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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/rtabmap-1] process has died [pid 12480, exit code -11 #451

Open JasDEng opened 4 years ago

JasDEng commented 4 years ago

Hello, I am currently using rtabmap for pure 2D lidar mapping, but got stuck after launch it.

I built from source with g2o and gtsam (also tried built without g2o and gtsam). And I've read other issues and tried uninstall rtabmap and rebuilt it from source, but did not solve the problem. Could you please help or give me some hint? I really appreciate it.

Here is my launch: 

  <param name="use_sim_time" value="true"/> <!-- only with rosbag -->

  <group ns="rtabmap">
    <node pkg="rtabmap_ros" type="rtabmap" name="rtabmap" output="screen" args="-d">
      <param name="subscribe_scan"   value="true"/>
      <param name="subscribe_rgb"    value="false"/>
      <param name="subscribe_depth"  value="false"/>
      <param name="frame_id"         value="base_link"/>
      <param name="odom_frame_id"    value="odom_combined"/>
      <param name="wait_for_transform_duration"  value="1"/>
      <param name="odom_tf_linear_variance"  value="0.01"/>
      <param name="odom_tf_angular_variance" value="0.05"/>
      <param name="Grid/FromDepth" type="string" value="false"/>
     <param name="RGBD/ProximityPathMaxNeighbors" type="string" value="10"/>

      <!-- RTAB-Map parameters -->
      <param name="Reg/Strategy"              value="1"/>    <!-- 1 for lidar -->
      <param name="Reg/Force3DoF"             value="true"/> <!-- 2d slam -->
      <param name="RGBD/NeighborLinkRefining" value="true"/> <!-- odometry correction with scans -->

      <remap from="scan"    to="/scan_localization"/>
    </node>

    <!-- just for visualization -->
    <!-- <node pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" output="screen"/> -->
  </group>
</launch>

Here is my terminal output after launch it:

started roslaunch server http://youibot:41869/

SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.3
 * /rtabmap/rtabmap/Grid/FromDepth: false
 * /rtabmap/rtabmap/RGBD/NeighborLinkRefining: True
 * /rtabmap/rtabmap/RGBD/ProximityPathMaxNeighbors: 10
 * /rtabmap/rtabmap/Reg/Force3DoF: True
 * /rtabmap/rtabmap/Reg/Strategy: 1
 * /rtabmap/rtabmap/frame_id: base_link
 * /rtabmap/rtabmap/odom_frame_id: odom_combined
 * /rtabmap/rtabmap/odom_tf_angular_variance: 0.05
 * /rtabmap/rtabmap/odom_tf_linear_variance: 0.01
 * /rtabmap/rtabmap/subscribe_depth: False
 * /rtabmap/rtabmap/subscribe_rgb: False
 * /rtabmap/rtabmap/subscribe_scan: True
 * /rtabmap/rtabmap/wait_for_transform_duration: 1
 * /use_sim_time: True

NODES
  /rtabmap/
    rtabmap (rtabmap_ros/rtabmap)

ROS_MASTER_URI=http://localhost:11311

process[rtabmap/rtabmap-1]: started with pid [12480]
[ INFO] [1596766548.264301869]: Starting node...
[ INFO] [1596766548.476897350]: Initializing nodelet with 4 worker threads.
[ INFO] [1596766548.845046771]: /rtabmap/rtabmap(maps): map_filter_radius          = 0.000000
[ INFO] [1596766548.845103474]: /rtabmap/rtabmap(maps): map_filter_angle           = 30.000000
[ INFO] [1596766548.845131465]: /rtabmap/rtabmap(maps): map_cleanup                = true
[ INFO] [1596766548.845152131]: /rtabmap/rtabmap(maps): map_always_update          = false
[ INFO] [1596766548.845171369]: /rtabmap/rtabmap(maps): map_empty_ray_tracing      = true
[ INFO] [1596766548.845218415]: /rtabmap/rtabmap(maps): cloud_output_voxelized     = true
[ INFO] [1596766548.845242233]: /rtabmap/rtabmap(maps): cloud_subtract_filtering   = false
[ INFO] [1596766548.845262017]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1596766548.851869387]: /rtabmap/rtabmap(maps): octomap_tree_depth         = 16
[ INFO] [1596766548.889920874]: rtabmap: frame_id      = base_link
[ INFO] [1596766548.889960754]: rtabmap: odom_frame_id = odom_combined
[ INFO] [1596766548.889979457]: rtabmap: map_frame_id  = map
[ INFO] [1596766548.890000400]: rtabmap: use_action_for_goal  = false
[ INFO] [1596766548.890026260]: rtabmap: tf_delay      = 0.050000
[ INFO] [1596766548.890048061]: rtabmap: tf_tolerance  = 0.100000
[ INFO] [1596766548.890065413]: rtabmap: odom_sensor_sync   = false
[ INFO] [1596766548.976393649]: Setting RTAB-Map parameter "Grid/FromDepth"="false"
[ INFO] [1596766549.182859875]: Setting RTAB-Map parameter "RGBD/NeighborLinkRefining"="true"
[ INFO] [1596766549.201263217]: Setting RTAB-Map parameter "RGBD/ProximityPathMaxNeighbors"="10"
[ INFO] [1596766549.206427636]: Setting RTAB-Map parameter "Reg/Force3DoF"="true"
[ INFO] [1596766549.208251205]: Setting RTAB-Map parameter "Reg/Strategy"="1"
[ INFO] [1596766549.541446349]: Setting "Grid/RangeMax" parameter to 0 (default 5.000000) as "subscribe_scan" or "subscribe_scan_cloud" is true and Grid/FromDepth is false.
[ INFO] [1596766549.574172544]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1596766549.574619543]: rtabmap: Deleted database "/home/youibot/.ros/rtabmap.db" (--delete_db_on_start or -d are set).
[ INFO] [1596766549.574675023]: rtabmap: Using database from "/home/youibot/.ros/rtabmap.db" (0 MB).
[ INFO] [1596766549.724551482]: rtabmap: Database version = "0.20.2".
[rtabmap/rtabmap-1] process has died [pid 12480, exit code -11, cmd /home/youibot/catkin_ws_2.1.0/devel/lib/rtabmap_ros/rtabmap -d scan:=/scan_localization __name:=rtabmap __log:=/home/youibot/.ros/log/bd53177a-d852-11ea-a6d3-b0416f044d31/rtabmap-rtabmap-1.log].
log file: /home/youibot/.ros/log/bd53177a-d852-11ea-a6d3-b0416f044d31/rtabmap-rtabmap-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done

