Closed eric-schleicher closed 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:
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
You can try bring up only rtabmap ($ rtabmap
) to see if at least the rtabmap library is fine, and the problem is when compiling on rtabmap_ros side (in that case maybe catkin_make is linking on different versions of libraries than those used by rtabmap).
Yes rtabmap application works just fine. and in the current state PCL 1.8 is not installed, it's just compiled in my ~
A quick comparison show that my cmake clean ..
shows a different path for opencv
-- Found OpenCV: /usr/include/opencv;/usr/include
is it easier to force cmake to use the right reference (/opt/ros/kinetic/include/opencv-3.3.1;/opt/ros/kinetic/
) or to uninstall the 'outside/older' opencv?
@matlabbe thanks for the helpful diagnostics. the straggling opencv libraries were the issue.
by removing
after recompiling i was able to get it all working again.
Thanks!
(I was writing an answer when you closed the issue! glad it worked, I still put here more info for reference...)
When sourcing ros setup.bash, it should put the kinetic paths before system paths in PATH. CMake should then find OpenCV in kinetic before the one in system. As long as all other ros packages are linked to opencv in kinetic and rtabmap, everything should be fine.
So in your case, "Found OpenCV" should point in kinetic folder. Here is my ldd of installed rtabmap (it should be similar if installed in /usr/local). However, even on my system I have two OpenCV 3 installed, one in kinetic and one in system path. It seems to use "libopencv_core3.so.3.3 => /opt/ros/kinetic/lib/libopencv_core3.so.3.3
" and "libopencv_core.so.3.1 => /usr/lib/x86_64-linux-gnu/libopencv_core.so.3.1
"!? at the same time and no problems (maybe because the one in Kinetic is first in ldd)... I think mixing OpenCV 3 versions are fine but I know that you cannot mix OpenCV 2 and OpenCV 3 libraries.
$ ldd ~/catkin_ws/devel/bin/rtabmap
linux-vdso.so.1 => (0x00007ffefc1ec000)
librtabmap_gui.so.0.16 => /home/mathieu/catkin_ws/devel/lib/librtabmap_gui.so.0.16 (0x00007fcc24870000)
librtabmap_core.so.0.16 => /home/mathieu/catkin_ws/devel/lib/librtabmap_core.so.0.16 (0x00007fcc23e89000)
libSP_Core.so.2 => /usr/lib/libSP_Core.so.2 (0x00007fcc1f8f8000)
librtabmap_utilite.so.0.16 => /home/mathieu/catkin_ws/devel/lib/librtabmap_utilite.so.0.16 (0x00007fcc1f6d8000)
libQt5Widgets.so.5 => /usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5 (0x00007fcc1f04b000)
libQt5Core.so.5 => /usr/lib/x86_64-linux-gnu/libQt5Core.so.5 (0x00007fcc1eb75000)
libstdc++.so.6 => /usr/lib/x86_64-linux-gnu/libstdc++.so.6 (0x00007fcc1e7f3000)
libgcc_s.so.1 => /lib/x86_64-linux-gnu/libgcc_s.so.1 (0x00007fcc1e5dd000)
libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x00007fcc1e213000)
libboost_system.so.1.58.0 => /usr/lib/x86_64-linux-gnu/libboost_system.so.1.58.0 (0x00007fcc1e00f000)
libpthread.so.0 => /lib/x86_64-linux-gnu/libpthread.so.0 (0x00007fcc1ddf2000)
libpcl_common.so.1.7 => /usr/lib/x86_64-linux-gnu/libpcl_common.so.1.7 (0x00007fcc1db38000)
libpcl_io.so.1.7 => /usr/lib/x86_64-linux-gnu/libpcl_io.so.1.7 (0x00007fcc1d6c9000)
libpcl_search.so.1.7 => /usr/lib/x86_64-linux-gnu/libpcl_search.so.1.7 (0x00007fcc1d2d9000)
libpcl_surface.so.1.7 => /usr/lib/x86_64-linux-gnu/libpcl_surface.so.1.7 (0x00007fcc1cc93000)
