_plugins.so (0xb6561000)
libpcl_ros_filter.so => /home/pi/catkin_ws/devel/lib/libpcl_ros_filter.so (0xb6372000)
libpcl_ros_tf.so => /home/pi/catkin_ws/devel/lib/libpcl_ros_tf.so (0xb627e000)
libqhull.so.7 => /lib/arm-linux-gnueabihf/libqhull.so.7 (0xb621c000)
libdynamic_reconfigure_config_init_mutex.so => /opt/ros/noetic/lib/libdynamic_reconfigure_config_init_mutex.so (0xb6207000)
librosbag.so => /opt/ros/noetic/lib/librosbag.so (0xb6170000)
librosbag_storage.so => /opt/ros/noetic/lib/librosbag_storage.so (0xb6101000)
libroslz4.so => /opt/ros/noetic/lib/libroslz4.so (0xb60ed000)
libtopic_tools.so => /opt/ros/noetic/lib/libtopic_tools.so (0xb60d9000)
librtabmap_sync.so => /home/pi/catkin_ws/devel/lib/librtabmap_sync.so (0xb39ad000)
librtabmap_sync_plugins.so => /home/pi/catkin_ws/devel/lib/librtabmap_sync_plugins.so (0xb3372000)
libimage_transport.so => /opt/ros/noetic/lib/libimage_transport.so (0xb32eb000)
libnodeletlib.so => /opt/ros/noetic/lib/libnodeletlib.so (0xb3283000)
libbondcpp.so => /opt/ros/noetic/lib/libbondcpp.so (0xb3250000)
libuuid.so.1 => /lib/arm-linux-gnueabihf/libuuid.so.1 (0xb3239000)
libclass_loader.so => /opt/ros/noetic/lib/libclass_loader.so (0xb320a000)
libPocoFoundation.so.60 => /lib/libPocoFoundation.so.60 (0xb308e000)
libroslib.so => /opt/ros/noetic/lib/libroslib.so (0xb306f000)
librospack.so => /opt/ros/noetic/lib/librospack.so (0xb3027000)
libboost_program_options.so.1.67.0 => /lib/arm-linux-gnueabihf/libboost_program_options.so.1.67.0 (0xb2fa6000)
libtinyxml2.so.6 => /lib/arm-linux-gnueabihf/libtinyxml2.so.6 (0xb2f87000)
librtabmap_conversions.so => /home/pi/catkin_ws/devel/lib/librtabmap_conversions.so (0xb2e32000)
librtabmap_utilite.so.0.21 => /usr/local/lib/librtabmap_utilite.so.0.21 (0xb2e07000)
libpcl_kdtree.so.1.9 => /lib/arm-linux-gnueabihf/libpcl_kdtree.so.1.9 (0xb2ce2000)
libpcl_search.so.1.9 => /lib/arm-linux-gnueabihf/libpcl_search.so.1.9 (0xb2afb000)
libpcl_surface.so.1.9 => /lib/arm-linux-gnueabihf/libpcl_surface.so.1.9 (0xb1ffb000)
libpcl_filters.so.1.9 => /lib/arm-linux-gnueabihf/libpcl_filters.so.1.9 (0xb18e8000)
libpcl_features.so.1.9 => /lib/arm-linux-gnueabihf/libpcl_features.so.1.9 (0xafa54000)
libpcl_registration.so.1.9 => /lib/arm-linux-gnueabihf/libpcl_registration.so.1.9 (0xaf8bb000)
libpcl_sample_consensus.so.1.9 => /lib/arm-linux-gnueabihf/libpcl_sample_consensus.so.1.9 (0xaed6e000)
libpcl_ml.so.1.9 => /lib/arm-linux-gnueabihf/libpcl_ml.so.1.9 (0xaed43000)
libpcl_segmentation.so.1.9 => /lib/arm-linux-gnueabihf/libpcl_segmentation.so.1.9 (0xae1f2000)
libpcl_visualization.so.1.9 => /lib/arm-linux-gnueabihf/libpcl_visualization.so.1.9 (0xae09f000)
liblz4.so.1 => /lib/arm-linux-gnueabihf/liblz4.so.1 (0xae073000)
libflann.so.1.9 => /lib/arm-linux-gnueabihf/libflann.so.1.9 (0xadc61000)
libflann_cpp.so.1.9 => /lib/arm-linux-gnueabihf/libflann_cpp.so.1.9 (0xadc4f000)
librtabmap_gui.so.0.21 => /usr/local/lib/librtabmap_gui.so.0.21 (0xad743000)
librtabmap_core.so.0.21 => /usr/local/lib/librtabmap_core.so.0.21 (0xad19d000)
libQt5Widgets.so.5 => /lib/arm-linux-gnueabihf/libQt5Widgets.so.5 (0xacc50000)
libQt5Core.so.5 => /lib/arm-linux-gnueabihf/libQt5Core.so.5 (0xac7d3000)
libQt5Gui.so.5 => /lib/arm-linux-gnueabihf/libQt5Gui.so.5 (0xac353000)
libQt5OpenGL.so.5 => /lib/arm-linux-gnueabihf/libQt5OpenGL.so.5 (0xac2ff000)
libcv_bridge.so => /opt/ros/noetic/lib/libcv_bridge.so (0xac2c8000)
libtf_conversions.so => /home/pi/catkin_ws/devel/lib/libtf_conversions.so (0xac2a9000)
libkdl_conversions.so => /home/pi/catkin_ws/devel/lib/libkdl_conversions.so (0xac295000)
libeigen_conversions.so => /home/pi/catkin_ws/devel/lib/libeigen_conversions.so (0xac250000)
liborocos-kdl.so.1.4 => /lib/liborocos-kdl.so.1.4 (0xac1a1000)
liblaser_geometry.so => /opt/ros/noetic/lib/liblaser_geometry.so (0xac17e000)
libtf.so => /home/pi/catkin_ws/devel/lib/libtf.so (0xac130000)
libtf2_ros.so => /home/pi/catkin_ws/devel/lib/libtf2_ros.so (0xabfb4000)
libactionlib.so => /opt/ros/noetic/lib/libactionlib.so (0xabf8f000)
libmessage_filters.so => /opt/ros/noetic/lib/libmessage_filters.so (0xabf7a000)
libtf2.so => /home/pi/catkin_ws/devel/lib/libtf2.so (0xabea8000)
libpcl_common.so.1.9 => /lib/arm-linux-gnueabihf/libpcl_common.so.1.9 (0xabdf5000)
libpcl_octree.so.1.9 => /lib/arm-linux-gnueabihf/libpcl_octree.so.1.9 (0xabbd0000)
libpcl_io.so.1.9 => /lib/arm-linux-gnueabihf/libpcl_io.so.1.9 (0xab92e000)
libboost_iostreams.so.1.67.0 => /lib/arm-linux-gnueabihf/libboost_iostreams.so.1.67.0 (0xab907000)
libboost_serialization.so.1.67.0 => /lib/arm-linux-gnueabihf/libboost_serialization.so.1.67.0 (0xab8c4000)
libOpenNI.so.0 => /lib/libOpenNI.so.0 (0xab84e000)
libOpenNI2.so.0 => /lib/libOpenNI2.so.0 (0xab7e8000)