Here is my cmake output with g2o and gtsam:

CMake Deprecation Warning at CMakeLists.txt:64 (cmake_policy):
  The OLD behavior for policy CMP0020 will be removed from a future version
  of CMake.

  The cmake-policies(7) manual explains that the OLD behaviors of all
  policies are deprecated and that a policy should be set to OLD only under
  specific short-term circumstances.  Projects should be ported to the NEW
  behavior and not rely on setting a policy to OLD.

-- Eigen found (include: /usr/include/eigen3, version: 3.3.4)
-- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so)
-- FLANN found (include: /usr/include, lib: optimized;/usr/lib/x86_64-linux-gnu/libflann_cpp.so;debug;/usr/lib/x86_64-linux-gnu/libflann_cpp.so)
-- FLANN found (include: /usr/include, lib: optimized;/usr/lib/x86_64-linux-gnu/libflann_cpp.so;debug;/usr/lib/x86_64-linux-gnu/libflann_cpp.so)
-- QHULL found (include: /usr/include, lib: optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so)
-- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so)
CMake Warning at CMakeLists.txt:225 (MESSAGE):
  PCL definitions contain "-march=native", make sure all libraries using
  Eigen are also compiled with that flag to avoid some segmentation faults
  (with gdb referring to some Eigen functions).

-- Found Sqlite3: /usr/include /usr/lib/x86_64-linux-gnu/libsqlite3.so
-- Found OpenMP
-- Found OpenCV: /usr/include;/usr/include/opencv
-- Found PCL: /home/youibot/catkin_ws_drl/devel_release/include/pcl-1.8;/usr/include/eigen3;/usr/include;/usr/include/ni;/usr/include/vtk-6.3;/usr/include/freetype2;/usr/lib/x86_64-linux-gnu/openmpi/include/openmpi;/usr/lib/x86_64-linux-gnu/openmpi/include/openmpi/opal/mca/event/libevent2022/libevent;/usr/lib/x86_64-linux-gnu/openmpi/include/openmpi/opal/mca/event/libevent2022/libevent/include;/usr/lib/x86_64-linux-gnu/openmpi/include;/usr/include/python2.7;/usr/include/x86_64-linux-gnu;/usr/include/hdf5/openmpi;/usr/include/libxml2;/usr/include/jsoncpp;/usr/include/tcl
-- Found ZLIB: /usr/include
-- VTK_RENDERING_BACKEND=OpenGL
-- Found OpenNI2: /usr/include/openni2
-- Found DC1394: /usr/include/dc1394
-- FlyCapture2_INCLUDE_DIR=FlyCapture2_INCLUDE_DIR-NOTFOUND
-- FlyCapture2_LIBRARY=FlyCapture2_LIBRARY-NOTFOUND
-- Triclops_INCLUDE_DIR=Triclops_INCLUDE_DIR-NOTFOUND
-- Triclops_LIBRARY=Triclops_LIBRARY-NOTFOUND
-- FlyCaptureBridge_LIBRARY=FlyCaptureBridge_LIBRARY-NOTFOUND
-- Found libpointmatcher: /usr/local/include;/usr/include;/usr/include/eigen3;/usr/local/include
-- Found RealSense2: 
-- Found octomap 1.9.0: /opt/ros/melodic/include
-- Found installed version of Eigen: /usr/lib/cmake/eigen3
-- Found required Ceres dependency: Eigen version 3.3.4 in /usr/include/eigen3
-- Found required Ceres dependency: glog
-- Found installed version of gflags: /usr/lib/x86_64-linux-gnu/cmake/gflags
-- Detected gflags version: 2.2.1
-- Found required Ceres dependency: gflags
-- Found Ceres version: 1.13.0 installed in: /usr/local with components: [LAPACK, SuiteSparse, SparseLinearAlgebraLibrary, CXSparse, SchurSpecializations, C++11, OpenMP]
-- Architecture: x86_64
-- Found Pthreads
CMake Deprecation Warning at tools/KittiDataset/CMakeLists.txt:14 (cmake_policy):
  The OLD behavior for policy CMP0020 will be removed from a future version
  of CMake.

