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introlab / rtabmap_ros

RTAB-Map's ROS package.
http://wiki.ros.org/rtabmap_ros
BSD 3-Clause "New" or "Revised" License
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Rtabmap Crashes after couple of minutes #203

Open mertmzk opened 6 years ago

mertmzk commented 6 years ago

Hi all,

I have successfully run RTABMAP map on ROS with stereo camera and can get results for a couple of minutes and then it crashes with this error:

[rtabmap/rtabmap-2] process has died [pid 26721, exit code -11, cmd /opt/ros/kinetic/lib/rtabmap_ros/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 left/image_rect:=/stereo_camera/left/image_rect_color right/image_rect:=/stereo_camera/right/image_rect left/camera_info:=/stereo_camera/left/camera_info right/camera_info:=/stereo_camera/right/camera_info scan:=/scan scan_cloud:=/scan_cloud name:=rtabmap log:=/root/.ros/log/d5399fc8-b981-11e7-8cec-ec1127743a1c/rtabmap-rtabmap-2.log]. log file: /root/.ros/log/d5399fc8-b981-11e7-8cec-ec1127743a1c/rtabmap-rtabmap-2*.log

I could not found the log file in specified path. Odometry is keep working but map is not updating (octomap or projmap)

[ INFO] [1508943891.653421853]: Odom: quality=215, std dev=0.011753m|0.022265rad, update time=0.406519s [ INFO] [1508943892.043820834]: Odom: quality=203, std dev=0.004086m|0.007182rad, update time=0.382750s

It is compiled from source as my SOM is Debian based.

Has anyone got any suggestion at all? I could not found any similar problem.

Thanks.

matlabbe commented 6 years ago

Hi, a log like that is difficult to debug. Is there a FATAL log before rtabmap died? Can you reproduce the error easily?

You may give a try with rtabmap_ros built from source:https://github.com/introlab/rtabmap_ros#build-from-source

QinZiwen commented 6 years ago

@matlabbe I have same problems, my log is:

$ roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" rgb_topic:=/kinect2/qhd/image_color_rect depth_topic:=/kinect2/qhd/image_depth_rect camera_info_topic:=/kinect2/qhd/camera_info
... logging to /home/turtlebot/.ros/log/834461a8-30c8-11e8-8c8d-c8d3ffd835e0/roslaunch-turtlebot-OMEN-by-HP-Laptop-25056.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://localhost:50818/