libvtkChartsCore-7.1.so.7.1 => /lib/arm-linux-gnueabihf/libvtkChartsCore-7.1.so.7.1 (0xab6c1000)
libvtkCommonColor-7.1.so.7.1 => /lib/arm-linux-gnueabihf/libvtkCommonColor-7.1.so.7.1 (0xab69d000)
libvtkCommonCore-7.1.so.7.1 => /lib/arm-linux-gnueabihf/libvtkCommonCore-7.1.so.7.1 (0xab412000)
libvtksys-7.1.so.7.1 => /lib/arm-linux-gnueabihf/libvtksys-7.1.so.7.1 (0xab3c9000)
libvtkCommonDataModel-7.1.so.7.1 => /lib/arm-linux-gnueabihf/libvtkCommonDataModel-7.1.so.7.1 (0xab0cf000)
libvtkCommonMath-7.1.so.7.1 => /lib/arm-linux-gnueabihf/libvtkCommonMath-7.1.so.7.1 (0xab0a2000)
libvtkCommonMisc-7.1.so.7.1 => /lib/arm-linux-gnueabihf/libvtkCommonMisc-7.1.so.7.1 (0xab07c000)
libvtkCommonSystem-7.1.so.7.1 => /lib/arm-linux-gnueabihf/libvtkCommonSystem-7.1.so.7.1 (0xab05b000)
libvtkCommonTransforms-7.1.so.7.1 => /lib/arm-linux-gnueabihf/libvtkCommonTransforms-7.1.so.7.1 (0xab027000)
libvtkCommonExecutionModel-7.1.so.7.1 => /lib/arm-linux-gnueabihf/libvtkCommonExecutionModel-7.1.so.7.1 (0xaaf8b000)
libvtkFiltersGeneral-7.1.so.7.1 => /lib/arm-linux-gnueabihf/libvtkFiltersGeneral-7.1.so.7.1 (0xaacfb000)
libvtkCommonComputationalGeometry-7.1.so.7.1 => /lib/arm-linux-gnueabihf/libvtkCommonComputationalGeometry-7.1.so.7.1 (0xaacb7000)
libvtkFiltersCore-7.1.so.7.1 => /lib/arm-linux-gnueabihf/libvtkFiltersCore-7.1.so.7.1 (0xaa8d8000)
libvtkInfovisCore-7.1.so.7.1 => /lib/arm-linux-gnueabihf/libvtkInfovisCore-7.1.so.7.1 (0xaa7f6000)
libvtkFiltersExtraction-7.1.so.7.1 => /lib/arm-linux-gnueabihf/libvtkFiltersExtraction-7.1.so.7.1 (0xaa717000)
libvtkFiltersStatistics-7.1.so.7.1 => /lib/arm-linux-gnueabihf/libvtkFiltersStatistics-7.1.so.7.1 (0xaa68c000)
libvtkImagingFourier-7.1.so.7.1 => /lib/arm-linux-gnueabihf/libvtkImagingFourier-7.1.so.7.1 (0xaa654000)
libvtkImagingCore-7.1.so.7.1 => /lib/arm-linux-gnueabihf/libvtkImagingCore-7.1.so.7.1 (0xaa4bc000)
libvtkalglib-7.1.so.7.1 => /lib/arm-linux-gnueabihf/libvtkalglib-7.1.so.7.1 (0xaa48d000)
libvtkRenderingContext2D-7.1.so.7.1 => /lib/arm-linux-gnueabihf/libvtkRenderingContext2D-7.1.so.7.1 (0xaa445000)
libvtkRenderingCore-7.1.so.7.1 => /lib/arm-linux-gnueabihf/libvtkRenderingCore-7.1.so.7.1 (0xaa1f0000)
libvtkFiltersGeometry-7.1.so.7.1 => /lib/arm-linux-gnueabihf/libvtkFiltersGeometry-7.1.so.7.1 (0xaa15d000)
libvtkFiltersSources-7.1.so.7.1 => /lib/arm-linux-gnueabihf/libvtkFiltersSources-7.1.so.7.1 (0xaa0a6000)
libvtkRenderingFreeType-7.1.so.7.1 => /lib/arm-linux-gnueabihf/libvtkRenderingFreeType-7.1.so.7.1 (0xa9fe9000)
libfreetype.so.6 => /lib/arm-linux-gnueabihf/libfreetype.so.6 (0xa9f46000)
libz.so.1 => /lib/arm-linux-gnueabihf/libz.so.1 (0xa9f1e000)
libvtkDICOMParser-7.1.so.7.1 => /lib/arm-linux-gnueabihf/libvtkDICOMParser-7.1.so.7.1 (0xa9efa000)
libvtkDomainsChemistry-7.1.so.7.1 => /lib/arm-linux-gnueabihf/libvtkDomainsChemistry-7.1.so.7.1 (0xa9e8b000)
libvtkIOLegacy-7.1.so.7.1 => /lib/arm-linux-gnueabihf/libvtkIOLegacy-7.1.so.7.1 (0xa9df0000)
libvtkIOCore-7.1.so.7.1 => /lib/arm-linux-gnueabihf/libvtkIOCore-7.1.so.7.1 (0xa9d83000)
libvtkIOXMLParser-7.1.so.7.1 => /lib/arm-linux-gnueabihf/libvtkIOXMLParser-7.1.so.7.1 (0xa9d5a000)
libexpat.so.1 => /lib/arm-linux-gnueabihf/libexpat.so.1 (0xa9d19000)
libvtkDomainsChemistryOpenGL2-7.1.so.7.1 => /lib/arm-linux-gnueabihf/libvtkDomainsChemistryOpenGL2-7.1.so.7.1 (0xa9cf5000)
libvtkRenderingOpenGL2-7.1.so.7.1 => /lib/arm-linux-gnueabihf/libvtkRenderingOpenGL2-7.1.so.7.1 (0xa9a8d000)
libvtkIOImage-7.1.so.7.1 => /lib/arm-linux-gnueabihf/libvtkIOImage-7.1.so.7.1 (0xa9926000)
libvtkmetaio-7.1.so.7.1 => /lib/arm-linux-gnueabihf/libvtkmetaio-7.1.so.7.1 (0xa9895000)
libjpeg.so.62 => /lib/arm-linux-gnueabihf/libjpeg.so.62 (0xa984f000)
libpng16.so.16 => /lib/arm-linux-gnueabihf/libpng16.so.16 (0xa9813000)
libtiff.so.5 => /lib/arm-linux-gnueabihf/libtiff.so.5 (0xa9793000)
libvtkFiltersAMR-7.1.so.7.1 => /lib/arm-linux-gnueabihf/libvtkFiltersAMR-7.1.so.7.1 (0xa9748000)
libvtkIOXML-7.1.so.7.1 => /lib/arm-linux-gnueabihf/libvtkIOXML-7.1.so.7.1 (0xa967b000)
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libopencv_optflow.so.4.2 => /lib/arm-linux-gnueabihf/libopencv_optflow.so.4.2 (0xa4e4a000)
libopencv_phase_unwrapping.so.4.2 => /lib/arm-linux-gnueabihf/libopencv_phase_unwrapping.so.4.2 (0xa4e30000)
libopencv_plot.so.4.2 => /lib/arm-linux-gnueabihf/libopencv_plot.so.4.2 (0xa4e16000)
libopencv_quality.so.4.2 => /lib/arm-linux-gnueabihf/libopencv_quality.so.4.2 (0xa4df2000)
libopencv_reg.so.4.2 => /lib/arm-linux-gnueabihf/libopencv_reg.so.4.2 (0xa4dc0000)
libopencv_rgbd.so.4.2 => /lib/arm-linux-gnueabihf/libopencv_rgbd.so.4.2 (0xa4d26000)
libopencv_saliency.so.4.2 => /lib/arm-linux-gnueabihf/libopencv_saliency.so.4.2 (0xa4cf2000)
libopencv_shape.so.4.2 => /lib/arm-linux-gnueabihf/libopencv_shape.so.4.2 (0xa4cbe000)
