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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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Error on installation #844

Open pfcouto opened 1 year ago

pfcouto commented 1 year ago

Hello, I am using a VM with Ubuntu 20.04, I have ROS2 Galactic installed.

I am trying to create a SLAM using a realsense D435i camera. Don't know if your repo will help, but decided to try it. If you could tell me to which cameras e is being devoleped it would also be nice

I was trying to install your program, however I have some error on the installation process, namely, during the building stage. Running the command colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release after 8 minutes gave me the following errors. Can you help me out?

image image

matlabbe commented 1 year ago

You ran out of RAM, or compiler issue. This can be fixed by using less compilation threads at the same time, or just relaunching the compilation. From the installation instructions:

export MAKEFLAGS="-j6" # Can be ignored if you have a lot of RAM (>16GB)
pfcouto commented 1 year ago

OK, I will try. Can you ansewr my other question? Will the ROS solution work with a realsense D435i? Will it make a SLAM with that camera? Thanks!

matlabbe commented 1 year ago

There is a D400 example here: https://github.com/introlab/rtabmap_ros/blob/ros2/launch/ros2/realsense_d400.launch.py

To include IMU, you would have to compare with ROS1 example http://wiki.ros.org/rtabmap_ros/Tutorials/HandHeldMapping and add required parameters/nodes.

pfcouto commented 1 year ago

Even using that command it did not work as you can see. This VM has 8GB of RAM, I believe that RAM should not be the issue.

image

matlabbe commented 1 year ago

I don't see errors in that log. With 8GB, set -j3. Some files require more than 2 GB of RAM to compile.