SUMMARY
========

PARAMETERS
 * /rosdistro: indigo
 * /rosversion: 1.11.21
 * /rtabmap/rgbd_odometry/approx_sync: True
 * /rtabmap/rgbd_odometry/config_path: 
 * /rtabmap/rgbd_odometry/frame_id: camera_link
 * /rtabmap/rgbd_odometry/ground_truth_base_frame_id: 
 * /rtabmap/rgbd_odometry/ground_truth_frame_id: 
 * /rtabmap/rgbd_odometry/guess_frame_id: 
 * /rtabmap/rgbd_odometry/guess_min_rotation: 0.0
 * /rtabmap/rgbd_odometry/guess_min_translation: 0.0
 * /rtabmap/rgbd_odometry/odom_frame_id: odom
 * /rtabmap/rgbd_odometry/queue_size: 10
 * /rtabmap/rgbd_odometry/subscribe_rgbd: False
 * /rtabmap/rgbd_odometry/wait_for_transform_duration: 0.2
 * /rtabmap/rtabmap/Mem/IncrementalMemory: true
 * /rtabmap/rtabmap/Mem/InitWMWithAllNodes: false
 * /rtabmap/rtabmap/approx_sync: True
 * /rtabmap/rtabmap/config_path: 
 * /rtabmap/rtabmap/database_path: ~/.ros/rtabmap.db
 * /rtabmap/rtabmap/frame_id: camera_link
 * /rtabmap/rtabmap/ground_truth_base_frame_id: 
 * /rtabmap/rtabmap/ground_truth_frame_id: 
 * /rtabmap/rtabmap/map_frame_id: map
 * /rtabmap/rtabmap/odom_frame_id: 
 * /rtabmap/rtabmap/odom_sensor_sync: False
 * /rtabmap/rtabmap/odom_tf_angular_variance: 1.0
 * /rtabmap/rtabmap/odom_tf_linear_variance: 1.0
 * /rtabmap/rtabmap/queue_size: 10
 * /rtabmap/rtabmap/scan_normal_k: 0
 * /rtabmap/rtabmap/subscribe_depth: True
 * /rtabmap/rtabmap/subscribe_odom_info: True
 * /rtabmap/rtabmap/subscribe_rgbd: False
 * /rtabmap/rtabmap/subscribe_scan: False
 * /rtabmap/rtabmap/subscribe_scan_cloud: False
 * /rtabmap/rtabmap/subscribe_stereo: False
 * /rtabmap/rtabmap/subscribe_user_data: False
 * /rtabmap/rtabmap/wait_for_transform_duration: 0.2
 * /rtabmap/rtabmapviz/approx_sync: True
 * /rtabmap/rtabmapviz/frame_id: camera_link
 * /rtabmap/rtabmapviz/odom_frame_id: 
 * /rtabmap/rtabmapviz/queue_size: 10
 * /rtabmap/rtabmapviz/subscribe_depth: True
 * /rtabmap/rtabmapviz/subscribe_odom_info: True
 * /rtabmap/rtabmapviz/subscribe_rgbd: False
 * /rtabmap/rtabmapviz/subscribe_scan: False
 * /rtabmap/rtabmapviz/subscribe_scan_cloud: False
 * /rtabmap/rtabmapviz/subscribe_stereo: False
 * /rtabmap/rtabmapviz/wait_for_transform_duration: 0.2