libopencv_stereo.so.4.2 => /lib/arm-linux-gnueabihf/libopencv_stereo.so.4.2 (0xa4c8b000)
libopencv_structured_light.so.4.2 => /lib/arm-linux-gnueabihf/libopencv_structured_light.so.4.2 (0xa4c67000)
libopencv_superres.so.4.2 => /lib/arm-linux-gnueabihf/libopencv_superres.so.4.2 (0xa4c37000)
libopencv_surface_matching.so.4.2 => /lib/arm-linux-gnueabihf/libopencv_surface_matching.so.4.2 (0xa4be9000)
libopencv_text.so.4.2 => /lib/arm-linux-gnueabihf/libopencv_text.so.4.2 (0xa4b8e000)
libopencv_tracking.so.4.2 => /lib/arm-linux-gnueabihf/libopencv_tracking.so.4.2 (0xa4970000)
libopencv_videostab.so.4.2 => /lib/arm-linux-gnueabihf/libopencv_videostab.so.4.2 (0xa491a000)
libopencv_viz.so.4.2 => /lib/arm-linux-gnueabihf/libopencv_viz.so.4.2 (0xa48bb000)
libopencv_ximgproc.so.4.2 => /lib/arm-linux-gnueabihf/libopencv_ximgproc.so.4.2 (0xa469c000)
libopencv_xobjdetect.so.4.2 => /lib/arm-linux-gnueabihf/libopencv_xobjdetect.so.4.2 (0xa467a000)
libopencv_xphoto.so.4.2 => /lib/arm-linux-gnueabihf/libopencv_xphoto.so.4.2 (0xa4634000)
libdiagnostic_updater.so => /opt/ros/noetic/lib/libdiagnostic_updater.so (0xa460f000)
libroscpp.so => /opt/ros/noetic/lib/libroscpp.so (0xa447a000)
libboost_filesystem.so.1.67.0 => /lib/arm-linux-gnueabihf/libboost_filesystem.so.1.67.0 (0xa4451000)
librosconsole.so => /opt/ros/noetic/lib/librosconsole.so (0xa43fc000)
librosconsole_log4cxx.so => /opt/ros/noetic/lib/librosconsole_log4cxx.so (0xa43d7000)
librosconsole_backend_interface.so => /opt/ros/noetic/lib/librosconsole_backend_interface.so (0xa43c5000)
liblog4cxx.so.10 => /lib/arm-linux-gnueabihf/liblog4cxx.so.10 (0xa4254000)
libboost_regex.so.1.67.0 => /lib/arm-linux-gnueabihf/libboost_regex.so.1.67.0 (0xa415d000)
libxmlrpcpp.so => /opt/ros/noetic/lib/libxmlrpcpp.so (0xa4134000)
libGLEW.so.2.1 => /lib/arm-linux-gnueabihf/libGLEW.so.2.1 (0xa4086000)
libSM.so.6 => /lib/arm-linux-gnueabihf/libSM.so.6 (0xa406f000)
libICE.so.6 => /lib/arm-linux-gnueabihf/libICE.so.6 (0xa4049000)
libX11.so.6 => /lib/arm-linux-gnueabihf/libX11.so.6 (0xa3f27000)
libXext.so.6 => /lib/arm-linux-gnueabihf/libXext.so.6 (0xa3f06000)
libXt.so.6 => /lib/arm-linux-gnueabihf/libXt.so.6 (0xa3ea6000)
libstdc++.so.6 => /lib/arm-linux-gnueabihf/libstdc++.so.6 (0xa3d5f000)
libgcc_s.so.1 => /lib/arm-linux-gnueabihf/libgcc_s.so.1 (0xa3d32000)
libc.so.6 => /lib/arm-linux-gnueabihf/libc.so.6 (0xa3be5000)
librt.so.1 => /lib/arm-linux-gnueabihf/librt.so.1 (0xa3bce000)
/lib/ld-linux-armhf.so.3 (0xb6f25000)
libbz2.so.1.0 => /lib/arm-linux-gnueabihf/libbz2.so.1.0 (0xa3bac000)
libgpgme.so.11 => /lib/arm-linux-gnueabihf/libgpgme.so.11 (0xa3b5e000)
libcrypto.so.1.1 => /lib/arm-linux-gnueabihf/libcrypto.so.1.1 (0xa3949000)
libpcre.so.3 => /lib/arm-linux-gnueabihf/libpcre.so.3 (0xa38d2000)
libgomp.so.1 => /lib/arm-linux-gnueabihf/libgomp.so.1 (0xa3898000)
libQt5PrintSupport.so.5 => /lib/arm-linux-gnueabihf/libQt5PrintSupport.so.5 (0xa3824000)
libdc1394.so.22 => /lib/arm-linux-gnueabihf/libdc1394.so.22 (0xa37a0000)
libatomic.so.1 => /lib/arm-linux-gnueabihf/libatomic.so.1 (0xa3785000)
libicui18n.so.63 => /lib/arm-linux-gnueabihf/libicui18n.so.63 (0xa3537000)
libicuuc.so.63 => /lib/arm-linux-gnueabihf/libicuuc.so.63 (0xa33b1000)
libpcre2-16.so.0 => /lib/arm-linux-gnueabihf/libpcre2-16.so.0 (0xa3334000)
libdouble-conversion.so.1 => /lib/arm-linux-gnueabihf/libdouble-conversion.so.1 (0xa3310000)
libglib-2.0.so.0 => /lib/arm-linux-gnueabihf/libglib-2.0.so.0 (0xa3200000)
libGLESv2.so.2 => /lib/arm-linux-gnueabihf/libGLESv2.so.2 (0xa31e1000)
libharfbuzz.so.0 => /lib/arm-linux-gnueabihf/libharfbuzz.so.0 (0xa30e3000)
libpcl_io_ply.so.1.9 => /lib/arm-linux-gnueabihf/libpcl_io_ply.so.1.9 (0xa307d000)
libusb-1.0.so.0 => /lib/arm-linux-gnueabihf/libusb-1.0.so.0 (0xa3058000)
libpcap.so.0.8 => /lib/arm-linux-gnueabihf/libpcap.so.0.8 (0xa3010000)
libtinyxml.so.2.6.2 => /lib/arm-linux-gnueabihf/libtinyxml.so.2.6.2 (0xa2fef000)
libGL.so.1 => /lib/arm-linux-gnueabihf/libGL.so.1 (0xa2f60000)
libwebp.so.6 => /lib/arm-linux-gnueabihf/libwebp.so.6 (0xa2efc000)
libzstd.so.1 => /lib/arm-linux-gnueabihf/libzstd.so.1 (0xa2e63000)
liblzma.so.5 => /lib/arm-linux-gnueabihf/liblzma.so.5 (0xa2e32000)
libjbig.so.0 => /lib/arm-linux-gnueabihf/libjbig.so.0 (0xa2e15000)
libcrypt.so.1 => /lib/arm-linux-gnueabihf/libcrypt.so.1 (0xa2dd5000)
libutil.so.1 => /lib/arm-linux-gnueabihf/libutil.so.1 (0xa2dc0000)
libQt5X11Extras.so.5 => /lib/arm-linux-gnueabihf/libQt5X11Extras.so.5 (0xa2dac000)
libaec.so.0 => /lib/arm-linux-gnueabihf/libaec.so.0 (0xa2d94000)
libopen-rte.so.40 => /lib/arm-linux-gnueabihf/libopen-rte.so.40 (0xa2cd6000)
libopen-pal.so.40 => /lib/arm-linux-gnueabihf/libopen-pal.so.40 (0xa2c3b000)
libhwloc.so.5 => /lib/arm-linux-gnueabihf/libhwloc.so.5 (0xa2bf8000)