  The cmake-policies(7) manual explains that the OLD behaviors of all
  policies are deprecated and that a policy should be set to OLD only under
  specific short-term circumstances.  Projects should be ported to the NEW
  behavior and not rely on setting a policy to OLD.

CMake Deprecation Warning at tools/RgbdDataset/CMakeLists.txt:14 (cmake_policy):
  The OLD behavior for policy CMP0020 will be removed from a future version
  of CMake.

  The cmake-policies(7) manual explains that the OLD behaviors of all
  policies are deprecated and that a policy should be set to OLD only under
  specific short-term circumstances.  Projects should be ported to the NEW
  behavior and not rely on setting a policy to OLD.

CMake Deprecation Warning at tools/EurocDataset/CMakeLists.txt:30 (cmake_policy):
  The OLD behavior for policy CMP0020 will be removed from a future version
  of CMake.

  The cmake-policies(7) manual explains that the OLD behaviors of all
  policies are deprecated and that a policy should be set to OLD only under
  specific short-term circumstances.  Projects should be ported to the NEW
  behavior and not rely on setting a policy to OLD.

CMake Deprecation Warning at tools/Recovery/CMakeLists.txt:12 (cmake_policy):
  The OLD behavior for policy CMP0020 will be removed from a future version
  of CMake.

  The cmake-policies(7) manual explains that the OLD behaviors of all
  policies are deprecated and that a policy should be set to OLD only under
  specific short-term circumstances.  Projects should be ported to the NEW
  behavior and not rely on setting a policy to OLD.

CMake Deprecation Warning at tools/Reprocess/CMakeLists.txt:12 (cmake_policy):
  The OLD behavior for policy CMP0020 will be removed from a future version
  of CMake.

  The cmake-policies(7) manual explains that the OLD behaviors of all
  policies are deprecated and that a policy should be set to OLD only under
  specific short-term circumstances.  Projects should be ported to the NEW
  behavior and not rely on setting a policy to OLD.

CMake Deprecation Warning at tools/DetectMoreLoopClosures/CMakeLists.txt:12 (cmake_policy):
  The OLD behavior for policy CMP0020 will be removed from a future version
  of CMake.

  The cmake-policies(7) manual explains that the OLD behaviors of all
  policies are deprecated and that a policy should be set to OLD only under
  specific short-term circumstances.  Projects should be ported to the NEW
  behavior and not rely on setting a policy to OLD.

CMake Deprecation Warning at tools/Report/CMakeLists.txt:15 (cmake_policy):
  The OLD behavior for policy CMP0020 will be removed from a future version
  of CMake.

  The cmake-policies(7) manual explains that the OLD behaviors of all
  policies are deprecated and that a policy should be set to OLD only under
  specific short-term circumstances.  Projects should be ported to the NEW
  behavior and not rely on setting a policy to OLD.

CMake Deprecation Warning at tools/Info/CMakeLists.txt:12 (cmake_policy):
  The OLD behavior for policy CMP0020 will be removed from a future version
  of CMake.

  The cmake-policies(7) manual explains that the OLD behaviors of all
  policies are deprecated and that a policy should be set to OLD only under
  specific short-term circumstances.  Projects should be ported to the NEW
  behavior and not rely on setting a policy to OLD.

CMake Deprecation Warning at examples/BOWMapping/CMakeLists.txt:27 (cmake_policy):
  The OLD behavior for policy CMP0020 will be removed from a future version
  of CMake.

  The cmake-policies(7) manual explains that the OLD behaviors of all
  policies are deprecated and that a policy should be set to OLD only under
  specific short-term circumstances.  Projects should be ported to the NEW
  behavior and not rely on setting a policy to OLD.

CMake Deprecation Warning at examples/RGBDMapping/CMakeLists.txt:41 (cmake_policy):
  The OLD behavior for policy CMP0020 will be removed from a future version
  of CMake.

  The cmake-policies(7) manual explains that the OLD behaviors of all
  policies are deprecated and that a policy should be set to OLD only under
  specific short-term circumstances.  Projects should be ported to the NEW
  behavior and not rely on setting a policy to OLD.

CMake Deprecation Warning at examples/WifiMapping/CMakeLists.txt:35 (cmake_policy):
  The OLD behavior for policy CMP0020 will be removed from a future version
  of CMake.

  The cmake-policies(7) manual explains that the OLD behaviors of all
  policies are deprecated and that a policy should be set to OLD only under
  specific short-term circumstances.  Projects should be ported to the NEW
  behavior and not rely on setting a policy to OLD.

CMake Deprecation Warning at examples/NoEventsExample/CMakeLists.txt:35 (cmake_policy):
  The OLD behavior for policy CMP0020 will be removed from a future version
  of CMake.

  The cmake-policies(7) manual explains that the OLD behaviors of all
  policies are deprecated and that a policy should be set to OLD only under
  specific short-term circumstances.  Projects should be ported to the NEW
  behavior and not rely on setting a policy to OLD.