NODES
  /rtabmap/
    rgbd_odometry (rtabmap_ros/rgbd_odometry)
    rtabmap (rtabmap_ros/rtabmap)
    rtabmapviz (rtabmap_ros/rtabmapviz)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[rtabmap/rgbd_odometry-1]: started with pid [25074]
process[rtabmap/rtabmap-2]: started with pid [25075]
process[rtabmap/rtabmapviz-3]: started with pid [25076]
[ INFO] [1522066741.979546846]: Starting node...
[ INFO] [1522066742.081378582]: Initializing nodelet with 8 worker threads.
[ INFO] [1522066742.117234612]: Initializing nodelet with 8 worker threads.
[ INFO] [1522066742.238046519]: Starting node...
[ INFO] [1522066742.324601122]: /rtabmap/rtabmap(maps): map_filter_radius          = 0.000000
[ INFO] [1522066742.324639026]: /rtabmap/rtabmap(maps): map_filter_angle           = 30.000000
[ INFO] [1522066742.324655309]: /rtabmap/rtabmap(maps): map_cleanup                = true
[ INFO] [1522066742.324669709]: /rtabmap/rtabmap(maps): map_negative_poses_ignored = true
[ INFO] [1522066742.324683447]: /rtabmap/rtabmap(maps): map_negative_scan_ray_tracing = true
[ INFO] [1522066742.324697599]: /rtabmap/rtabmap(maps): cloud_output_voxelized     = true
[ INFO] [1522066742.324712264]: /rtabmap/rtabmap(maps): cloud_subtract_filtering   = false
[ INFO] [1522066742.324726077]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1522066742.331319271]: /rtabmap/rtabmap(maps): octomap_tree_depth         = 16
[ INFO] [1522066742.360071410]: rtabmap: frame_id      = camera_link
[ INFO] [1522066742.360186963]: rtabmap: map_frame_id  = map
[ INFO] [1522066742.360253393]: rtabmap: tf_delay      = 0.050000
[ INFO] [1522066742.360310757]: rtabmap: tf_tolerance  = 0.100000
[ INFO] [1522066742.360364895]: rtabmap: odom_sensor_sync   = false
[ INFO] [1522066742.383595076]: rtabmapviz: Using configuration from "/home/turtlebot/.ros/rtabmap_gui.ini"
[ INFO] [1522066742.408781849]: Odometry: frame_id               = camera_link
[ INFO] [1522066742.408811612]: Odometry: odom_frame_id          = odom
[ INFO] [1522066742.408824035]: Odometry: publish_tf             = true
[ INFO] [1522066742.408837337]: Odometry: wait_for_transform     = true
[ INFO] [1522066742.408857784]: Odometry: wait_for_transform_duration  = 0.200000
[ INFO] [1522066742.408905557]: Odometry: initial_pose           = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000
[ INFO] [1522066742.408928444]: Odometry: ground_truth_frame_id  = 
[ INFO] [1522066742.408941265]: Odometry: ground_truth_base_frame_id = 
[ INFO] [1522066742.408956091]: Odometry: config_path            = 
[ INFO] [1522066742.408966223]: Odometry: publish_null_when_lost = true
[ INFO] [1522066742.408979457]: Odometry: guess_frame_id         = 
[ INFO] [1522066742.408994421]: Odometry: guess_min_translation  = 0.000000
[ INFO] [1522066742.409010633]: Odometry: guess_min_rotation     = 0.000000
[ INFO] [1522066742.872604176]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1522066742.873994113]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[ INFO] [1522066743.197449006]: RGBDOdometry: approx_sync    = true
[ INFO] [1522066743.197483650]: RGBDOdometry: queue_size     = 10
[ INFO] [1522066743.197498431]: RGBDOdometry: subscribe_rgbd = false
[ INFO] [1522066743.197513820]: RGBDOdometry: rgbd_cameras   = 1
[ INFO] [1522066743.228072292]: 
/rtabmap/rgbd_odometry subscribed to (approx sync):
   /kinect2/qhd/image_color_rect,
   /kinect2/qhd/image_depth_rect,
   /kinect2/qhd/camera_info
[rtabmap/rtabmapviz-3] process has died [pid 25076, exit code -11, cmd /home/turtlebot/catkin_ws/devel/lib/rtabmap_ros/rtabmapviz -d ~/.ros/rtabmap_gui.ini rgb/image:=/kinect2/qhd/image_color_rect depth/image:=/kinect2/qhd/image_depth_rect rgb/camera_info:=/kinect2/qhd/camera_info rgbd_image:=rgbd_image left/image_rect:=/stereo_camera/left/image_rect_color right/image_rect:=/stereo_camera/right/image_rect left/camera_info:=/stereo_camera/left/camera_info right/camera_info:=/stereo_camera/right/camera_info scan:=/scan scan_cloud:=/scan_cloud odom:=odom __name:=rtabmapviz __log:=/home/turtlebot/.ros/log/834461a8-30c8-11e8-8c8d-c8d3ffd835e0/rtabmap-rtabmapviz-3.log].
log file: /home/turtlebot/.ros/log/834461a8-30c8-11e8-8c8d-c8d3ffd835e0/rtabmap-rtabmapviz-3*.log
[ INFO] [1522066743.449113026]: Setting RTAB-Map parameter "Vis/InlierDistance"="0.02"
[ INFO] [1522066743.455802349]: Setting RTAB-Map parameter "Vis/MinInliers"="20"
[ INFO] [1522066743.757116067]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1522066743.757297834]: rtabmap: Deleted database "/home/turtlebot/.ros/rtabmap.db" (--delete_db_on_start or -d are set).
[ INFO] [1522066743.757341936]: rtabmap: Using database from "/home/turtlebot/.ros/rtabmap.db" (0 MB).
[ INFO] [1522066745.035418606]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.023842s
[ INFO] [1522066745.143841476]: Odom: quality=779, std dev=0.003386m|0.000032rad, update time=0.068155s
[ INFO] [1522066745.191539573]: Odom: quality=807, std dev=0.002906m|0.000032rad, update time=0.045307s
[ INFO] [1522066745.252528133]: Odom: quality=798, std dev=0.003221m|0.000032rad, update time=0.045176s
[ INFO] [1522066745.322212699]: Odom: quality=788, std dev=0.003064m|0.000032rad, update time=0.045287s
[ INFO] [1522066745.388249199]: Odom: quality=788, std dev=0.003364m|0.000032rad, update time=0.046002s
[ INFO] [1522066745.456348273]: Odom: quality=786, std dev=0.003001m|0.000032rad, update time=0.045956s
[ INFO] [1522066745.519056630]: Odom: quality=787, std dev=0.003127m|0.000032rad, update time=0.045574s
[ INFO] [1522066745.587373162]: Odom: quality=800, std dev=0.002815m|0.000032rad, update time=0.045293s
QinZiwen commented 6 years ago