libevent-2.1.so.6 => /lib/arm-linux-gnueabihf/libevent-2.1.so.6 (0xa2b9d000)
libevent_pthreads-2.1.so.6 => /lib/arm-linux-gnueabihf/libevent_pthreads-2.1.so.6 (0xa2b89000)
libhdf5_serial_hl.so.100 => /lib/arm-linux-gnueabihf/libhdf5_serial_hl.so.100 (0xa2b59000)
libhdf5_serial.so.103 => /lib/arm-linux-gnueabihf/libhdf5_serial.so.103 (0xa275c000)
libcurl-gnutls.so.4 => /lib/arm-linux-gnueabihf/libcurl-gnutls.so.4 (0xa26d9000)
libavformat.so.58 => /lib/arm-linux-gnueabihf/neon/vfp/libavformat.so.58 (0xa24ae000)
libavcodec.so.58 => /lib/arm-linux-gnueabihf/neon/vfp/libavcodec.so.58 (0xa1124000)
libavutil.so.56 => /lib/arm-linux-gnueabihf/neon/vfp/libavutil.so.56 (0xa109b000)
libswscale.so.5 => /lib/arm-linux-gnueabihf/neon/vfp/libswscale.so.5 (0xa1020000)
libcairo.so.2 => /lib/arm-linux-gnueabihf/libcairo.so.2 (0xa0f27000)
libgdal.so.20 => /lib/libgdal.so.20 (0xa0073000)
libicudata.so.63 => /lib/arm-linux-gnueabihf/libicudata.so.63 (0x9e675000)
libmariadb.so.3 => /lib/arm-linux-gnueabihf/libmariadb.so.3 (0x9e629000)
libodbc.so.2 => /lib/arm-linux-gnueabihf/libodbc.so.2 (0x9e5ba000)
libpq.so.5 => /lib/arm-linux-gnueabihf/libpq.so.5 (0x9e56c000)
libfontconfig.so.1 => /lib/arm-linux-gnueabihf/libfontconfig.so.1 (0x9e524000)
libtbb.so.2 => /lib/arm-linux-gnueabihf/libtbb.so.2 (0x9e4eb000)
libprotobuf.so.17 => /lib/arm-linux-gnueabihf/libprotobuf.so.17 (0x9e287000)
libgtk-3.so.0 => /lib/arm-linux-gnueabihf/libgtk-3.so.0 (0x9dc71000)
libgdk-3.so.0 => /lib/arm-linux-gnueabihf/libgdk-3.so.0 (0x9db99000)
libpangocairo-1.0.so.0 => /lib/arm-linux-gnueabihf/libpangocairo-1.0.so.0 (0x9db7e000)
libpango-1.0.so.0 => /lib/arm-linux-gnueabihf/libpango-1.0.so.0 (0x9db31000)
libatk-1.0.so.0 => /lib/arm-linux-gnueabihf/libatk-1.0.so.0 (0x9db01000)
libcairo-gobject.so.2 => /lib/arm-linux-gnueabihf/libcairo-gobject.so.2 (0x9daea000)
libgdk_pixbuf-2.0.so.0 => /lib/arm-linux-gnueabihf/libgdk_pixbuf-2.0.so.0 (0x9dab8000)
libgio-2.0.so.0 => /lib/arm-linux-gnueabihf/libgio-2.0.so.0 (0x9d93c000)
libgobject-2.0.so.0 => /lib/arm-linux-gnueabihf/libgobject-2.0.so.0 (0x9d8df000)
libgthread-2.0.so.0 => /lib/arm-linux-gnueabihf/libgthread-2.0.so.0 (0x9d8cd000)
libgdcmMSFF.so.2.8 => /lib/arm-linux-gnueabihf/libgdcmMSFF.so.2.8 (0x9d694000)
libImath-2_2.so.23 => /lib/arm-linux-gnueabihf/libImath-2_2.so.23 (0x9d677000)
libIlmImf-2_2.so.23 => /lib/arm-linux-gnueabihf/libIlmImf-2_2.so.23 (0x9d3c9000)
libIex-2_2.so.23 => /lib/arm-linux-gnueabihf/libIex-2_2.so.23 (0x9d3a2000)
libHalf.so.23 => /lib/arm-linux-gnueabihf/libHalf.so.23 (0x9d34d000)
libIlmThread-2_2.so.23 => /lib/arm-linux-gnueabihf/libIlmThread-2_2.so.23 (0x9d337000)
libgdcmIOD.so.2.8 => /lib/arm-linux-gnueabihf/libgdcmIOD.so.2.8 (0x9d315000)
libgdcmDSED.so.2.8 => /lib/arm-linux-gnueabihf/libgdcmDSED.so.2.8 (0x9d201000)
libgdcmCommon.so.2.8 => /lib/arm-linux-gnueabihf/libgdcmCommon.so.2.8 (0x9d1d2000)
libgdcmDICT.so.2.8 => /lib/arm-linux-gnueabihf/libgdcmDICT.so.2.8 (0x9d075000)
libgstbase-1.0.so.0 => /lib/arm-linux-gnueabihf/libgstbase-1.0.so.0 (0x9cff7000)
libgstreamer-1.0.so.0 => /lib/arm-linux-gnueabihf/libgstreamer-1.0.so.0 (0x9cecb000)
libgstapp-1.0.so.0 => /lib/arm-linux-gnueabihf/libgstapp-1.0.so.0 (0x9cead000)
libgstriff-1.0.so.0 => /lib/arm-linux-gnueabihf/libgstriff-1.0.so.0 (0x9ce8c000)
libgstpbutils-1.0.so.0 => /lib/arm-linux-gnueabihf/libgstpbutils-1.0.so.0 (0x9ce4b000)
libavresample.so.4 => /lib/arm-linux-gnueabihf/neon/vfp/libavresample.so.4 (0x9ce29000)
libtesseract.so.4 => /lib/arm-linux-gnueabihf/libtesseract.so.4 (0x9c9e7000)
libvtkInteractionStyle-6.3.so.6.3 => /lib/arm-linux-gnueabihf/libvtkInteractionStyle-6.3.so.6.3 (0x9c970000)
libvtkRenderingLOD-6.3.so.6.3 => /lib/arm-linux-gnueabihf/libvtkRenderingLOD-6.3.so.6.3 (0x9c949000)
libvtkFiltersModeling-6.3.so.6.3 => /lib/arm-linux-gnueabihf/libvtkFiltersModeling-6.3.so.6.3 (0x9c8db000)
libvtkIOPLY-6.3.so.6.3 => /lib/arm-linux-gnueabihf/libvtkIOPLY-6.3.so.6.3 (0x9c8b5000)
libvtkIOGeometry-6.3.so.6.3 => /lib/arm-linux-gnueabihf/libvtkIOGeometry-6.3.so.6.3 (0x9c7b6000)
libvtkFiltersTexture-6.3.so.6.3 => /lib/arm-linux-gnueabihf/libvtkFiltersTexture-6.3.so.6.3 (0x9c788000)
libvtkIOExport-6.3.so.6.3 => /lib/arm-linux-gnueabihf/libvtkIOExport-6.3.so.6.3 (0x9c70a000)
libvtkRenderingAnnotation-6.3.so.6.3 => /lib/arm-linux-gnueabihf/libvtkRenderingAnnotation-6.3.so.6.3 (0x9c5ef000)
libvtkImagingColor-6.3.so.6.3 => /lib/arm-linux-gnueabihf/libvtkImagingColor-6.3.so.6.3 (0x9c5a8000)
libvtkRenderingGL2PS-6.3.so.6.3 => /lib/arm-linux-gnueabihf/libvtkRenderingGL2PS-6.3.so.6.3 (0x9c581000)
libvtkRenderingContextOpenGL-6.3.so.6.3 => /lib/arm-linux-gnueabihf/libvtkRenderingContextOpenGL-6.3.so.6.3 (0x9c548000)
libvtkRenderingLabel-6.3.so.6.3 => /lib/arm-linux-gnueabihf/libvtkRenderingLabel-6.3.so.6.3 (0x9c4a2000)
