matlabbe
commented
6 years ago rtabmap/rtabmap_ros won't do seg fault if the launch file has bad parameters, it would assert instead pointing where is the problem. Seg faults happen more often when:
- a slightly different library is taken than the one that is built against (when there are multiple versions of the same libraries)
- rtabmap_ros links on different version of third party libraries, like PCL 1.7 vs PCL 1.8, Opencv 2.4 vs Opencv 3
- rtabmap and thirdparty libraries have been built against different Eigen versions. With gdb, it would crash in functions using Eigen. Note also if some libraries are built with -march=native and other not, this could generate crashes too
- not using compatible rtabmap and rtabmap_ros together. Same tag or branch should be used for both.
- bug in rtabmap/rtabmap_ros
From the gdb log above, it is crashing in the constructor of Transform, maybe related to 1). I tried on my side with rtabmap 0.14.0 + rtabmap_ros (master) and everything works fine (rtabmap, rtabmapviz, rviz). Here is my cmake status of rtabmap with include directories used:
~/workspace/rtabmap/build $ cmake ..
-- The imported target "vtkRenderingPythonTkWidgets" references the file
"/usr/lib/x86_64-linux-gnu/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-6.2/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-6.2/VTKTargets.cmake"
but not all the files it references.
-- Could NOT find PCL_APPS (missing: PCL_APPS_LIBRARY)
-- Found OpenMP
-- Found OpenCV: /opt/ros/kinetic/include/opencv-3.3.1;/opt/ros/kinetic/include/opencv-3.3.1/opencv
-- Found PCL: /usr/include/pcl-1.7;/usr/include/eigen3;/usr/include;/usr/include/ni;/usr/include/openni2;/usr/include/vtk-6.2;/usr/include/jsoncpp;/usr/include/freetype2;/usr/include/x86_64-linux-gnu/freetype2;/usr/lib/openmpi/include/openmpi/opal/mca/event/libevent2021/libevent;/usr/lib/openmpi/include/openmpi/opal/mca/event/libevent2021/libevent/include;/usr/lib/openmpi/include;/usr/lib/openmpi/include/openmpi;/usr/include/hdf5/openmpi;/usr/include/x86_64-linux-gnu;/usr/include/libxml2;/usr/include/python2.7;/usr/include/tcl
-- Found ZLIB: /usr/include
-- Found Freenect: /opt/ros/kinetic/include/libfreenect
-- Found freenect2: /usr/local/include
-- Found OpenNI2: /usr/include/openni2
-- Found DC1394: /usr/include/dc1394
-- Found g2o: /opt/ros/kinetic/include;/usr/include/suitesparse;/usr/include/suitesparse
-- GTSAM include directory: /usr/local/lib/cmake/GTSAM/../../../include;/usr/include;/usr/include/eigen3
-- Found libpointmatcher: /usr/local/include;/usr/include;/usr/include/eigen3;/usr/local/include;/home/mathieu/workspace/libpointmatcher/pointmatcher
-- Found CUDA: /usr/local/cuda (found suitable exact version "8.0")
-- Found ZED sdk: /usr/local/zed/include
-- Found CUDA: /usr/local/cuda (found version "8.0")
-- Found CUDA: /usr/local/cuda/include
-- Found RealSense: /opt/ros/kinetic/include
-- Found RealSenseSlam: /opt/ros/kinetic/include
-- Found octomap: /opt/ros/kinetic/include
-- Found CPUTSDF: /usr/local/include/cpu_tsdf
-- Found Pthreads
-- --------------------------------------------
-- Info :
-- Version : 0.14.0
-- CMAKE_INSTALL_PREFIX = /home/mathieu/catkin_tmp/devel
-- 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
-- With OpenCV 3 xfeatures2d module (SIFT/SURF/BRIEF/FREAK) = YES (License: Non commercial)
-- With Freenect = YES (License: Apache v2 and/or GPLv2)
-- With OpenNI2 = YES (License: Apache v2)
-- With Freenect2 = YES (License: Apache v2 and/or GPLv2)
-- With dc1394 = YES (License: LGPL)
-- With FlyCapture2/Triclops = NO (Point Grey SDK not found)
-- With TORO = YES (License: Creative Commons [Attribution-NonCommercial-ShareAlike])
-- With g2o = YES (License: BSD)
-- With GTSAM = YES (License: BSD)
-- With VERTIGO = YES (License: GPLv3)
-- With cvsba = NO (cvsba not found)
-- With libpointmatcher = YES (License: BSD)
-- With ZED = YES (With CUDA)
-- With RealSense = YES (License: Apache-2)
-- With RealSenseSlam = YES
-- With OCTOMAP = YES (License: BSD)
-- With CPUTSDF = YES (License: BSD)
-- With libfovis = NO (libfovis not found)
-- With libviso2 = NO (libviso2 not found)
-- With dvo_core = NO (dvo_core not found)
-- With ORB_SLAM2 = NO (WITH_G2O should be OFF as ORB_SLAM2 uses its own g2o version)
-- With Qt5 = YES (License: Open Source or Commercial)
-- --------------------------------------------
-- Configuring done
-- Generating done
-- Build files have been written to: /home/mathieu/workspace/rtabmap_master/build
eric-schleicher
TL;DR rtabmapviz segfaults on start of known good launch file after complete rebuild of rtabmap (pcl 1.7) & rtabmap_ros (1.7) in a clean new workspace. Compilation of rtabmap is validated working by using the fat client application
======================================== I've been working to get an update version of rtabmap and rtabmap_ros running. I originally had a few other packages which forces the use of PCL 1.8 in the workspace, which triggered this process (as it preventing rtabmap_ros from compiling/linking correctly to an rtabmap version compiles with 1.7.x.
I was successful in getting both rtabmap and rtabmap_ros to compile with 1.8 howevevr was not able to get a known good launch file to work; with both the them crashing: rtabmapviz (immediate seg fault) and rtabmap (when messages started to flow).
I struggled in vain to get it to work, and so made the decision to separate the workspaces so that i could verify that it wasn't pcl 1.8 causing any issues. I rebuilt rtabmap 0.14.0 with pcl 1.7 (ros kinetic binary) and create a clean new workspace just for rtabmap. everything compiles successfully.
Fig 1. Launch File
When using my known good launch file, a difference observation is made. rather than both crashing (as before) now rtabmapviz crashes as before (immediate segfauly) but rtabmap works just fine.
Fig. 2 Launch console output
Running the launch file in this fashion i can create maps, however cannot see them unless i open rviz and add the pointcloud stream in (I have not tried adding any rtabmap specific visualizations)
Investigating the rtabmapviz segfault, i serindipitously discovered how to us gdb with rosrun (a miracle!) by running the following command
gdb -ex run --arg bash rosrun rtabmap_ros rtabmapviz -d /home/rosuser/catkin_ws/src/rtabmap_ros/launch/config/rgbd_gui.ini rgb/image:=/kinect2/qhd/image_color_rect depth/image:=/kinect2/qhd/image_depth_rect rgb/camera_info:=/kinect2/qhd/camera_info __name:=rtabmapviz __log:=/home/rosuser/catkin_ws/src/rtabmap_ros/rviz-error.logI was able to get the following backtrace information:
this is the limit of my diagnostic ability. buy my suspicion is that perhaps this is something to do with the configuration? the rgb_gui.ini I'm using is the default one in the repository.
Any help very much appreciated, as I'm in a pinch to get this working again.