libpcl_visualization.so.1.7 => /usr/lib/x86_64-linux-gnu/libpcl_visualization.so.1.7 (0x00007fcc1c91a000)
libm.so.6 => /lib/x86_64-linux-gnu/libm.so.6 (0x00007fcc1c611000)
libvtkRenderingVolumeOpenGL-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkRenderingVolumeOpenGL-6.2.so.6.2 (0x00007fcc1c36a000)
libvtkRenderingFreeTypeOpenGL-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkRenderingFreeTypeOpenGL-6.2.so.6.2 (0x00007fcc1c158000)
libvtkRenderingMatplotlib-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkRenderingMatplotlib-6.2.so.6.2 (0x00007fcc1bf47000)
libvtkRenderingFreeTypeFontConfig-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkRenderingFreeTypeFontConfig-6.2.so.6.2 (0x00007fcc1bd3d000)
libvtkIOMPIImage-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkIOMPIImage-6.2.so.6.2 (0x00007fcc1bb14000)
libcpu_tsdf.so => /usr/local/lib/libcpu_tsdf.so (0x00007fcc1b8d3000)
libQt5Svg.so.5 => /usr/lib/x86_64-linux-gnu/libQt5Svg.so.5 (0x00007fcc25098000)
libQt5PrintSupport.so.5 => /usr/lib/x86_64-linux-gnu/libQt5PrintSupport.so.5 (0x00007fcc25025000)
libvtkGUISupportQt-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkGUISupportQt-6.2.so.6.2 (0x00007fcc1b688000)
libvtkInteractionStyle-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkInteractionStyle-6.2.so.6.2 (0x00007fcc1b3fc000)
libvtkRenderingLOD-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkRenderingLOD-6.2.so.6.2 (0x00007fcc1b1e2000)
libvtkRenderingAnnotation-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkRenderingAnnotation-6.2.so.6.2 (0x00007fcc1ae8a000)
libvtkRenderingOpenGL-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkRenderingOpenGL-6.2.so.6.2 (0x00007fcc1a9e2000)
libvtkRenderingFreeType-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkRenderingFreeType-6.2.so.6.2 (0x00007fcc1a71f000)
libvtkRenderingCore-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkRenderingCore-6.2.so.6.2 (0x00007fcc1a28b000)
libvtkFiltersSources-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkFiltersSources-6.2.so.6.2 (0x00007fcc19fc5000)
libvtkCommonExecutionModel-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkCommonExecutionModel-6.2.so.6.2 (0x00007fcc19d17000)
libvtkCommonDataModel-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkCommonDataModel-6.2.so.6.2 (0x00007fcc197a8000)
libvtkCommonMath-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkCommonMath-6.2.so.6.2 (0x00007fcc19586000)
libvtkCommonCore-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkCommonCore-6.2.so.6.2 (0x00007fcc19058000)
libopencv_calib3d3.so.3.3 => /opt/ros/kinetic/lib/libopencv_calib3d3.so.3.3 (0x00007fcc18cd4000)
libopencv_imgcodecs3.so.3.3 => /opt/ros/kinetic/lib/libopencv_imgcodecs3.so.3.3 (0x00007fcc186bf000)
libopencv_imgproc3.so.3.3 => /opt/ros/kinetic/lib/libopencv_imgproc3.so.3.3 (0x00007fcc15a1e000)
libopencv_core3.so.3.3 => /opt/ros/kinetic/lib/libopencv_core3.so.3.3 (0x00007fcc14bb8000)
libgomp.so.1 => /usr/lib/x86_64-linux-gnu/libgomp.so.1 (0x00007fcc14996000)
libQt5Gui.so.5 => /usr/lib/x86_64-linux-gnu/libQt5Gui.so.5 (0x00007fcc1444e000)
libokvis_multisensor_processing.so => /usr/local/lib/libokvis_multisensor_processing.so (0x00007fcc14205000)
libOpenNI2.so.0 => /usr/lib/libOpenNI2.so.0 (0x00007fcc13fa4000)
libz.so.1 => /lib/x86_64-linux-gnu/libz.so.1 (0x00007fcc13d8a000)