libvtkRenderingOpenGL-6.3.so.6.3 => /lib/arm-linux-gnueabihf/libvtkRenderingOpenGL-6.3.so.6.3 (0x9c253000)
libvtkImagingHybrid-6.3.so.6.3 => /lib/arm-linux-gnueabihf/libvtkImagingHybrid-6.3.so.6.3 (0x9c1df000)
libvtkIOImage-6.3.so.6.3 => /lib/arm-linux-gnueabihf/libvtkIOImage-6.3.so.6.3 (0x9c08d000)
libvtkDICOMParser-6.3.so.6.3 => /lib/arm-linux-gnueabihf/libvtkDICOMParser-6.3.so.6.3 (0x9c069000)
libvtkIOCore-6.3.so.6.3 => /lib/arm-linux-gnueabihf/libvtkIOCore-6.3.so.6.3 (0x9bffe000)
libvtkmetaio-6.3.so.6.3 => /lib/arm-linux-gnueabihf/libvtkmetaio-6.3.so.6.3 (0x9bf6d000)
libGLU.so.1 => /lib/arm-linux-gnueabihf/libGLU.so.1 (0x9bf05000)
libvtkRenderingContext2D-6.3.so.6.3 => /lib/arm-linux-gnueabihf/libvtkRenderingContext2D-6.3.so.6.3 (0x9bec3000)
libvtkRenderingFreeType-6.3.so.6.3 => /lib/arm-linux-gnueabihf/libvtkRenderingFreeType-6.3.so.6.3 (0x9bdfe000)
libvtkRenderingCore-6.3.so.6.3 => /lib/arm-linux-gnueabihf/libvtkRenderingCore-6.3.so.6.3 (0x9bbf4000)
libvtkCommonColor-6.3.so.6.3 => /lib/arm-linux-gnueabihf/libvtkCommonColor-6.3.so.6.3 (0x9bbd0000)
libvtkFiltersExtraction-6.3.so.6.3 => /lib/arm-linux-gnueabihf/libvtkFiltersExtraction-6.3.so.6.3 (0x9bace000)
libvtkFiltersStatistics-6.3.so.6.3 => /lib/arm-linux-gnueabihf/libvtkFiltersStatistics-6.3.so.6.3 (0x9ba51000)
libvtkImagingFourier-6.3.so.6.3 => /lib/arm-linux-gnueabihf/libvtkImagingFourier-6.3.so.6.3 (0x9ba1d000)
libvtkImagingCore-6.3.so.6.3 => /lib/arm-linux-gnueabihf/libvtkImagingCore-6.3.so.6.3 (0x9b88f000)
libvtkalglib-6.3.so.6.3 => /lib/arm-linux-gnueabihf/libvtkalglib-6.3.so.6.3 (0x9b860000)
libvtkFiltersGeometry-6.3.so.6.3 => /lib/arm-linux-gnueabihf/libvtkFiltersGeometry-6.3.so.6.3 (0x9b7de000)
libvtkFiltersSources-6.3.so.6.3 => /lib/arm-linux-gnueabihf/libvtkFiltersSources-6.3.so.6.3 (0x9b738000)
libvtkFiltersGeneral-6.3.so.6.3 => /lib/arm-linux-gnueabihf/libvtkFiltersGeneral-6.3.so.6.3 (0x9b496000)
libvtkFiltersCore-6.3.so.6.3 => /lib/arm-linux-gnueabihf/libvtkFiltersCore-6.3.so.6.3 (0x9b096000)
libvtkCommonExecutionModel-6.3.so.6.3 => /lib/arm-linux-gnueabihf/libvtkCommonExecutionModel-6.3.so.6.3 (0x9b00b000)
libvtkCommonComputationalGeometry-6.3.so.6.3 => /lib/arm-linux-gnueabihf/libvtkCommonComputationalGeometry-6.3.so.6.3 (0x9afd2000)
libvtkCommonDataModel-6.3.so.6.3 => /lib/arm-linux-gnueabihf/libvtkCommonDataModel-6.3.so.6.3 (0x9ad1c000)
libvtkCommonMisc-6.3.so.6.3 => /lib/arm-linux-gnueabihf/libvtkCommonMisc-6.3.so.6.3 (0x9acfa000)
libvtkCommonTransforms-6.3.so.6.3 => /lib/arm-linux-gnueabihf/libvtkCommonTransforms-6.3.so.6.3 (0x9acc7000)
libvtkCommonMath-6.3.so.6.3 => /lib/arm-linux-gnueabihf/libvtkCommonMath-6.3.so.6.3 (0x9ac9d000)
libvtkCommonSystem-6.3.so.6.3 => /lib/arm-linux-gnueabihf/libvtkCommonSystem-6.3.so.6.3 (0x9ac7d000)
libvtkCommonCore-6.3.so.6.3 => /lib/arm-linux-gnueabihf/libvtkCommonCore-6.3.so.6.3 (0x9a9ee000)
libvtksys-6.3.so.6.3 => /lib/arm-linux-gnueabihf/libvtksys-6.3.so.6.3 (0x9a9a5000)
libvtkftgl-6.3.so.6.3 => /lib/arm-linux-gnueabihf/libvtkftgl-6.3.so.6.3 (0x9a98b000)
libapr-1.so.0 => /lib/arm-linux-gnueabihf/libapr-1.so.0 (0x9a951000)
libaprutil-1.so.0 => /lib/arm-linux-gnueabihf/libaprutil-1.so.0 (0x9a91b000)
libbsd.so.0 => /lib/arm-linux-gnueabihf/libbsd.so.0 (0x9a8f3000)
libxcb.so.1 => /lib/arm-linux-gnueabihf/libxcb.so.1 (0x9a8c4000)
libassuan.so.0 => /lib/arm-linux-gnueabihf/libassuan.so.0 (0x9a8a5000)
libgpg-error.so.0 => /lib/arm-linux-gnueabihf/libgpg-error.so.0 (0x9a87b000)
libraw1394.so.11 => /lib/arm-linux-gnueabihf/libraw1394.so.11 (0x9a85d000)
libGLdispatch.so.0 => /lib/arm-linux-gnueabihf/libGLdispatch.so.0 (0x9a7de000)
libgraphite2.so.3 => /lib/arm-linux-gnueabihf/libgraphite2.so.3 (0x9a7ad000)
libudev.so.1 => /lib/arm-linux-gnueabihf/libudev.so.1 (0x9a77d000)
libGLX.so.0 => /lib/arm-linux-gnueabihf/libGLX.so.0 (0x9a75e000)
libltdl.so.7 => /lib/arm-linux-gnueabihf/libltdl.so.7 (0x9a746000)
libnghttp2.so.14 => /lib/arm-linux-gnueabihf/libnghttp2.so.14 (0x9a717000)
libidn2.so.0 => /lib/arm-linux-gnueabihf/libidn2.so.0 (0x9a6eb000)
librtmp.so.1 => /lib/arm-linux-gnueabihf/librtmp.so.1 (0x9a6c2000)
libssh2.so.1 => /lib/arm-linux-gnueabihf/libssh2.so.1 (0x9a68a000)
libpsl.so.5 => /lib/arm-linux-gnueabihf/libpsl.so.5 (0x9a66a000)
libnettle.so.6 => /lib/arm-linux-gnueabihf/libnettle.so.6 (0x9a626000)
libgnutls.so.30 => /lib/arm-linux-gnueabihf/libgnutls.so.30 (0x9a483000)
libgssapi_krb5.so.2 => /lib/arm-linux-gnueabihf/libgssapi_krb5.so.2 (0x9a439000)
libkrb5.so.3 => /lib/arm-linux-gnueabihf/libkrb5.so.3 (0x9a37e000)
libk5crypto.so.3 => /lib/arm-linux-gnueabihf/libk5crypto.so.3 (0x9a33e000)
libcom_err.so.2 => /lib/arm-linux-gnueabihf/libcom_err.so.2 (0x9a32b000)
libldap_r-2.4.so.2 => /lib/arm-linux-gnueabihf/libldap_r-2.4.so.2 (0x9a2d6000)