-- --------------------------------------------
-- Info :
--   Version : 0.20.2
--   CMAKE_INSTALL_PREFIX = /usr/local
--   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
--   FLANN_KDTREE_MEM_OPT = OFF
--   PCL_DEFINITIONS =  -march=native -msse4.2 -mfpmath=sse ;-DDISABLE_OPENNI2;-DDISABLE_PCAP;-DDISABLE_PNG;-DDISABLE_LIBUSB_1_0
--   PCL_VERSION = 1.8.1.99
-- 
-- Optional dependencies ('*' affects some default parameters) :
--  *With OpenCV 3.2.0 xfeatures2d = NO, nonfree = NO (License: BSD)
--   With Qt 5.9.5            = YES (License: Open Source or Commercial)
--   With VTK 6.3              = YES (License: BSD)
--   With external SQLite3     = YES (License: Public Domain)
--   With ORB OcTree           = YES (License: GPLv3)
--   With SupertPoint          = NO (libtorch not found)
--   With Python3              = NO (WITH_PYMATCHER=OFF)
--   With Madgwick             = YES (License: GPL)
--   With FastCV               = NO (FastCV not found)
-- 
--  Solvers:
--   With TORO                 = YES (License: Creative Commons [Attribution-NonCommercial-ShareAlike])
--  *With g2o                  = NO (WITH_G2O=OFF)
--  *With GTSAM                = NO (WITH_GTSAM=OFF)
--  *With Ceres                = YES (License: BSD)
--   With VERTIGO              = NO (GTSAM or g2o required)
--   With cvsba                = NO (cvsba not found)
--  *With libpointmatcher      = YES (License: BSD)
-- 
--  Reconstruction Approaches:
--   With OCTOMAP              = YES (License: BSD)
--   With CPUTSDF              = NO (CPUTSDF not found)
--   With OpenChisel           = NO (open_chisel not found)
--   With AliceVision          = NO (WITH_ALICE_VISION=OFF)
-- 
--  Camera Drivers:
--   With Freenect             = NO (libfreenect not found)
--   With OpenNI2              = YES (License: Apache v2)
--   With Freenect2            = NO (libfreenect2 not found)
--   With Kinect for Windows 2 = NO (Kinect for Windows 2 SDK not found)
--   With Kinect for Azure     = NO (Kinect for Azure SDK not found)
--   With dc1394               = YES (License: LGPL)
--   With FlyCapture2/Triclops = NO (Point Grey SDK not found)
--   With ZED                  = NO (ZED sdk and/or cuda not found)
--   With RealSense            = NO (librealsense not found)
--   With RealSense2           = YES (License: Apache-2)
--   With MyntEyeS             = NO (mynteye s sdk not found)
-- 
--  Odometry Approaches:
--   With loam_velodyne        = NO (loam_velodyne not found)
--   With libfovis             = NO (libfovis not found)
--   With libviso2             = NO (libviso2 not found)
--   With dvo_core             = NO (dvo_core not found)
--   With okvis                = NO (okvis not found)
--   With msckf_vio            = NO (WITH_MSCKF_VIO=OFF)
--   With VINS-Fusion          = NO (VINS-Fusion not found)
--   With ORB_SLAM2            = NO (ORB_SLAM2 not found, make sure environment variable ORB_SLAM2_ROOT_DIR is set)
-- Show all options with: cmake -LA | grep WITH_
-- --------------------------------------------
-- Configuring done
-- Generating done
-- Build files have been written to: /home/youibot/Libraries/rtabmap/build

Here is my ldd rtabmap output:

