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shiva16 / rtabmap

Automatically exported from code.google.com/p/rtabmap
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A problem on "roslaunch rtabmap rgbd_mapping.launch" #7

Open GoogleCodeExporter opened 9 years ago

GoogleCodeExporter commented 9 years ago 
I use Ubuntu 12.10 and ROS Hydro to run your package following the steps in 
http://code.google.com/p/rtabmap/wiki/ROS. It works well for the installation 
of the RTAB library and ros package. However when I roslaunch rtabmap 
rgbd_mapping.launch, it shows
[rtabmap/rtabmapviz-4] process has died [pid 16293, exit code -4, cmd 
/home/rical/ros_kinect/devel/lib/rtabmap/rtabmapviz -d 
/home/rical/ros_kinect/src/rtabmap/launch/config/rgbd_gui.ini 
rgb/image:=/camera/rgb/image_rect_color 
depth/image:=/camera/depth_registered/image_raw 
rgb/camera_info:=/camera/depth_registered/camera_info odom:=/odom 
reset_odom:=/reset_odom __name:=rtabmapviz 
__log:=/home/rical/.ros/log/eb636964-b787-11e3-8b2d-58946b7e05e0/rtabmap-rtabmap
viz-4.log].
log file: 
/home/rical/.ros/log/eb636964-b787-11e3-8b2d-58946b7e05e0/rtabmap-rtabmapviz-4*.
log
[ WARN] [1396129772.079477317]: "base_link" passed to lookupTransform argument 
target_frame does not exist. 
[ WARN] [1396129772.087746415]: "base_link" passed to lookupTransform argument 
target_frame does not exist. 

There is no GUI showing as stated in 
https://code.google.com/p/rtabmap/wiki/KinectMapping.

You know I cannot show the registered RGBD image from kinect as stated in 
http://answers.ros.org/question/143871/no-register-data-from-kinect/.

Could you please help me fix the problem?

Original issue reported on code.google.com by xiangliu...@gmail.com on 29 Mar 2014 at 9:55

GoogleCodeExporter commented 9 years ago 
For the error above, rtabmapviz is the GUI. Normally, it should not crash... it 
uses OpenGL, maybe a problem with the video card driver. You can try also this 
launch file which uses rviz for visualization instead of rtabmapviz:
roslaunch rtabmap rgbd_mapping_rviz.launch
However, the 3D map contruction is not optimal.

Are you using a Kinect for Xbox 360? If yes you could try the standalone 
version (without ROS) which should be already installed in your catkin 
workspace (catkin_ws/devel/bin/rtabmap) and try this tutorial: 
https://code.google.com/p/rtabmap/wiki/KinectMapping

Original comment by matla...@gmail.com on 31 Mar 2014 at 2:35

GoogleCodeExporter commented 9 years ago 
Hi, thanks for your help. I re-install your package and would like to try 
again. but when I cmake the rtabmaplib on 
http://rtabmap.googlecode.com/svn/trunk/rtabmap, it shows that 
-- Found ZLIB: /usr/lib/i386-linux-gnu/libz.so (found version "1.2.7") 
-- Looking for Q_WS_X11
-- Looking for Q_WS_X11 - found
-- Looking for Q_WS_WIN
-- Looking for Q_WS_WIN - not found.
-- Looking for Q_WS_QWS
-- Looking for Q_WS_QWS - not found.
-- Looking for Q_WS_MAC
-- Looking for Q_WS_MAC - not found.
-- Found Qt4: /usr/bin/qmake (found version "4.8.3") 
-- Found Pthreads
-- --------------------------------------------
-- Info :
--   CMAKE_INSTALL_PREFIX = /home/rical/ros_kinect/devel
--   CMAKE_BUILD_TYPE = Release
--   BUILD_SHARED_LIBS = ON
-- --------------------------------------------
-- Configuring done
-- Generating done

Some other files missing.

Also, when I run RTAB-Map, following 
https://code.google.com/p/rtabmap/wiki/KinectMapping, only a logo (a '?' with a 
circle) appears and disappears in half a second.

Original comment by xiangliu...@gmail.com on 1 Apr 2014 at 9:57

GoogleCodeExporter commented 9 years ago 
Just to be sure, you do:
$ svn co http://rtabmap.googlecode.com/svn/trunk/rtabmap rtabmaplib
$ cd rtabmaplib/build
$ cmake ..
$ make
$ cd ../bin
$ ./rtabmap

and just the '?' icon appears? Is there a segmentation fault or something on 
the terminal? Maybe the ini file is corrupted, do:
$ rm ~/.rtabmap/rtabmap.ini
$ ./rtabmap

Original comment by matla...@gmail.com on 2 Apr 2014 at 7:35