liblber-2.4.so.2 => /lib/arm-linux-gnueabihf/liblber-2.4.so.2 (0x9a2ba000)
libgme.so.0 => /lib/arm-linux-gnueabihf/libgme.so.0 (0x9a26a000)
libopenmpt.so.0 => /lib/arm-linux-gnueabihf/libopenmpt.so.0 (0x9a0ab000)
libchromaprint.so.1 => /lib/arm-linux-gnueabihf/libchromaprint.so.1 (0x9a08a000)
libbluray.so.2 => /lib/arm-linux-gnueabihf/libbluray.so.2 (0x9a034000)
libssh-gcrypt.so.4 => /lib/arm-linux-gnueabihf/libssh-gcrypt.so.4 (0x99fb5000)
libvchiq_arm.so => /opt/vc/lib/libvchiq_arm.so (0x99f9f000)
libvcos.so => /opt/vc/lib/libvcos.so (0x99f86000)
libswresample.so.3 => /lib/arm-linux-gnueabihf/neon/vfp/libswresample.so.3 (0x99f60000)
libvpx.so.5 => /lib/arm-linux-gnueabihf/libvpx.so.5 (0x99e5d000)
libwebpmux.so.3 => /lib/arm-linux-gnueabihf/libwebpmux.so.3 (0x99e45000)
libmmal_core.so => /opt/vc/lib/libmmal_core.so (0x99e27000)
libmmal_util.so => /opt/vc/lib/libmmal_util.so (0x99e05000)
libmmal_vc_client.so => /opt/vc/lib/libmmal_vc_client.so (0x99dea000)
libbcm_host.so => /opt/vc/lib/libbcm_host.so (0x99dc3000)
libvcsm.so => /opt/vc/lib/libvcsm.so (0x99da9000)
librsvg-2.so.2 => /lib/arm-linux-gnueabihf/librsvg-2.so.2 (0x999ba000)
libzvbi.so.0 => /lib/arm-linux-gnueabihf/libzvbi.so.0 (0x99937000)
libsnappy.so.1 => /lib/arm-linux-gnueabihf/libsnappy.so.1 (0x99920000)
libaom.so.0 => /lib/arm-linux-gnueabihf/libaom.so.0 (0x99624000)
libcodec2.so.0.8.1 => /lib/arm-linux-gnueabihf/libcodec2.so.0.8.1 (0x995bb000)
libgsm.so.1 => /lib/arm-linux-gnueabihf/libgsm.so.1 (0x995a0000)
libmp3lame.so.0 => /lib/arm-linux-gnueabihf/libmp3lame.so.0 (0x99524000)
libopenjp2.so.7 => /lib/arm-linux-gnueabihf/libopenjp2.so.7 (0x994c6000)
libopus.so.0 => /lib/arm-linux-gnueabihf/libopus.so.0 (0x99467000)
libshine.so.3 => /lib/arm-linux-gnueabihf/libshine.so.3 (0x9944d000)
libspeex.so.1 => /lib/arm-linux-gnueabihf/libspeex.so.1 (0x99426000)
libtwolame.so.0 => /lib/arm-linux-gnueabihf/libtwolame.so.0 (0x993f6000)
libvorbis.so.0 => /lib/arm-linux-gnueabihf/libvorbis.so.0 (0x993bf000)
libvorbisenc.so.2 => /lib/arm-linux-gnueabihf/libvorbisenc.so.2 (0x9932d000)
libwavpack.so.1 => /lib/arm-linux-gnueabihf/libwavpack.so.1 (0x992f9000)
libx264.so.155 => /lib/arm-linux-gnueabihf/neon/vfp/libx264.so.155 (0x990ad000)
libx265.so.165 => /lib/arm-linux-gnueabihf/libx265.so.165 (0x98df3000)
libxvidcore.so.4 => /lib/arm-linux-gnueabihf/libxvidcore.so.4 (0x98d03000)
libva.so.2 => /lib/arm-linux-gnueabihf/libva.so.2 (0x98cd2000)
libva-drm.so.2 => /lib/arm-linux-gnueabihf/libva-drm.so.2 (0x98cbf000)
libva-x11.so.2 => /lib/arm-linux-gnueabihf/libva-x11.so.2 (0x98caa000)
libvdpau.so.1 => /lib/arm-linux-gnueabihf/libvdpau.so.1 (0x98c96000)
libdrm.so.2 => /lib/arm-linux-gnueabihf/libdrm.so.2 (0x98c77000)
libpixman-1.so.0 => /lib/arm-linux-gnueabihf/libpixman-1.so.0 (0x98b9c000)
libxcb-shm.so.0 => /lib/arm-linux-gnueabihf/libxcb-shm.so.0 (0x98b89000)
libxcb-render.so.0 => /lib/arm-linux-gnueabihf/libxcb-render.so.0 (0x98b6e000)
libXrender.so.1 => /lib/arm-linux-gnueabihf/libXrender.so.1 (0x98b55000)
libarmadillo.so.9 => /lib/libarmadillo.so.9 (0x98b3f000)
libpoppler.so.82 => /lib/arm-linux-gnueabihf/libpoppler.so.82 (0x988fb000)
libjson-c.so.3 => /lib/arm-linux-gnueabihf/libjson-c.so.3 (0x988e2000)
libfreexl.so.1 => /lib/arm-linux-gnueabihf/libfreexl.so.1 (0x988ca000)
libgeos_c.so.1 => /lib/arm-linux-gnueabihf/libgeos_c.so.1 (0x9888f000)
libepsilon.so.1 => /lib/arm-linux-gnueabihf/libepsilon.so.1 (0x9886b000)
libodbcinst.so.2 => /lib/arm-linux-gnueabihf/libodbcinst.so.2 (0x98849000)
libkmlbase.so.1 => /lib/arm-linux-gnueabihf/libkmlbase.so.1 (0x98823000)
libkmldom.so.1 => /lib/arm-linux-gnueabihf/libkmldom.so.1 (0x98789000)
libkmlengine.so.1 => /lib/arm-linux-gnueabihf/libkmlengine.so.1 (0x9874c000)
libkmlxsd.so.1 => /lib/arm-linux-gnueabihf/libkmlxsd.so.1 (0x9872e000)
libkmlregionator.so.1 => /lib/arm-linux-gnueabihf/libkmlregionator.so.1 (0x98715000)
libxerces-c-3.2.so => /lib/arm-linux-gnueabihf/libxerces-c-3.2.so (0x98403000)
libmfhdfalt.so.0 => /lib/libmfhdfalt.so.0 (0x983cf000)
libdfalt.so.0 => /lib/libdfalt.so.0 (0x98322000)
libogdi.so.3.2 => /lib/libogdi.so.3.2 (0x982f7000)
libgif.so.7 => /lib/arm-linux-gnueabihf/libgif.so.7 (0x982df000)
libCharLS.so.2 => /lib/arm-linux-gnueabihf/libCharLS.so.2 (0x98295000)
libgeotiff.so.2 => /lib/arm-linux-gnueabihf/libgeotiff.so.2 (0x98260000)
libdapclient.so.6 => /lib/arm-linux-gnueabihf/libdapclient.so.6 (0x98217000)
libdapserver.so.7 => /lib/arm-linux-gnueabihf/libdapserver.so.7 (0x981fb000)
libdap.so.25 => /lib/arm-linux-gnueabihf/libdap.so.25 (0x9809b000)
libspatialite.so.7 => /lib/arm-linux-gnueabihf/libspatialite.so.7 (0x97b33000)
libfyba.so.0 => /lib/arm-linux-gnueabihf/libfyba.so.0 (0x97ade000)
