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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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Demo bag file experiment error #714

Closed kdhRGT closed 2 years ago

kdhRGT commented 2 years ago

Hello author!

I tried to do experiement about Demo

roslaunch rtabmap_ros demo_robot_mapping.launch rviz:=true rtabmapviz:=false
rosbag play --clock demo_mapping.bag

This but I had some errors while I did the experiment.

But I was successful to implement for using binary install.

So I think I have a problem with the source build workspace.

I am using this system.

ROS1 melodic ubuntu 18.04

installed : GTSAM G2o libpointmatcher nstall RTAB-Map standalone libraries

Error in terminal

[ INFO] [1644538586.022239593]: Stereo is NOT SUPPORTED
[ INFO] [1644538586.022291112]: OpenGL device: NVIDIA GeForce GTX 1050/PCIe/SSE2
[ INFO] [1644538586.022308868]: OpenGl version: 4.6 (GLSL 4.6).
[ INFO] [1644538586.070698113]: rtabmap 0.20.19 started...
[ WARN] [1644538590.711744099, 1368730003.782715536]: Could not get transform from base_footprint to /openni_rgb_optical_frame after 0.200000 seconds (for stamp=1368730003.413204)! Error="Lookup would require extrapolation into the past.  Requested time 1368730003.413204402 but the earliest data is at time 1368730003.499993152, when looking up transform from frame [openni_rgb_optical_frame] to frame [base_footprint]. canTransform returned after 0.201301 timeout was 0.2.".
[ERROR] [1644538590.711838449, 1368730003.782715536]: TF of received image 0 at time 1368730003.413204s is not set!
[ERROR] [1644538590.711897460, 1368730003.782715536]: Could not convert rgb/depth msgs! Aborting rtabmap update...
[rtabmap/rtabmap-1] process has died [pid 7527, exit code -11, cmd /home/a/SLAM/rtabmap_ws/devel/lib/rtabmap_ros/rtabmap --delete_db_on_start scan:=/jn0/base_scan rgb/image:=/data_throttled_image depth/image:=/data_throttled_image_depth rgb/camera_info:=/data_throttled_camera_info __name:=rtabmap __log:=/home/a/.ros/log/1af2b550-8ace-11ec-b564-7824af8ddb99/rtabmap-rtabmap-1.log].
log file: /home/a/.ros/log/1af2b550-8ace-11ec-b564-7824af8ddb99/rtabmap-rtabmap-1*.log

this is cmake result from rtabmap libraries

-- MOBILE_BUILD=OFF
-- 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-6.3/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-6.3/VTKTargets.cmake"
but not all the files it references.

-- PCL definitions don't contain "-march=native", make sure all libraries using Eigen are also compiled without 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: /usr/lib/gcc/x86_64-linux-gnu/7/libgomp.so;/usr/lib/x86_64-linux-gnu/libpthread.so
-- Add PCL_OMP to definitions
-- Found OpenCV: /usr/include;/usr/include/opencv
-- Found PCL: /usr/include/pcl-1.8;/usr/include/eigen3;/usr/include;/usr/include/ni;/usr/include/openni2;/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
-- Could NOT find Qt5Svg (missing: Qt5Svg_DIR)
CMake Warning at /usr/lib/x86_64-linux-gnu/cmake/Qt5/Qt5Config.cmake:39 (message):
  Failed to find Qt5 component "Svg" config file at
  "/usr/lib/x86_64-linux-gnu/cmake/Qt5Svg/Qt5SvgConfig.cmake"
Call Stack (most recent call first):
  CMakeLists.txt:298 (FIND_PACKAGE)

-- VTK_RENDERING_BACKEND=OpenGL
-- Found Freenect: /usr/include
-- Found OpenNI2: /usr/include/openni2
-- Found DC1394: /usr/include/dc1394
-- RTAB-Map's cmake g2o find module used for convenience (for older g2o versions)
CMake Warning at cmake_modules/FindG2O.cmake:127 (MESSAGE):
  Latest g2o version detected with c++11 interface (config file:
  /opt/ros/melodic/include/g2o/config.h).  Make sure g2o is built with
  "-DBUILD_WITH_MARCH_NATIVE=OFF" to avoid segmentation faults caused by
  Eigen.
Call Stack (most recent call first):
  CMakeLists.txt:455 (FIND_PACKAGE)