libdl.so.2 => /lib/x86_64-linux-gnu/libdl.so.2 (0x00007fcc13b86000)
libpcl_kdtree.so.1.7 => /usr/lib/x86_64-linux-gnu/libpcl_kdtree.so.1.7 (0x00007fcc13853000)
libpcl_filters.so.1.7 => /usr/lib/x86_64-linux-gnu/libpcl_filters.so.1.7 (0x00007fcc12f30000)
libpcl_features.so.1.7 => /usr/lib/x86_64-linux-gnu/libpcl_features.so.1.7 (0x00007fcc113c0000)
libpcl_sample_consensus.so.1.7 => /usr/lib/x86_64-linux-gnu/libpcl_sample_consensus.so.1.7 (0x00007fcc10771000)
libpcl_segmentation.so.1.7 => /usr/lib/x86_64-linux-gnu/libpcl_segmentation.so.1.7 (0x00007fcc0fb63000)
libfreenect.so.0.5 => /opt/ros/kinetic/lib/libfreenect.so.0.5 (0x00007fcc0f954000)
libfreenect2.so.0.2 => /usr/local/lib/libfreenect2.so.0.2 (0x00007fcc0f665000)
librealsense.so.1 => /opt/ros/kinetic/lib/librealsense.so.1 (0x00007fcc0f36a000)
librealsense_slam.so.2 => /usr/lib/librealsense_slam.so.2 (0x00007fcc0f149000)
librealsense_image.so.0 => /usr/lib/librealsense_image.so.0 (0x00007fcc0ef41000)
libdc1394.so.22 => /usr/lib/x86_64-linux-gnu/libdc1394.so.22 (0x00007fcc0eccb000)
libg2o_core.so => /opt/ros/kinetic/lib/libg2o_core.so (0x00007fcc0ea72000)
libg2o_types_slam2d.so => /opt/ros/kinetic/lib/libg2o_types_slam2d.so (0x00007fcc0e816000)
libg2o_types_slam3d.so => /opt/ros/kinetic/lib/libg2o_types_slam3d.so (0x00007fcc0e5b1000)
libg2o_types_sba.so => /opt/ros/kinetic/lib/libg2o_types_sba.so (0x00007fcc0e362000)
libg2o_stuff.so => /opt/ros/kinetic/lib/libg2o_stuff.so (0x00007fcc0e148000)
libg2o_csparse_extension.so => /opt/ros/kinetic/lib/libg2o_csparse_extension.so (0x00007fcc0df42000)
libcxsparse.so.3.1.4 => /usr/lib/x86_64-linux-gnu/libcxsparse.so.3.1.4 (0x00007fcc0dd18000)
libcholmod.so.3.0.6 => /usr/lib/x86_64-linux-gnu/libcholmod.so.3.0.6 (0x00007fcc0da44000)
libgtsam.so.4 => /usr/local/lib/libgtsam.so.4 (0x00007fcc0d462000)
libpointmatcher.so.1 => /usr/local/lib/libpointmatcher.so.1 (0x00007fcc0ce98000)
libsl_zed.so => /usr/local/zed/lib/libsl_zed.so (0x00007fcc0c6e1000)
libsl_core.so => /usr/local/zed/lib/libsl_core.so (0x00007fcc0bcdf000)
librt.so.1 => /lib/x86_64-linux-gnu/librt.so.1 (0x00007fcc0bad7000)
liboctomap.so.1.8 => /opt/ros/kinetic/lib/liboctomap.so.1.8 (0x00007fcc0b88f000)
liboctomath.so.1.8 => /opt/ros/kinetic/lib/liboctomath.so.1.8 (0x00007fcc0b688000)
libfovis.so.1 => /home/mathieu/catkin_ws/devel/lib/libfovis.so.1 (0x00007fcc0b419000)
libviso2.so => /home/mathieu/catkin_ws/devel/lib/libviso2.so (0x00007fcc0b18d000)
libokvis_cv.so => /usr/local/lib/libokvis_cv.so (0x00007fcc0af86000)
libopencv_stitching3.so.3.3 => /opt/ros/kinetic/lib/libopencv_stitching3.so.3.3 (0x00007fcc0acf3000)
libopencv_photo3.so.3.3 => /opt/ros/kinetic/lib/libopencv_photo3.so.3.3 (0x00007fcc0a718000)
libopencv_xfeatures2d3.so.3.3 => /opt/ros/kinetic/lib/libopencv_xfeatures2d3.so.3.3 (0x00007fcc0a259000)
libopencv_video3.so.3.3 => /opt/ros/kinetic/lib/libopencv_video3.so.3.3 (0x00007fcc09ce8000)
libopencv_features2d3.so.3.3 => /opt/ros/kinetic/lib/libopencv_features2d3.so.3.3 (0x00007fcc09a13000)
libopencv_highgui3.so.3.3 => /opt/ros/kinetic/lib/libopencv_highgui3.so.3.3 (0x00007fcc097d2000)
libopencv_videoio3.so.3.3 => /opt/ros/kinetic/lib/libopencv_videoio3.so.3.3 (0x00007fcc095a7000)
libtbb.so.2 => /usr/lib/x86_64-linux-gnu/libtbb.so.2 (0x00007fcc0936a000)
libtracker.so.2 => /usr/lib/libtracker.so.2 (0x00007fcc08761000)
