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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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After update to version 0.17.2 cannot open rtabmap node #248

Closed ruifanwu closed 6 years ago

ruifanwu commented 6 years ago

Hi there,

I just updated rtabmap_ros to 0.17.2. But I cannot open rtabmap node.

I am using kinect v2, and when I do roslaunch rgbd_mapping_kinect2.launch. A warning popped out, there is no image in loop closure detection window. And there is no transform between map->odom. I checked the rosnode in rqt, there is no rtabmap node. Before the update, rtabmap_ros worked just fine. And I did not change anything before or after the update. The output of roslaunch rgbd_mapping_kinect2.launch is as follows:

`administrator@jackal:~/catkin_ws/src/rtabmap_ros/launch$ roslaunch rgbd_mapping_kinect2.launch ... logging to /home/administrator/.ros/log/6e9b35b4-648b-11e8-804c-9689319299bc/roslaunch-jackal-17725.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://jackal:54827/

SUMMARY

PARAMETERS

NODES /rtabmap/ rtabmap (rtabmap_ros/rtabmap) rtabmapviz (rtabmap_ros/rtabmapviz) visual_odometry (rtabmap_ros/rgbd_odometry) / kinect2_base_link (tf/static_transform_publisher)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found process[kinect2_base_link-1]: started with pid [17743] process[rtabmap/visual_odometry-2]: started with pid [17744] process[rtabmap/rtabmap-3]: started with pid [17755] process[rtabmap/rtabmapviz-4]: started with pid [17756] [ INFO] [1527742277.722655324]: Starting node... [ INFO] [1527742277.741481195]: Initializing nodelet with 4 worker threads. [ INFO] [1527742277.796478681]: Initializing nodelet with 4 worker threads. [ INFO] [1527742277.899716752]: Starting node... [ INFO] [1527742277.943456801]: /rtabmap/rtabmap(maps): map_filter_radius = 0.000000 [ INFO] [1527742277.943512932]: /rtabmap/rtabmap(maps): map_filter_angle = 30.000000 [ INFO] [1527742277.943541592]: /rtabmap/rtabmap(maps): map_cleanup = true [ INFO] [1527742277.943563802]: /rtabmap/rtabmap(maps): map_negative_poses_ignored = true [ INFO] [1527742277.943597106]: /rtabmap/rtabmap(maps): map_negative_scan_ray_tracing = true [ INFO] [1527742277.943619661]: /rtabmap/rtabmap(maps): cloud_output_voxelized = true [ INFO] [1527742277.943649957]: /rtabmap/rtabmap(maps): cloud_subtract_filtering = false [ INFO] [1527742277.943672717]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2 [ INFO] [1527742277.951186921]: /rtabmap/rtabmap(maps): octomap_tree_depth = 16 [ INFO] [1527742277.978310754]: rtabmap: frame_id = kinect2_base_link [ INFO] [1527742277.978552817]: rtabmap: map_frame_id = map [ INFO] [1527742277.978660749]: rtabmap: tf_delay = 0.050000 [ INFO] [1527742277.978757907]: rtabmap: tf_tolerance = 0.100000 [ INFO] [1527742277.978858492]: rtabmap: odom_sensor_sync = false [ INFO] [1527742278.018282181]: rtabmapviz: Using configuration from "/home/administrator/catkin_ws/src/rtabmap_ros/launch/config/rgbd_gui.ini" [ INFO] [1527742278.043249601]: Odometry: frame_id = kinect2_base_link [ INFO] [1527742278.043339764]: Odometry: odom_frame_id = odom [ INFO] [1527742278.043393790]: Odometry: publish_tf = true [ INFO] [1527742278.043440162]: Odometry: wait_for_transform = true [ INFO] [1527742278.043515731]: Odometry: wait_for_transform_duration = 0.100000 [ INFO] [1527742278.043593393]: Odometry: initial_pose = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000 [ INFO] [1527742278.043667196]: Odometry: ground_truth_frame_id = [ INFO] [1527742278.043718030]: Odometry: ground_truth_base_frame_id = kinect2_base_link [ INFO] [1527742278.043765262]: Odometry: config_path = [ INFO] [1527742278.043811871]: Odometry: publish_null_when_lost = true [ INFO] [1527742278.043867365]: Odometry: guess_frame_id = [ INFO] [1527742278.043915405]: Odometry: guess_min_translation = 0.000000 [ INFO] [1527742278.044003350]: Odometry: guess_min_rotation = 0.000000 [ INFO] [1527742278.075064173]: Setting RTAB-Map parameter "GFTT/BlockSize"="5" [ INFO] [1527742278.079202368]: Setting RTAB-Map parameter "GFTT/MinDistance"="5" [ INFO] [1527742278.098906075]: Setting odometry parameter "GFTT/BlockSize"="5" [ INFO] [1527742278.102773860]: Setting odometry parameter "GFTT/MinDistance"="5" [ INFO] [1527742278.360339440]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true" [ INFO] [1527742278.361226102]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false" [ INFO] [1527742278.671406464]: RGBDOdometry: approx_sync = false [ INFO] [1527742278.671445234]: RGBDOdometry: queue_size = 5 [ INFO] [1527742278.671481362]: RGBDOdometry: subscribe_rgbd = false [ INFO] [1527742278.671498565]: RGBDOdometry: rgbd_cameras = 1 [ INFO] [1527742278.697693735]: /rtabmap/visual_odometry subscribed to (exact sync): /kinect2/qhd/image_color_rect, /kinect2/qhd/image_depth_rect, /kinect2/qhd/camera_info [ INFO] [1527742279.050477733]: Reading parameters from the ROS server... [ INFO] [1527742279.555517431]: Parameters read = 0 [ INFO] [1527742279.840778860]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.051566s [ INFO] [1527742279.867456333]: /rtabmap/rtabmapviz: queue_size = 10 [ INFO] [1527742279.867506831]: /rtabmap/rtabmapviz: rgbd_cameras = 1 [ INFO] [1527742279.867528270]: /rtabmap/rtabmapviz: approx_sync = false [ INFO] [1527742279.867568972]: Setup depth callback [ INFO] [1527742279.996277275]: /rtabmap/rtabmapviz subscribed to (exact sync): /rtabmap/odom, /kinect2/qhd/image_color_rect, /kinect2/qhd/image_depth_rect, /kinect2/qhd/camera_info, /rtabmap/odom_info [ INFO] [1527742279.996587030]: rtabmapviz started. [ INFO] [1527742280.066160587]: RTAB-Map detection rate = 1.000000 Hz [ INFO] [1527742280.066317514]: rtabmap: Deleted database "/home/administrator/.ros/rtabmap.db" (--delete_db_on_start or -d are set). [ INFO] [1527742280.066364166]: rtabmap: Using database from "/home/administrator/.ros/rtabmap.db" (0 MB). [ INFO] [1527742280.097927483]: Odom: quality=678, std dev=0.023980m|0.043821rad, update time=0.172774s [ INFO] [1527742280.185066527]: rtabmap: Database version = "0.17.1". [ INFO] [1527742280.244855928]: /rtabmap/rtabmap: queue_size = 10 [ INFO] [1527742280.244905189]: /rtabmap/rtabmap: rgbd_cameras = 1 [ INFO] [1527742280.245017672]: /rtabmap/rtabmap: approx_sync = false [ INFO] [1527742280.245159856]: Setup depth callback [ INFO] [1527742280.269036563]: Odom: quality=703, std dev=0.016887m|0.031018rad, update time=0.108691s [ INFO] [1527742280.297410071]: /rtabmap/rtabmap subscribed to (exact sync): /rtabmap/odom, /kinect2/qhd/image_color_rect, /kinect2/qhd/image_depth_rect, /kinect2/qhd/camera_info, /rtabmap/odom_info [ INFO] [1527742280.311710001]: rtabmap 0.17.2 started... [ INFO] [1527742280.535264994]: Odom: quality=700, std dev=0.030802m|0.054012rad, update time=0.113628s [ INFO] [1527742280.716539102]: Odom: quality=685, std dev=0.013440m|0.024930rad, update time=0.121960s [ INFO] [1527742280.825918421]: Odom: quality=685, std dev=0.011229m|0.000032rad, update time=0.106650s [ INFO] [1527742281.036623222]: Odom: quality=697, std dev=0.020077m|0.046875rad, update time=0.098918s [ INFO] [1527742281.218089265]: Odom: quality=712, std dev=0.014399m|0.040663rad, update time=0.104841s [rtabmap/rtabmap-3] process has died [pid 17755, exit code -11, cmd /home/administrator/catkin_ws/devel/lib/rtabmap_ros/rtabmap --delete_db_on_start rgb/image:=/kinect2/qhd/image_color_rect depth/image:=/kinect2/qhd/image_depth_rect rgb/camera_info:=/kinect2/qhd/camera_info name:=rtabmap log:=/home/administrator/.ros/log/6e9b35b4-648b-11e8-804c-9689319299bc/rtabmap-rtabmap-3.log]. log file: /home/administrator/.ros/log/6e9b35b4-648b-11e8-804c-9689319299bc/rtabmap-rtabmap-3*.log [ INFO] [1527742281.514779944]: Odom: quality=701, std dev=0.011797m|0.000032rad, update time=0.118101s [ INFO] [1527742281.644237177]: Odom: quality=691, std dev=0.013655m|0.033069rad, update time=0.100385s [ INFO] [1527742281.819614221]: Odom: quality=715, std dev=0.010526m|0.000032rad, update time=0.105454s [ INFO] [1527742282.056783770]: Odom: quality=679, std dev=0.018841m|0.038257rad, update time=0.098143s ^C[ INFO] [1527742282.415742842]: Odom: quality=701, std dev=0.010353m|0.000032rad, update time=0.099883s [rtabmap/rtabmapviz-4] killing on exit [ INFO] [1527742282.481752714]: rtabmapviz: ctrl-c catched! Exiting Qt app... [rtabmap/visual_odometry-2] killing on exit [kinect2_base_link-1] killing on exit shutting down processing monitor... ... shutting down processing monitor complete `