@matlabbe I have same problems, my log is:

$ roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" rgb_topic:=/kinect2/qhd/image_color_rect depth_topic:=/kinect2/qhd/image_depth_rect camera_info_topic:=/kinect2/qhd/camera_info
... logging to /home/turtlebot/.ros/log/834461a8-30c8-11e8-8c8d-c8d3ffd835e0/roslaunch-turtlebot-OMEN-by-HP-Laptop-25056.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://localhost:50818/

SUMMARY
========

PARAMETERS
 * /rosdistro: indigo
 * /rosversion: 1.11.21
 * /rtabmap/rgbd_odometry/approx_sync: True
 * /rtabmap/rgbd_odometry/config_path: 
 * /rtabmap/rgbd_odometry/frame_id: camera_link
 * /rtabmap/rgbd_odometry/ground_truth_base_frame_id: 
 * /rtabmap/rgbd_odometry/ground_truth_frame_id: 
 * /rtabmap/rgbd_odometry/guess_frame_id: 
 * /rtabmap/rgbd_odometry/guess_min_rotation: 0.0
 * /rtabmap/rgbd_odometry/guess_min_translation: 0.0
 * /rtabmap/rgbd_odometry/odom_frame_id: odom
 * /rtabmap/rgbd_odometry/queue_size: 10
 * /rtabmap/rgbd_odometry/subscribe_rgbd: False
 * /rtabmap/rgbd_odometry/wait_for_transform_duration: 0.2
 * /rtabmap/rtabmap/Mem/IncrementalMemory: true
 * /rtabmap/rtabmap/Mem/InitWMWithAllNodes: false
 * /rtabmap/rtabmap/approx_sync: True
 * /rtabmap/rtabmap/config_path: 
 * /rtabmap/rtabmap/database_path: ~/.ros/rtabmap.db
 * /rtabmap/rtabmap/frame_id: camera_link
 * /rtabmap/rtabmap/ground_truth_base_frame_id: 
 * /rtabmap/rtabmap/ground_truth_frame_id: 
 * /rtabmap/rtabmap/map_frame_id: map
 * /rtabmap/rtabmap/odom_frame_id: 
 * /rtabmap/rtabmap/odom_sensor_sync: False
 * /rtabmap/rtabmap/odom_tf_angular_variance: 1.0
 * /rtabmap/rtabmap/odom_tf_linear_variance: 1.0
 * /rtabmap/rtabmap/queue_size: 10
 * /rtabmap/rtabmap/scan_normal_k: 0
 * /rtabmap/rtabmap/subscribe_depth: True
 * /rtabmap/rtabmap/subscribe_odom_info: True
 * /rtabmap/rtabmap/subscribe_rgbd: False
 * /rtabmap/rtabmap/subscribe_scan: False
 * /rtabmap/rtabmap/subscribe_scan_cloud: False
 * /rtabmap/rtabmap/subscribe_stereo: False
 * /rtabmap/rtabmap/subscribe_user_data: False
 * /rtabmap/rtabmap/wait_for_transform_duration: 0.2
 * /rtabmap/rtabmapviz/approx_sync: True
 * /rtabmap/rtabmapviz/frame_id: camera_link
 * /rtabmap/rtabmapviz/odom_frame_id: 
 * /rtabmap/rtabmapviz/queue_size: 10
 * /rtabmap/rtabmapviz/subscribe_depth: True
 * /rtabmap/rtabmapviz/subscribe_odom_info: True
 * /rtabmap/rtabmapviz/subscribe_rgbd: False
 * /rtabmap/rtabmapviz/subscribe_scan: False
 * /rtabmap/rtabmapviz/subscribe_scan_cloud: False
 * /rtabmap/rtabmapviz/subscribe_stereo: False
 * /rtabmap/rtabmapviz/wait_for_transform_duration: 0.2