    linux-vdso.so.1 (0x00007ffefafdc000)
    libboost_system.so.1.65.1 => /usr/lib/x86_64-linux-gnu/libboost_system.so.1.65.1 (0x00007fb91f1d2000)
    libnodeletlib.so => /opt/ros/melodic/lib/libnodeletlib.so (0x00007fb91ef6a000)
    libroscpp.so => /opt/ros/melodic/lib/libroscpp.so (0x00007fb91ebd6000)
    librosconsole.so => /opt/ros/melodic/lib/librosconsole.so (0x00007fb91e9a0000)
    librtabmap_core.so.0.20 => /usr/local/lib/librtabmap_core.so.0.20 (0x00007fb91dd8a000)
    librtabmap_utilite.so.0.20 => /usr/local/lib/librtabmap_utilite.so.0.20 (0x00007fb91db69000)
    libstdc++.so.6 => /usr/lib/x86_64-linux-gnu/libstdc++.so.6 (0x00007fb91d7e0000)
    libgcc_s.so.1 => /lib/x86_64-linux-gnu/libgcc_s.so.1 (0x00007fb91d5c8000)
    libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x00007fb91d1d7000)
    libpthread.so.0 => /lib/x86_64-linux-gnu/libpthread.so.0 (0x00007fb91cfb8000)
    libbondcpp.so => /opt/ros/melodic/lib/libbondcpp.so (0x00007fb91cd87000)
    libclass_loader.so => /opt/ros/melodic/lib/libclass_loader.so (0x00007fb91cb60000)
    libroslib.so => /opt/ros/melodic/lib/libroslib.so (0x00007fb91c94d000)
    libtinyxml2.so.6 => /usr/lib/x86_64-linux-gnu/libtinyxml2.so.6 (0x00007fb91c739000)
    libboost_filesystem.so.1.65.1 => /usr/lib/x86_64-linux-gnu/libboost_filesystem.so.1.65.1 (0x00007fb91c51f000)
    libroscpp_serialization.so => /opt/ros/melodic/lib/libroscpp_serialization.so (0x00007fb91c31c000)
    libboost_thread.so.1.65.1 => /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.65.1 (0x00007fb91c0f7000)
    libconsole_bridge.so.0.4 => /usr/lib/x86_64-linux-gnu/libconsole_bridge.so.0.4 (0x00007fb91bef2000)
    libxmlrpcpp.so => /opt/ros/melodic/lib/libxmlrpcpp.so (0x00007fb91bcd3000)
    librostime.so => /opt/ros/melodic/lib/librostime.so (0x00007fb91bab3000)
    libcpp_common.so => /opt/ros/melodic/lib/libcpp_common.so (0x00007fb91b8a8000)
    libboost_chrono.so.1.65.1 => /usr/lib/x86_64-linux-gnu/libboost_chrono.so.1.65.1 (0x00007fb91b6a3000)
    libm.so.6 => /lib/x86_64-linux-gnu/libm.so.6 (0x00007fb91b305000)
    librosconsole_log4cxx.so => /opt/ros/melodic/lib/librosconsole_log4cxx.so (0x00007fb91b0ea000)
    librosconsole_backend_interface.so => /opt/ros/melodic/lib/librosconsole_backend_interface.so (0x00007fb91aee8000)
    liblog4cxx.so.10 => /usr/lib/x86_64-linux-gnu/liblog4cxx.so.10 (0x00007fb91ab1f000)
    libboost_regex.so.1.65.1 => /usr/lib/x86_64-linux-gnu/libboost_regex.so.1.65.1 (0x00007fb91a817000)
    libopencv_stitching.so.3.2 => /usr/lib/x86_64-linux-gnu/libopencv_stitching.so.3.2 (0x00007fb91a595000)
    libopencv_aruco.so.3.2 => /usr/lib/x86_64-linux-gnu/libopencv_aruco.so.3.2 (0x00007fb91a34d000)
    libpcl_common.so.1.8 => /home/youibot/catkin_ws_drl/devel_release/lib/libpcl_common.so.1.8 (0x00007fb91a08f000)
    libz.so.1 => /lib/x86_64-linux-gnu/libz.so.1 (0x00007fb919e72000)
    libsqlite3.so.0 => /usr/lib/x86_64-linux-gnu/libsqlite3.so.0 (0x00007fb919b69000)
    libpcl_io.so.1.8 => /home/youibot/catkin_ws_drl/devel_release/lib/libpcl_io.so.1.8 (0x00007fb919709000)
    libpcl_kdtree.so.1.8 => /home/youibot/catkin_ws_drl/devel_release/lib/libpcl_kdtree.so.1.8 (0x00007fb9193b0000)
    libpcl_search.so.1.8 => /home/youibot/catkin_ws_drl/devel_release/lib/libpcl_search.so.1.8 (0x00007fb918fd1000)
    libpcl_surface.so.1.8 => /home/youibot/catkin_ws_drl/devel_release/lib/libpcl_surface.so.1.8 (0x00007fb91812c000)
    libpcl_filters.so.1.8 => /home/youibot/catkin_ws_drl/devel_release/lib/libpcl_filters.so.1.8 (0x00007fb91779b000)
    libpcl_features.so.1.8 => /home/youibot/catkin_ws_drl/devel_release/lib/libpcl_features.so.1.8 (0x00007fb915111000)
