Turtlebot 2 with Kobuki : malformed sub-payload detected

[alduxvm]

Hi,

Devices involved: Turtlebot 2 (Kobuki base), Kinect, Acer netbook.

Starting with a fresh install of Ubuntu 16.04 and ROS Kinetic (base). Then installing ros-kinetic-turtlebot-bringup ros-kinetic-turtlebot-navigation ros-kinetic-turtlebot-teleop the robots works fine as normally, no error detected.

Then we proceed to install ros-kinetic-rtabmap-ros and when launching the bringup minimal, we start having the following error:

[ERROR] [1501263662.514569924]: Kobuki : malformed sub-payload detected. [60][170][3C AA 55 4D 01 0F ]

That error appears regularly whenever the bringup minimal is launched. There is no way to get rid of such error until a fresh install of OS is performed. We tried with no success:

• Removing rtabmap
• Removing all turtlebot packages and installing them again
• autoremove of not used packages

Its not a hardware problem with my robot (or netbook) because if I fresh install the OS and do not install rtabmap, the problem does not appear. The malformed sub-payload only starts after installing rtabmap.

Maybe something of the new commits or dependencies affected the entire current installation of rtabmap for turtlebot 2 + ros-kinetic? because a few months ago we did not had that issue.

Any ideas?

Thanks a lot!

[matlabbe]

Just to be sure, rtabmap is not even started at all? just installed? Very strange. Maybe one of the dependencies cited here could be the problem.

Other info: http://answers.ros.org/question/52203/kobuki-malformed-subpayload/

[alduxvm]

Yes, rtabmap works, we can start mapping but after a while the 3D sensor fails and rtabmap fails as well and I need to restart everything...

Yes, I went to that link when the problem start to arise, but the issue gets resolved with a fresh install of the OS+ROS, which is when I think it has to do with a dependency of rtabmap, but which one? still a mystery...