libfygm.so.0 => /lib/arm-linux-gnueabihf/libfygm.so.0 (0x97ac8000)
libfyut.so.0 => /lib/arm-linux-gnueabihf/libfyut.so.0 (0x97ab0000)
libssl.so.1.1 => /lib/arm-linux-gnueabihf/libssl.so.1.1 (0x97a31000)
libgmodule-2.0.so.0 => /lib/arm-linux-gnueabihf/libgmodule-2.0.so.0 (0x97a1d000)
libXi.so.6 => /lib/arm-linux-gnueabihf/libXi.so.6 (0x979ff000)
libXcomposite.so.1 => /lib/arm-linux-gnueabihf/libXcomposite.so.1 (0x979ec000)
libXdamage.so.1 => /lib/arm-linux-gnueabihf/libXdamage.so.1 (0x979d9000)
libXfixes.so.3 => /lib/arm-linux-gnueabihf/libXfixes.so.3 (0x979c4000)
libatk-bridge-2.0.so.0 => /lib/arm-linux-gnueabihf/libatk-bridge-2.0.so.0 (0x97989000)
libxkbcommon.so.0 => /lib/arm-linux-gnueabihf/libxkbcommon.so.0 (0x97940000)
libwayland-cursor.so.0 => /lib/arm-linux-gnueabihf/libwayland-cursor.so.0 (0x97929000)
libwayland-egl.so.1 => /lib/arm-linux-gnueabihf/libwayland-egl.so.1 (0x97917000)
libwayland-client.so.0 => /lib/arm-linux-gnueabihf/libwayland-client.so.0 (0x978fd000)
libepoxy.so.0 => /lib/arm-linux-gnueabihf/libepoxy.so.0 (0x97807000)
libpangoft2-1.0.so.0 => /lib/arm-linux-gnueabihf/libpangoft2-1.0.so.0 (0x977e5000)
libXinerama.so.1 => /lib/arm-linux-gnueabihf/libXinerama.so.1 (0x977d2000)
libXrandr.so.2 => /lib/arm-linux-gnueabihf/libXrandr.so.2 (0x977b9000)
libXcursor.so.1 => /lib/arm-linux-gnueabihf/libXcursor.so.1 (0x977a0000)
libthai.so.0 => /lib/arm-linux-gnueabihf/libthai.so.0 (0x97788000)
libfribidi.so.0 => /lib/arm-linux-gnueabihf/libfribidi.so.0 (0x9775c000)
libmount.so.1 => /lib/arm-linux-gnueabihf/libmount.so.1 (0x976fb000)
libselinux.so.1 => /lib/arm-linux-gnueabihf/libselinux.so.1 (0x976c9000)
libresolv.so.2 => /lib/arm-linux-gnueabihf/libresolv.so.2 (0x976a5000)
libffi.so.6 => /lib/arm-linux-gnueabihf/libffi.so.6 (0x9768d000)
libgdcmjpeg8.so.2.8 => /lib/arm-linux-gnueabihf/libgdcmjpeg8.so.2.8 (0x9765b000)
libgdcmjpeg12.so.2.8 => /lib/arm-linux-gnueabihf/libgdcmjpeg12.so.2.8 (0x97629000)
libgdcmjpeg16.so.2.8 => /lib/arm-linux-gnueabihf/libgdcmjpeg16.so.2.8 (0x975f7000)
libgstaudio-1.0.so.0 => /lib/arm-linux-gnueabihf/libgstaudio-1.0.so.0 (0x97581000)
libgsttag-1.0.so.0 => /lib/arm-linux-gnueabihf/libgsttag-1.0.so.0 (0x97539000)
libgstvideo-1.0.so.0 => /lib/arm-linux-gnueabihf/libgstvideo-1.0.so.0 (0x974a9000)
liblept.so.5 => /lib/arm-linux-gnueabihf/liblept.so.5 (0x9725c000)
libXau.so.6 => /lib/arm-linux-gnueabihf/libXau.so.6 (0x97249000)
libXdmcp.so.6 => /lib/arm-linux-gnueabihf/libXdmcp.so.6 (0x97232000)
libunistring.so.2 => /lib/arm-linux-gnueabihf/libunistring.so.2 (0x970b6000)
libhogweed.so.4 => /lib/arm-linux-gnueabihf/libhogweed.so.4 (0x97077000)
libgmp.so.10 => /lib/arm-linux-gnueabihf/libgmp.so.10 (0x96ffe000)
libgcrypt.so.20 => /lib/arm-linux-gnueabihf/libgcrypt.so.20 (0x96f24000)
libp11-kit.so.0 => /lib/arm-linux-gnueabihf/libp11-kit.so.0 (0x96e1f000)
libtasn1.so.6 => /lib/arm-linux-gnueabihf/libtasn1.so.6 (0x96dff000)
libkrb5support.so.0 => /lib/arm-linux-gnueabihf/libkrb5support.so.0 (0x96de5000)
libkeyutils.so.1 => /lib/arm-linux-gnueabihf/libkeyutils.so.1 (0x96dd1000)
libsasl2.so.2 => /lib/arm-linux-gnueabihf/libsasl2.so.2 (0x96da8000)
libmpg123.so.0 => /lib/arm-linux-gnueabihf/libmpg123.so.0 (0x96d4b000)
libvorbisfile.so.3 => /lib/arm-linux-gnueabihf/libvorbisfile.so.3 (0x96d33000)
libsoxr.so.0 => /lib/arm-linux-gnueabihf/libsoxr.so.0 (0x96cd1000)
libcroco-0.6.so.3 => /lib/arm-linux-gnueabihf/libcroco-0.6.so.3 (0x96c8f000)
libblas.so.3 => /lib/arm-linux-gnueabihf/libblas.so.3 (0x96c29000)
liblapack.so.3 => /lib/arm-linux-gnueabihf/liblapack.so.3 (0x966de000)
libarpack.so.2 => /lib/arm-linux-gnueabihf/libarpack.so.2 (0x96687000)
libsuperlu.so.5 => /lib/arm-linux-gnueabihf/libsuperlu.so.5 (0x9661a000)
libnss3.so => /lib/arm-linux-gnueabihf/libnss3.so (0x964fe000)
libsmime3.so => /lib/arm-linux-gnueabihf/libsmime3.so (0x964cd000)
libnspr4.so => /lib/arm-linux-gnueabihf/libnspr4.so (0x9648d000)
liblcms2.so.2 => /lib/arm-linux-gnueabihf/liblcms2.so.2 (0x96436000)
libgeos-3.7.1.so => /lib/arm-linux-gnueabihf/libgeos-3.7.1.so (0x962dc000)
libpopt.so.0 => /lib/arm-linux-gnueabihf/libpopt.so.0 (0x962c1000)
libminizip.so.1 => /lib/arm-linux-gnueabihf/libminizip.so.1 (0x962a7000)
liburiparser.so.1 => /lib/arm-linux-gnueabihf/liburiparser.so.1 (0x9627c000)
libkmlconvenience.so.1 => /lib/arm-linux-gnueabihf/libkmlconvenience.so.1 (0x96250000)
libnsl.so.1 => /lib/arm-linux-gnueabihf/libnsl.so.1 (0x9622c000)
libdbus-1.so.3 => /lib/arm-linux-gnueabihf/libdbus-1.so.3 (0x961db000)
libatspi.so.0 => /lib/arm-linux-gnueabihf/libatspi.so.0 (0x961a4000)
libdatrie.so.1 => /lib/arm-linux-gnueabihf/libdatrie.so.1 (0x9618e000)
libblkid.so.1 => /lib/arm-linux-gnueabihf/libblkid.so.1 (0x96136000)
liborc-0.4.so.0 => /lib/arm-linux-gnueabihf/liborc-0.4.so.0 (0x960bc000)