    libpcl_sample_consensus.so.1.8 => /home/youibot/catkin_ws_drl/devel_release/lib/libpcl_sample_consensus.so.1.8 (0x00007fb914346000)
    libpcl_segmentation.so.1.8 => /home/youibot/catkin_ws_drl/devel_release/lib/libpcl_segmentation.so.1.8 (0x00007fb9134c7000)
    libOpenNI2.so.0 => /usr/lib/libOpenNI2.so.0 (0x00007fb913268000)
    librealsense2.so.2.30 => /usr/local/lib/librealsense2.so.2.30 (0x00007fb91197e000)
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    libdfalt.so.0 => /usr/lib/libdfalt.so.0 (0x00007fb8f0fe4000)
    libogdi.so.3.2 => /usr/lib/libogdi.so.3.2 (0x00007fb8f0dc4000)
    libgif.so.7 => /usr/lib/x86_64-linux-gnu/libgif.so.7 (0x00007fb8f0bbb000)
    libgeotiff.so.2 => /usr/lib/x86_64-linux-gnu/libgeotiff.so.2 (0x00007fb8f0985000)
    libpq.so.5 => /usr/lib/x86_64-linux-gnu/libpq.so.5 (0x00007fb8f073c000)
    libdapclient.so.6 => /usr/lib/x86_64-linux-gnu/libdapclient.so.6 (0x00007fb8f04fb000)
    libdap.so.25 => /usr/lib/x86_64-linux-gnu/libdap.so.25 (0x00007fb8f016b000)
    libspatialite.so.7 => /usr/lib/x86_64-linux-gnu/libspatialite.so.7 (0x00007fb8ef9e9000)
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    libfyba.so.0 => /usr/lib/x86_64-linux-gnu/libfyba.so.0 (0x00007fb8ef517000)
    libmysqlclient.so.20 => /usr/lib/x86_64-linux-gnu/libmysqlclient.so.20 (0x00007fb8eef5f000)
    libquadmath.so.0 => /usr/lib/x86_64-linux-gnu/libquadmath.so.0 (0x00007fb8eed1f000)
    libutil.so.1 => /lib/x86_64-linux-gnu/libutil.so.1 (0x00007fb8eeb1c000)
    libopen-rte.so.20 => /usr/lib/x86_64-linux-gnu/libopen-rte.so.20 (0x00007fb8ee894000)
    libopen-pal.so.20 => /usr/lib/x86_64-linux-gnu/libopen-pal.so.20 (0x00007fb8ee5e2000)
    libhwloc.so.5 => /usr/lib/x86_64-linux-gnu/libhwloc.so.5 (0x00007fb8ee3a5000)
    libvtkFiltersParallel-6.3.so.6.3 => /usr/lib/x86_64-linux-gnu/libvtkFiltersParallel-6.3.so.6.3 (0x00007fb8ee0ce000)
    libvtkIONetCDF-6.3.so.6.3 => /usr/lib/x86_64-linux-gnu/libvtkIONetCDF-6.3.so.6.3 (0x00007fb8ede68000)
    libjsoncpp.so.1 => /usr/lib/x86_64-linux-gnu/libjsoncpp.so.1 (0x00007fb8edc36000)
    libvtkFiltersExtraction-6.3.so.6.3 => /usr/lib/x86_64-linux-gnu/libvtkFiltersExtraction-6.3.so.6.3 (0x00007fb8ed928000)
    libvtkCommonComputationalGeometry-6.3.so.6.3 => /usr/lib/x86_64-linux-gnu/libvtkCommonComputationalGeometry-6.3.so.6.3 (0x00007fb8ed6ec000)
    libsoxr.so.0 => /usr/lib/x86_64-linux-gnu/libsoxr.so.0 (0x00007fb8ed489000)
    libnuma.so.1 => /usr/lib/x86_64-linux-gnu/libnuma.so.1 (0x00007fb8ed27e000)
    libogg.so.0 => /usr/lib/x86_64-linux-gnu/libogg.so.0 (0x00007fb8ed075000)
    libgdk_pixbuf-2.0.so.0 => /usr/lib/x86_64-linux-gnu/libgdk_pixbuf-2.0.so.0 (0x00007fb8ece51000)
    libgio-2.0.so.0 => /usr/lib/x86_64-linux-gnu/libgio-2.0.so.0 (0x00007fb8ecab2000)
    libpangocairo-1.0.so.0 => /usr/lib/x86_64-linux-gnu/libpangocairo-1.0.so.0 (0x00007fb8ec8a5000)
    libpangoft2-1.0.so.0 => /usr/lib/x86_64-linux-gnu/libpangoft2-1.0.so.0 (0x00007fb8ec68f000)
    libpango-1.0.so.0 => /usr/lib/x86_64-linux-gnu/libpango-1.0.so.0 (0x00007fb8ec442000)
    libfontconfig.so.1 => /usr/lib/x86_64-linux-gnu/libfontconfig.so.1 (0x00007fb8ec1fd000)
    libcroco-0.6.so.3 => /usr/lib/x86_64-linux-gnu/libcroco-0.6.so.3 (0x00007fb8ebfc2000)
    libffi.so.6 => /usr/lib/x86_64-linux-gnu/libffi.so.6 (0x00007fb8ebdba000)
    libpixman-1.so.0 => /usr/lib/x86_64-linux-gnu/libpixman-1.so.0 (0x00007fb8ebb15000)
    libfreetype.so.6 => /usr/lib/x86_64-linux-gnu/libfreetype.so.6 (0x00007fb8eb861000)
    libxcb-shm.so.0 => /usr/lib/x86_64-linux-gnu/libxcb-shm.so.0 (0x00007fb8eb65e000)