NODES
  /rtabmap/
    rgbd_odometry (rtabmap_ros/rgbd_odometry)
    rtabmap (rtabmap_ros/rtabmap)
    rtabmapviz (rtabmap_ros/rtabmapviz)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[rtabmap/rgbd_odometry-1]: started with pid [25074]
process[rtabmap/rtabmap-2]: started with pid [25075]
process[rtabmap/rtabmapviz-3]: started with pid [25076]
[ INFO] [1522066741.979546846]: Starting node...
[ INFO] [1522066742.081378582]: Initializing nodelet with 8 worker threads.
[ INFO] [1522066742.117234612]: Initializing nodelet with 8 worker threads.
[ INFO] [1522066742.238046519]: Starting node...
[ INFO] [1522066742.324601122]: /rtabmap/rtabmap(maps): map_filter_radius          = 0.000000
[ INFO] [1522066742.324639026]: /rtabmap/rtabmap(maps): map_filter_angle           = 30.000000
[ INFO] [1522066742.324655309]: /rtabmap/rtabmap(maps): map_cleanup                = true
[ INFO] [1522066742.324669709]: /rtabmap/rtabmap(maps): map_negative_poses_ignored = true
[ INFO] [1522066742.324683447]: /rtabmap/rtabmap(maps): map_negative_scan_ray_tracing = true
[ INFO] [1522066742.324697599]: /rtabmap/rtabmap(maps): cloud_output_voxelized     = true
[ INFO] [1522066742.324712264]: /rtabmap/rtabmap(maps): cloud_subtract_filtering   = false
[ INFO] [1522066742.324726077]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1522066742.331319271]: /rtabmap/rtabmap(maps): octomap_tree_depth         = 16
[ INFO] [1522066742.360071410]: rtabmap: frame_id      = camera_link
[ INFO] [1522066742.360186963]: rtabmap: map_frame_id  = map
[ INFO] [1522066742.360253393]: rtabmap: tf_delay      = 0.050000
[ INFO] [1522066742.360310757]: rtabmap: tf_tolerance  = 0.100000
[ INFO] [1522066742.360364895]: rtabmap: odom_sensor_sync   = false
[ INFO] [1522066742.383595076]: rtabmapviz: Using configuration from "/home/turtlebot/.ros/rtabmap_gui.ini"
[ INFO] [1522066742.408781849]: Odometry: frame_id               = camera_link
[ INFO] [1522066742.408811612]: Odometry: odom_frame_id          = odom
[ INFO] [1522066742.408824035]: Odometry: publish_tf             = true
[ INFO] [1522066742.408837337]: Odometry: wait_for_transform     = true
[ INFO] [1522066742.408857784]: Odometry: wait_for_transform_duration  = 0.200000
[ INFO] [1522066742.408905557]: Odometry: initial_pose           = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000
[ INFO] [1522066742.408928444]: Odometry: ground_truth_frame_id  = 
[ INFO] [1522066742.408941265]: Odometry: ground_truth_base_frame_id = 
[ INFO] [1522066742.408956091]: Odometry: config_path            = 
[ INFO] [1522066742.408966223]: Odometry: publish_null_when_lost = true
[ INFO] [1522066742.408979457]: Odometry: guess_frame_id         = 
[ INFO] [1522066742.408994421]: Odometry: guess_min_translation  = 0.000000
[ INFO] [1522066742.409010633]: Odometry: guess_min_rotation     = 0.000000