libgobject-2.0.so.0 => /usr/lib/x86_64-linux-gnu/libgobject-2.0.so.0 (0x00007fcc0850e000)
libglib-2.0.so.0 => /lib/x86_64-linux-gnu/libglib-2.0.so.0 (0x00007fcc081fd000)
libX11.so.6 => /usr/lib/x86_64-linux-gnu/libX11.so.6 (0x00007fcc07ec3000)
libicui18n.so.55 => /usr/lib/x86_64-linux-gnu/libicui18n.so.55 (0x00007fcc07a61000)
libicuuc.so.55 => /usr/lib/x86_64-linux-gnu/libicuuc.so.55 (0x00007fcc076cd000)
libpcre16.so.3 => /usr/lib/x86_64-linux-gnu/libpcre16.so.3 (0x00007fcc07467000)
/lib64/ld-linux-x86-64.so.2 (0x00007fcc24f1e000)
libboost_thread.so.1.58.0 => /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.58.0 (0x00007fcc07241000)
libboost_filesystem.so.1.58.0 => /usr/lib/x86_64-linux-gnu/libboost_filesystem.so.1.58.0 (0x00007fcc07029000)
libboost_iostreams.so.1.58.0 => /usr/lib/x86_64-linux-gnu/libboost_iostreams.so.1.58.0 (0x00007fcc06e10000)
libboost_chrono.so.1.58.0 => /usr/lib/x86_64-linux-gnu/libboost_chrono.so.1.58.0 (0x00007fcc06c08000)
libpcl_io_ply.so.1.7 => /usr/lib/x86_64-linux-gnu/libpcl_io_ply.so.1.7 (0x00007fcc069b2000)
libpng12.so.0 => /lib/x86_64-linux-gnu/libpng12.so.0 (0x00007fcc0678d000)
libvtkIOPLY-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkIOPLY-6.2.so.6.2 (0x00007fcc06572000)
libvtkIOMPIParallel-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkIOMPIParallel-6.2.so.6.2 (0x00007fcc0634b000)
libusb-1.0.so.0 => /lib/x86_64-linux-gnu/libusb-1.0.so.0 (0x00007fcc06133000)
libOpenNI.so.0 => /usr/lib/libOpenNI.so.0 (0x00007fcc05eb7000)
libvtkIOGeometry-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkIOGeometry-6.2.so.6.2 (0x00007fcc05b6f000)
libvtkImagingCore-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkImagingCore-6.2.so.6.2 (0x00007fcc05792000)
libvtkIOLegacy-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkIOLegacy-6.2.so.6.2 (0x00007fcc054e9000)
libvtkIOImage-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkIOImage-6.2.so.6.2 (0x00007fcc05182000)
libvtkIOCore-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkIOCore-6.2.so.6.2 (0x00007fcc04f0b000)
libpcl_octree.so.1.7 => /usr/lib/x86_64-linux-gnu/libpcl_octree.so.1.7 (0x00007fcc04b16000)
libqhull.so.7 => /usr/lib/x86_64-linux-gnu/libqhull.so.7 (0x00007fcc048bc000)
libvtkFiltersModeling-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkFiltersModeling-6.2.so.6.2 (0x00007fcc0463f000)
libvtkFiltersCore-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkFiltersCore-6.2.so.6.2 (0x00007fcc04081000)
libvtkViewsContext2D-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkViewsContext2D-6.2.so.6.2 (0x00007fcc03e6e000)
libGL.so.1 => /usr/lib/nvidia-304/libGL.so.1 (0x00007fcc03b51000)
libvtkInteractionWidgets-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkInteractionWidgets-6.2.so.6.2 (0x00007fcc03629000)
libvtkChartsCore-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkChartsCore-6.2.so.6.2 (0x00007fcc032d8000)
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libkeyutils.so.1 => /lib/x86_64-linux-gnu/libkeyutils.so.1 (0x00007fcbd835b000)
libresolv.so.2 => /lib/x86_64-linux-gnu/libresolv.so.2 (0x00007fcbd8140000)
whats interesting was that with the other libs installed even if i sourced a workspace, the value wouldn't change.
Now to inch it back forward to see if i can get it all to work again with pcl 1.8
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.log
I 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.