    libxcb.so.1 => /usr/lib/x86_64-linux-gnu/libxcb.so.1 (0x00007fb8eb436000)
    libxcb-render.so.0 => /usr/lib/x86_64-linux-gnu/libxcb-render.so.0 (0x00007fb8eb229000)
    libXrender.so.1 => /usr/lib/x86_64-linux-gnu/libXrender.so.1 (0x00007fb8eb01f000)
    libXext.so.6 => /usr/lib/x86_64-linux-gnu/libXext.so.6 (0x00007fb8eae0d000)
    libgcrypt.so.20 => /lib/x86_64-linux-gnu/libgcrypt.so.20 (0x00007fb8eaaf1000)
    libgssapi_krb5.so.2 => /usr/lib/x86_64-linux-gnu/libgssapi_krb5.so.2 (0x00007fb8ea8a6000)
    libmpg123.so.0 => /usr/lib/x86_64-linux-gnu/libmpg123.so.0 (0x00007fb8ea647000)
    libvorbisfile.so.3 => /usr/lib/x86_64-linux-gnu/libvorbisfile.so.3 (0x00007fb8ea43f000)
    libp11-kit.so.0 => /usr/lib/x86_64-linux-gnu/libp11-kit.so.0 (0x00007fb8ea110000)
    libidn2.so.0 => /usr/lib/x86_64-linux-gnu/libidn2.so.0 (0x00007fb8e9ef3000)
    libunistring.so.2 => /usr/lib/x86_64-linux-gnu/libunistring.so.2 (0x00007fb8e9b75000)
    libtasn1.so.6 => /usr/lib/x86_64-linux-gnu/libtasn1.so.6 (0x00007fb8e9962000)
    libnettle.so.6 => /usr/lib/x86_64-linux-gnu/libnettle.so.6 (0x00007fb8e972c000)
    libhogweed.so.4 => /usr/lib/x86_64-linux-gnu/libhogweed.so.4 (0x00007fb8e94f8000)
    libgmp.so.10 => /usr/lib/x86_64-linux-gnu/libgmp.so.10 (0x00007fb8e9277000)
    libXfixes.so.3 => /usr/lib/x86_64-linux-gnu/libXfixes.so.3 (0x00007fb8e9071000)
    libcrypto.so.1.1 => /usr/lib/x86_64-linux-gnu/libcrypto.so.1.1 (0x00007fb8e8ba6000)
    libarpack.so.2 => /usr/lib/x86_64-linux-gnu/libarpack.so.2 (0x00007fb8e895c000)
    libsuperlu.so.5 => /usr/lib/x86_64-linux-gnu/libsuperlu.so.5 (0x00007fb8e86ec000)
    libnss3.so => /usr/lib/x86_64-linux-gnu/libnss3.so (0x00007fb8e83a8000)
    libsmime3.so => /usr/lib/x86_64-linux-gnu/libsmime3.so (0x00007fb8e817c000)
    libnspr4.so => /usr/lib/x86_64-linux-gnu/libnspr4.so (0x00007fb8e7f3f000)
    liblcms2.so.2 => /usr/lib/x86_64-linux-gnu/liblcms2.so.2 (0x00007fb8e7ce7000)
    libgeos-3.6.2.so => /usr/lib/x86_64-linux-gnu/libgeos-3.6.2.so (0x00007fb8e794e000)
    libminizip.so.1 => /usr/lib/x86_64-linux-gnu/libminizip.so.1 (0x00007fb8e7743000)
    liburiparser.so.1 => /usr/lib/x86_64-linux-gnu/liburiparser.so.1 (0x00007fb8e7528000)
    libhdf5_serial_hl.so.100 => /usr/lib/x86_64-linux-gnu/libhdf5_serial_hl.so.100 (0x00007fb8e7305000)
    libsz.so.2 => /usr/lib/x86_64-linux-gnu/libsz.so.2 (0x00007fb8e7102000)
    libssl.so.1.1 => /usr/lib/x86_64-linux-gnu/libssl.so.1.1 (0x00007fb8e6e75000)
    libldap_r-2.4.so.2 => /usr/lib/x86_64-linux-gnu/libldap_r-2.4.so.2 (0x00007fb8e6c23000)
    libnghttp2.so.14 => /usr/lib/x86_64-linux-gnu/libnghttp2.so.14 (0x00007fb8e69fe000)
    librtmp.so.1 => /usr/lib/x86_64-linux-gnu/librtmp.so.1 (0x00007fb8e67e2000)
    libpsl.so.5 => /usr/lib/x86_64-linux-gnu/libpsl.so.5 (0x00007fb8e65d4000)
    liblber-2.4.so.2 => /usr/lib/x86_64-linux-gnu/liblber-2.4.so.2 (0x00007fb8e63c6000)
    libfyut.so.0 => /usr/lib/x86_64-linux-gnu/libfyut.so.0 (0x00007fb8e61bd000)
    libfygm.so.0 => /usr/lib/x86_64-linux-gnu/libfygm.so.0 (0x00007fb8e5fb6000)
    libvtkRenderingCore-6.3.so.6.3 => /usr/lib/x86_64-linux-gnu/libvtkRenderingCore-6.3.so.6.3 (0x00007fb8e5b36000)
    libvtkFiltersGeometry-6.3.so.6.3 => /usr/lib/x86_64-linux-gnu/libvtkFiltersGeometry-6.3.so.6.3 (0x00007fb8e58ae000)
    libnetcdf_c++.so.4 => /usr/lib/x86_64-linux-gnu/libnetcdf_c++.so.4 (0x00007fb8e5690000)
    libvtkFiltersStatistics-6.3.so.6.3 => /usr/lib/x86_64-linux-gnu/libvtkFiltersStatistics-6.3.so.6.3 (0x00007fb8e5407000)
    libgmodule-2.0.so.0 => /usr/lib/x86_64-linux-gnu/libgmodule-2.0.so.0 (0x00007fb8e5203000)