[ INFO] [1522066742.872604176]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1522066742.873994113]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[ INFO] [1522066743.197449006]: RGBDOdometry: approx_sync    = true
[ INFO] [1522066743.197483650]: RGBDOdometry: queue_size     = 10
[ INFO] [1522066743.197498431]: RGBDOdometry: subscribe_rgbd = false
[ INFO] [1522066743.197513820]: RGBDOdometry: rgbd_cameras   = 1
[ INFO] [1522066743.228072292]: 
/rtabmap/rgbd_odometry subscribed to (approx sync):
   /kinect2/qhd/image_color_rect,
   /kinect2/qhd/image_depth_rect,
   /kinect2/qhd/camera_info
[rtabmap/rtabmapviz-3] process has died [pid 25076, exit code -11, cmd /home/turtlebot/catkin_ws/devel/lib/rtabmap_ros/rtabmapviz -d ~/.ros/rtabmap_gui.ini rgb/image:=/kinect2/qhd/image_color_rect depth/image:=/kinect2/qhd/image_depth_rect rgb/camera_info:=/kinect2/qhd/camera_info rgbd_image:=rgbd_image left/image_rect:=/stereo_camera/left/image_rect_color right/image_rect:=/stereo_camera/right/image_rect left/camera_info:=/stereo_camera/left/camera_info right/camera_info:=/stereo_camera/right/camera_info scan:=/scan scan_cloud:=/scan_cloud odom:=odom __name:=rtabmapviz __log:=/home/turtlebot/.ros/log/834461a8-30c8-11e8-8c8d-c8d3ffd835e0/rtabmap-rtabmapviz-3.log].
log file: /home/turtlebot/.ros/log/834461a8-30c8-11e8-8c8d-c8d3ffd835e0/rtabmap-rtabmapviz-3*.log
[ INFO] [1522066743.449113026]: Setting RTAB-Map parameter "Vis/InlierDistance"="0.02"
[ INFO] [1522066743.455802349]: Setting RTAB-Map parameter "Vis/MinInliers"="20"
[ INFO] [1522066743.757116067]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1522066743.757297834]: rtabmap: Deleted database "/home/turtlebot/.ros/rtabmap.db" (--delete_db_on_start or -d are set).
[ INFO] [1522066743.757341936]: rtabmap: Using database from "/home/turtlebot/.ros/rtabmap.db" (0 MB).
[ INFO] [1522066745.035418606]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.023842s
[ INFO] [1522066745.143841476]: Odom: quality=779, std dev=0.003386m|0.000032rad, update time=0.068155s
[ INFO] [1522066745.191539573]: Odom: quality=807, std dev=0.002906m|0.000032rad, update time=0.045307s
[ INFO] [1522066745.252528133]: Odom: quality=798, std dev=0.003221m|0.000032rad, update time=0.045176s
[ INFO] [1522066745.322212699]: Odom: quality=788, std dev=0.003064m|0.000032rad, update time=0.045287s
[ INFO] [1522066745.388249199]: Odom: quality=788, std dev=0.003364m|0.000032rad, update time=0.046002s
[ INFO] [1522066745.456348273]: Odom: quality=786, std dev=0.003001m|0.000032rad, update time=0.045956s
[ INFO] [1522066745.519056630]: Odom: quality=787, std dev=0.003127m|0.000032rad, update time=0.045574s
[ INFO] [1522066745.587373162]: Odom: quality=800, std dev=0.002815m|0.000032rad, update time=0.045293s
matlabbe commented 6 years ago

I can see this is on Indigo, but is it rtabmap binaries too? or latest from source? You could try to launch the rtabmapviz with gdb launch-prefix, and do "bt" (backtrace) when it crashes.

cheers