matlabbe
commented
3 years ago Can you change this line:
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg args)" >to
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg args)" launch-prefix="xterm -e gdb --args">Type "run" in gdb terminal, then when it crashes, type "bt" (backtrace) to see where what caused the seg fault.
I tried with this launch:
<?xml version="1.0"?>
<launch>
<!-- Choose visualization -->
<arg name="rviz" default="false" />
<!-- Localization-only mode -->
<arg name="localization" default="false"/>
<arg if="$(arg localization)" name="args" default=""/>
<arg unless="$(arg localization)" name="args" default="--delete_db_on_start"/>
<!-- sync rgb/depth images per camera -->
<group ns="zedA">
<param name="zed_node_A/pos_tracking/publish_tf" value="true"/>
<param name="zed_node_A/pos_tracking/publish_map_tf" value="false"/>
<include file="$(find zed_wrapper)/launch/include/zed_camera.launch.xml">
<arg name="node_name" value="zed_node_A" />
<arg name="camera_name" value="zedA" />
<arg name="camera_id" value="0" />
<arg name="camera_model" value="zed2" />
</include>
<node pkg="nodelet" type="nodelet" name="rgbd_sync1" args="standalone rtabmap_ros/rgbd_sync nodelet_manager1">
<remap from="rgb/image" to="zed_node_A/rgb/image_rect_color"/>
<remap from="depth/image" to="zed_node_A/depth/depth_registered"/>
<remap from="rgb/camera_info" to="zed_node_A/rgb/camera_info"/>
<param name="approx" value="false"/>
</node>
</group>
<group ns="zedB">
<param name="zed_node_B/pos_tracking/publish_tf" value="false"/>
<param name="zed_node_B/pos_tracking/publish_map_tf" value="false"/>
<include file="$(find zed_wrapper)/launch/include/zed_camera.launch.xml">
<arg name="node_name" value="zed_node_B" />
<arg name="camera_name" value="zedB" />
<arg name="camera_id" value="1" />
<arg name="camera_model" value="zedm" />
<arg name="base_frame" value="zedB_base_link" />
</include>
<node pkg="nodelet" type="nodelet" name="rgbd_sync2" args="standalone rtabmap_ros/rgbd_sync nodelet_manager2">
<remap from="rgb/image" to="zed_node_B/rgb/image_rect_color"/>
<remap from="depth/image" to="zed_node_B/depth/depth_registered"/>
<remap from="rgb/camera_info" to="zed_node_B/rgb/camera_info"/>
<param name="approx" value="false"/>
</node>
</group>
<node pkg="tf" type="static_transform_publisher" name="zedA_to_zedB"
args="0 0 0 3.14159 0 0 base_link zedB_base_link 100" />
<group ns="rtabmap">
<!-- Visual SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg args)" >
<param name="subscribe_depth" type="bool" value="false"/>
<param name="subscribe_rgbd" type="bool" value="true"/>
<param name="rgbd_cameras" type="int" value="2"/>
<param name="frame_id" type="string" value="base_link"/>
<param name="gen_scan" type="bool" value="true"/>
<param name="queue_size" type="int" value="100"/>
<remap from="odom" to="/zedA/zed_node_A/odom"/>
<remap from="rgbd_image0" to="/zedA/rgbd_image"/>
<remap from="rgbd_image1" to="/zedB/rgbd_image"/>
<param name="Grid/FromDepth" type="string" value="false"/>
<param name="Vis/EstimationType" type="string" value="0"/>
<!-- localization mode -->
<param if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
<param unless="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="true"/>
<param name="Mem/InitWMWithAllNodes" type="string" value="$(arg localization)"/>
</node>
</group>
<!-- Visualization RVIZ -->
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/rgbd.rviz"/>
</launch>To use only zedA as odometry, we have to remove/comment those lines from common.yaml (see above that those zed parameters publish_tf and publish_map_tf are set in this launch file). Setting VGA resolution here also helps to use less power. Note that in the launch above, I used a zedm and a zed2 that were stick one over the other at 180 deg (that static transform could be more precise though).
peleito
I'm trying to launch two ZED2 cameras for outdoor mapping. I have built rtabmap_ros from source with -DRTABMAP_SYNC_MULTI_RGBD=ON.
My launch file:
Terminal output:
I checked to see if the topics were being published. /zedA/rgbd_image and /zedB/rgbd_image were being published but it appeared that /odometry/filtered was not.
So I tried changing my launch file by switching the odom remap to the odometry data from a single camera.
<remap from="odom" to="/zedB/zed_node_B/odom"/>After that change I now get this error, which has me lost on the next steps. Maybe my launch file change was not correct and I should go back.Any help would be greatly appreciated.