    libselinux.so.1 => /lib/x86_64-linux-gnu/libselinux.so.1 (0x00007fb8e4fdb000)
    libresolv.so.2 => /lib/x86_64-linux-gnu/libresolv.so.2 (0x00007fb8e4dc0000)
    libmount.so.1 => /lib/x86_64-linux-gnu/libmount.so.1 (0x00007fb8e4b6c000)
    libharfbuzz.so.0 => /usr/lib/x86_64-linux-gnu/libharfbuzz.so.0 (0x00007fb8e48ce000)
    libthai.so.0 => /usr/lib/x86_64-linux-gnu/libthai.so.0 (0x00007fb8e46c5000)
    libXau.so.6 => /usr/lib/x86_64-linux-gnu/libXau.so.6 (0x00007fb8e44c1000)
    libXdmcp.so.6 => /usr/lib/x86_64-linux-gnu/libXdmcp.so.6 (0x00007fb8e42bb000)
    libgpg-error.so.0 => /lib/x86_64-linux-gnu/libgpg-error.so.0 (0x00007fb8e40a6000)
    libkrb5.so.3 => /usr/lib/x86_64-linux-gnu/libkrb5.so.3 (0x00007fb8e3dd0000)
    libk5crypto.so.3 => /usr/lib/x86_64-linux-gnu/libk5crypto.so.3 (0x00007fb8e3b9e000)
    libcom_err.so.2 => /lib/x86_64-linux-gnu/libcom_err.so.2 (0x00007fb8e399a000)
    libkrb5support.so.0 => /usr/lib/x86_64-linux-gnu/libkrb5support.so.0 (0x00007fb8e378f000)
    libnssutil3.so => /usr/lib/x86_64-linux-gnu/libnssutil3.so (0x00007fb8e3560000)
    libplc4.so => /usr/lib/x86_64-linux-gnu/libplc4.so (0x00007fb8e335b000)
    libplds4.so => /usr/lib/x86_64-linux-gnu/libplds4.so (0x00007fb8e3157000)
    libaec.so.0 => /usr/lib/x86_64-linux-gnu/libaec.so.0 (0x00007fb8e2f4f000)
    libsasl2.so.2 => /usr/lib/x86_64-linux-gnu/libsasl2.so.2 (0x00007fb8e2d34000)
    libgssapi.so.3 => /usr/lib/x86_64-linux-gnu/libgssapi.so.3 (0x00007fb8e2af3000)
    libvtkCommonColor-6.3.so.6.3 => /usr/lib/x86_64-linux-gnu/libvtkCommonColor-6.3.so.6.3 (0x00007fb8e28d9000)
    libvtkImagingFourier-6.3.so.6.3 => /usr/lib/x86_64-linux-gnu/libvtkImagingFourier-6.3.so.6.3 (0x00007fb8e26aa000)
    libvtkalglib-6.3.so.6.3 => /usr/lib/x86_64-linux-gnu/libvtkalglib-6.3.so.6.3 (0x00007fb8e2487000)
    libblkid.so.1 => /lib/x86_64-linux-gnu/libblkid.so.1 (0x00007fb8e223a000)
    libgraphite2.so.3 => /usr/lib/x86_64-linux-gnu/libgraphite2.so.3 (0x00007fb8e200d000)
    libdatrie.so.1 => /usr/lib/x86_64-linux-gnu/libdatrie.so.1 (0x00007fb8e1e06000)
    libbsd.so.0 => /lib/x86_64-linux-gnu/libbsd.so.0 (0x00007fb8e1bf1000)
    libkeyutils.so.1 => /lib/x86_64-linux-gnu/libkeyutils.so.1 (0x00007fb8e19ed000)
    libheimntlm.so.0 => /usr/lib/x86_64-linux-gnu/libheimntlm.so.0 (0x00007fb8e17e4000)
    libkrb5.so.26 => /usr/lib/x86_64-linux-gnu/libkrb5.so.26 (0x00007fb8e1557000)
    libasn1.so.8 => /usr/lib/x86_64-linux-gnu/libasn1.so.8 (0x00007fb8e12b5000)
    libhcrypto.so.4 => /usr/lib/x86_64-linux-gnu/libhcrypto.so.4 (0x00007fb8e107f000)
    libroken.so.18 => /usr/lib/x86_64-linux-gnu/libroken.so.18 (0x00007fb8e0e69000)
    libwind.so.0 => /usr/lib/x86_64-linux-gnu/libwind.so.0 (0x00007fb8e0c40000)
    libheimbase.so.1 => /usr/lib/x86_64-linux-gnu/libheimbase.so.1 (0x00007fb8e0a31000)
    libhx509.so.5 => /usr/lib/x86_64-linux-gnu/libhx509.so.5 (0x00007fb8e07e7000)

Thank you very much for your help and best wishes!

matlabbe commented 4 years ago

Try launching with gdb to get more info about the seg fault by adding the launch-prefix in the launch file: http://wiki.ros.org/roslaunch/Tutorials/Roslaunch%20Nodes%20in%20Valgrind%20or%20GDB

Type run in gdb terminal to start the node, then bt to see the backtrace after it crashes.

At first view, you seem to have a PCL built from source with -march=native. When PCL is built with -march=native, g2o and gtsam should also be built with -march=native. For GTSAM, there is a compilation option to enable it. For g2o, I don't remember if we have to add it to c++ flags manually or if there is an option directly.