matlabbe commented 6 years ago

I cannot reproduce the problem, did you update both rtabmap and rtabmap_ros?

ruifanwu commented 6 years ago

Yes, I updated both rtabmap and rtabmap_ros

ruifanwu commented 6 years ago

Hi matlabbe, I just found in the output of launch command the rtabmap: Database version = "0.17.1". Is this the cause of this problem?

matlabbe commented 6 years ago

No, there are no changes to database since 0.17.0. Can you launch rtabmap node with gdb? 

<node pkg="rtabmap_ros" type="rtabmap" name="rtabmap" launch-prefix="xterm -ex gdb --args">
...
</node>

Type bt in terminal of rtabmap when it crashes to get more info.

cheers, Mathieu

ruifanwu commented 6 years ago

Hi Mathieu, When I launch the changed file, it shows xterm: bad command line opetion "-ex".

ruifanwu commented 6 years ago

Hi Mathieu,

I finally know how to use gdb. And I will post the gdb.txt. It is quite long.

gdb.txt

matlabbe commented 6 years ago

The Statistics object have changed, which could cause the error for rtabmap_ros::infoToROS:

Program received signal SIGSEGV, Segmentation fault.
[Switching to Thread 0x7fffcce29700 (LWP 17217)]
0x00007fffbd32c170 in std::vector<int, std::allocator<int> > uKeys<int, float>(std::map<int, float, std::less<int>, std::allocator<std::pair<int const, float> > > const&) () from /home/administrator/catkin_ws/devel/lib//librtabmap_ros.so
#0  0x00007fffbd32c170 in std::vector<int, std::allocator<int> > uKeys<int, float>(std::map<int, float, std::less<int>, std::allocator<std::pair<int const, float> > > const&) ()
   from /home/administrator/catkin_ws/devel/lib//librtabmap_ros.so
#1  0x00007fffbd31c40c in rtabmap_ros::infoToROS(rtabmap::Statistics const&, rtabmap_ros::Info_<std::allocator<void> >&) ()
   from /home/administrator/catkin_ws/devel/lib//librtabmap_ros.so
...

Can you copy/paste results of:

$ ldd /home/administrator/catkin_ws/devel/lib//librtabmap_ros.so

to see if it is a linker problem (not using the right libraries).

cheers, Mathieu

ruifanwu commented 6 years ago

Hi Mathieu,

The result of above comment is quite long, so I put it into a file named error.docx

error.docx

matlabbe commented 6 years ago

It looks like the linker is using rtabmap binaries from ros-indigo-rtabmap before those you built from source.

librtabmap_core.so.0.17 => /opt/ros/indigo/lib/x86_64-linux-gnu/librtabmap_core.so.0.17 (0x00007fe2eb1b0000)
librtabmap_utilite.so.0.17 => /opt/ros/indigo/lib/x86_64-linux-gnu/librtabmap_utilite.so.0.17 (0x00007fe2eaf92000)

Remove rtabmap binaries:

$ apt-get remove ros-indigo-rtabmap
ruifanwu commented 6 years ago

Hi Mathieu,

Thank you very much! It is working properly right now. I really appreciate your time for helping me find the reason. Thank you!