-- Old g2o factory version detected without shared ptr (factory file: /opt/ros/melodic/include/g2o/core/factory.h).
-- Found g2o: /opt/ros/melodic/include;/usr/include/suitesparse;/usr/include/suitesparse
-- GTSAM include directory:  /usr/local/lib/cmake/GTSAM/../../../include
-- 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
-- Boost version: 1.65.1
-- Found the following Boost libraries:
--   thread
--   filesystem
--   system
--   program_options
--   date_time
--   chrono
--   atomic
-- Boost version: 1.65.1
-- Found the following Boost libraries:
--   thread
--   filesystem
--   system
--   program_options
--   date_time
--   chrono
--   atomic
-- Found libpointmatcher: /usr/local/include;/usr/include/eigen3
-- Boost version: 1.65.1
-- Found the following Boost libraries:
--   thread
--   filesystem
--   system
--   program_options
--   date_time
--   chrono
--   atomic
-- Boost version: 1.65.1
-- Found the following Boost libraries:
--   thread
--   filesystem
--   system
--   program_options
--   date_time
--   chrono
--   timer
--   serialization
--   atomic
-- Found RealSense2: 
-- Found octomap 1.9.7: /opt/ros/melodic/include
-- Architecture: x86_64
-- Found Pthreads
-- --------------------------------------------
-- Info :
--   RTAB-Map Version =     0.20.19
--   CMAKE_VERSION =        3.10.2
--   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++14
--   FLANN_KDTREE_MEM_OPT = OFF
--   PCL_DEFINITIONS =  ;-DDISABLE_ENSENSO;-DDISABLE_DAVIDSDK;-DDISABLE_DSSDK;-DDISABLE_PCAP;-DDISABLE_PNG;-DDISABLE_LIBUSB_1_0;-DFLANN_STATIC;-Dqh_QHpointer;-DDISABLE_RSSDK
--   PCL_VERSION = 1.8.1
-- 
-- 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 (WITH_TORCH=OFF)
--   With Python3              = NO (WITH_PYTHON=OFF)
--   With Madgwick             = YES (License: GPL)
--   With FastCV               = NO (FastCV not found)
--   With PDAL                 = NO (PDAL not found)
-- 
--  Solvers:
--   With TORO                 = YES (License: Creative Commons [Attribution-NonCommercial-ShareAlike])
--  *With g2o                  = YES (License: BSD)
--  *With GTSAM                = YES (License: BSD)
--  *With Ceres                = NO (WITH_CERES=OFF)
--   With VERTIGO              = YES (License: GPLv3)
--   With cvsba                = NO (WITH_CVSBA=OFF)
--  *With libpointmatcher      = YES (License: BSD)
--   With CCCoreLib            = NO (WITH_CCCORELIB=OFF)
--   With Open3D               = NO (WITH_OPEN3D=OFF)
-- 
--  Reconstruction Approaches:
--   With OCTOMAP              = YES (License: BSD)
--   With CPUTSDF              = NO (WITH_CPUTSDF=OFF)
--   With OpenChisel           = NO (WITH_OPENCHISEL=OFF)
--   With AliceVision          = NO (WITH_ALICE_VISION=OFF)
-- 
--  Camera Drivers:
--   With Freenect             = YES (License: Apache v2 and/or GPLv2)
--   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 ZEDOC                = NO (ZED Open Capture not found)
--   With RealSense            = NO (librealsense not found)
--   With RealSense2           = YES (License: Apache-2)
--   With MyntEyeS             = NO (mynteye s sdk not found)
--   With DepthAI              = NO (WITH_DEPTHAI=OFF)
-- 
--  Odometry Approaches:
--   With loam_velodyne        = NO (WITH_LOAM=OFF)
--   With floam                = NO (WITH_FLOAM=OFF)
--   With libfovis             = NO (WITH_FOVIS=OFF)
--   With libviso2             = NO (WITH_VISO2=OFF)
--   With dvo_core             = NO (WITH_DVO=OFF)
--   With okvis                = NO (WITH_OKVIS=OFF)
--   With msckf_vio            = NO (WITH_MSCKF_VIO=OFF)
--   With VINS-Fusion          = NO (WITH_VINS=OFF)
--   With OpenVINS             = NO (WITH_OPENVINS=OFF)
--   With ORB_SLAM             = NO (WITH_ORB_SLAM=OFF)
-- Show all options with: cmake -LA | grep WITH_
-- --------------------------------------------
-- Configuring done
-- Generating done
-- Build files have been written to: /home/a/rtabmap/build

I don't know why I have some errors during experiments in my rtabmap workspace.

I didn't have errors while I did catkin_make in my rtabmap workspace.

Thank you so much your works

best regards

matlabbe commented 2 years ago

Probably same issue than https://github.com/introlab/rtabmap/issues/827