Mapping an entire area without RTAB-Map crashing

[AnoushkaThakur]

Hi Mathieu, I have been trying to map my world of dimension 100*100 with a laptop of 13.5 GB Ram (swap memory 2 gb) of with NVIDIA Graphics with a ryzen graphics card. Usually during the mapping phase the laptop takes the entire memory and then crashes down. Leaving most of the area unmapped how can i map the entire world without RTAB-Map crashing and logging in the memory. I am also fairly new RTAB-Map I am including my launch file along with the world i want to map. Thanks

test_nav.txt

[matlabbe]

Do you have a database to share?

This is huge:

<param name="Kp/MaxFeatures"             type="string" value="8000"/>

500 would be more reasonable.

note also that a symmetric simulated environment with same texture everywhere is very challenging for visual loop closure detection.

[AnoushkaThakur]

I made changes in that parameter, made it to 500 I also changed "Mem/BinDataKept" ="false"(with it default value being true) making this false allowed me to map the entire area without it crashing. I am sharing the database with you. But anyways I did notice my laptop's ram taking the entire before using this parameter.

also attaching a drive link for you to see the db file . Have shared those via mail!

[AnoushkaThakur]

graph.png https://drive.google.com/file/d/1aeunVxG4kU1_8sRqbE-wC3w1pYPUdOnO/view?usp=drive_web rtabmap1.db https://drive.google.com/file/d/1XgkUj0SyUznwfCc-kF0jKJnSKSEhR8eS/view?usp=drive_web rtabmap1.pgm https://drive.google.com/file/d/1jmVy8acQkUrfD60qqEDZGfimZ-RhIlhU/view?usp=drive_web rtabmap1.yaml https://drive.google.com/file/d/1aVbPd-IRY53Zwi8AZGJn252RfLW3BNWF/view?usp=drive_web Sharing files here

On Sat, 17 Jun 2023 at 01:30, matlabbe @.***> wrote:

Do you have a database to share?

This is huge:

500 would be more reasonable.

note also that a symmetric simulated environment with same texture everywhere is very challenging for visual loop closure detection.

— Reply to this email directly, view it on GitHub https://github.com/introlab/rtabmap_ros/issues/984#issuecomment-1595228029, or unsubscribe https://github.com/notifications/unsubscribe-auth/A5OPVQ4ZPGNCHXSNL5TAH6DXLS3PJANCNFSM6AAAAAAZGFWXVQ . You are receiving this because you authored the thread.Message ID: @.***>

[matlabbe]

Did you have also rtabmap_viz opened? You may close rtabmap_vizand use rviz with only specific topics. Look also with the System Monitor or top to see which process is using the most RAM.

[AnoushkaThakur]

I have done that as well, using the parameter Mem/BinDataKept = "False" has allowed rtabmap not to log more memory but it doesn't provide a 3D map. Here's a screenshot of top to see which process is taking most memory. When the parameter Mem/BinDataKept is set to true rtabmap takes up the entire ram in just two rounds of the world (back and forth) How can i map the entire world with an occupancy grid without rtabmap taking up the entire memory and crashing before proper completion ? Will it be possible to discuss some issues over a one-on-one?

[matlabbe]

With Mem/BinDataKept=False, the occupancy grid would still be created. What is the resolution of the camera? You can also set Mem/ImagePostDecimation>1 to reduce the resolution of the data kept in memory/database, while being able to show 3D cloud of the map.

[AnoushkaThakur]

With Mem/BinDataKept =False, I wasn't able to create the 3D occupancy grid since it showed that the point cloud was empty! (But using this parameter allowed for the database to be made with relatively lesser memory and RAM usage than when the parameter is kept True.). When kept True i was able to generate an 3D occupancy grid. my resolution is kept at 1920 width and 1080 height, should it be less?

[matlabbe]

1920x1080 is huge, modify your simulated environment to publish 640x480 images. Most default parameters are based on that resolution.

[AnoushkaThakur]

Thanks, this helped! Can you also guide in how i can use the Odom parameters in tuning ?

[matlabbe]

Well, it seems you are using odometry topic from gazebo, the Odom parameters won't affect anything.