libgfortran.so.5 => /lib/arm-linux-gnueabihf/libgfortran.so.5 (0x95fe1000)
libnssutil3.so => /lib/arm-linux-gnueabihf/libnssutil3.so (0x95fae000)
libplc4.so => /lib/arm-linux-gnueabihf/libplc4.so (0x95f9a000)
libplds4.so => /lib/arm-linux-gnueabihf/libplds4.so (0x95f87000)
libsystemd.so.0 => /lib/arm-linux-gnueabihf/libsystemd.so.0 (0x95eea000)and yes I can run rtabmap alone, this is the output:
Finally, I am using Raspbian GNU/Linux 10 (buster), while you read through this, I will try the docker thing, thanks a lot.
Ghada09
commented
2 months ago I tried the docker, it gives me this error: pi@clover-9222:~ $ sudo docker pull introlab3it/rtabmap_ros:noetic-latest noetic-latest: Pulling from introlab3it/rtabmap_ros no matching manifest for linux/arm/v7 in the manifest list entries
matlabbe
commented
2 months ago The noetic armhf build for rtabmap is currently disabled because ros-noetic-libpointmatcher doesn't exist on 32 bits systems.
I am not sure why you get a malloc issue with the ros package, sometimes it is related to different versions of same libraries used by rtabmap library and ros libraries (like different version of opencv).
The best fix would be to add rtabmap docker build on armhf too on our side. I'll check how feasible is that because it was disabled in this commit. Otherwise in the mean time, if you don't care about reflashing your RPI4, you can install a 64 bits version OS on it to use the docker above. Recompiling from source on Ubuntu Mate 20.04 also works, though I prefer using docker on RPI (a lot faster to install!).
matlabbe
commented
2 months ago noetic-latest image supports armhf now, you may give a try:
docker pull introlab3it/rtabmap_ros:noetic-latest
AyaMoustafa5
commented
2 months ago When I run the docker container as follows: sudo docker run -it --rm \ --user $UID \ -e ROS_HOME=/tmp/.ros \ --network host \ -v ~/.ros:/tmp/.ros \ introlab3it/rtabmap_ros:noetic-latest \ roslaunch rtabmap_launch rtabmap.launch rtabmap_viz:=false database_path:=/tmp/.ros/rtabmap.db rtabmap_args:="--delete_db_on_start" \ rgb_topic:=/stereo_inertial_publisher/color/image \ depth_topic:=/stereo_inertial_publisher/stereo/depth \ camera_info_topic:=/stereo_inertial_publisher/color/camera_info \ imu_topic:=/stereo_inertial_publisher/imu/data \ frame_id:=oak-d_frame \ approx_sync:=true \ wait_imu_to_init:=false
I get this error:
Do you have any idea how can I solve this error?
matlabbe
commented
2 months ago If you "sudo" docker, try removing --user $UID
AyaMoustafa5
commented
2 months ago When I do so, I get this error: Fatal Python error: pyinit_main: can't initialize time Python runtime state: core initialized PermissionError: [Errno 1] Operation not permitted
Current thread: 0xb6f1b5b0 (most recent call first):
matlabbe
commented
2 months ago I tested 32 bits version from a fresh raspberry pi image and it should work. Here the steps I did:
curl -sSL https://get.docker.com | sh
sudo usermod -aG docker $USERReboot, or login/logout, make sure this works without sudo:
docker run hello-worldMake sure "~/.ros" directory exists on host
mkdir ~/.rosFollow directives from https://github.com/introlab/rtabmap_ros/tree/master/docker#docker with noetic-latest image:
docker run -it --rm \
--user $UID \
-e ROS_HOME=/tmp/.ros \
--network host \
-v ~/.ros:/tmp/.ros \
introlab3it/rtabmap_ros:noetic-latest \
roslaunch rtabmap_launch rtabmap.launch rtabmap_viz:=false database_path:=/tmp/.ros/rtabmap.db rtabmap_args:="--delete_db_on_start"Launch ui (without nvidia runtime)
XAUTH=/tmp/.docker.xauth
touch $XAUTH
xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge -docker run -it --rm \ --privileged \ -e DISPLAY=$DISPLAY \ -e QT_X11_NO_MITSHM=1 \ -e NVIDIA_VISIBLE_DEVICES=all \ -e NVIDIA_DRIVER_CAPABILITIES=all \ -e XAUTHORITY=$XAUTH \ --network host \ -v $XAUTH:$XAUTH \ -v /tmp/.X11-unix:/tmp/.X11-unix \ introlab3it/rtabmap_ros:noetic-latest \ /bin/bash -c "export ROS_NAMESPACE=rtabmap && rosrun rtabmap_viz rtabmap_viz"
its working now but i am getting a warning related to the time difference:
[ WARN] [1713360148.659939544]: The time difference between rgb and depth frames is high (diff=0.066622s, rgb=1713360147.231447s, depth=1713360147.164826s). You may want to set approx_sync_max_interval lower than 0.02s to reject spurious bad synchronizations or use approx_sync=false if streams have all the exact same timestamp.
when I try the approx_sync=false it doesn't work.
matlabbe
commented
2 months ago Are both camera streams at the same frame rate? Should they be 30 Hz or 15Hz?
Probably your camera driver is not publishing all camera streams with exactly the same stamp, so you cannot use approx_sync:=false.
You have to fix your camera driver to provide a more stable stream.