catkin_make error in rtabmap_ros installation

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catkin_make error in rtabmap_ros installation

multinet
Hello,

I am trying to build rtabmap_ros using catkin_make following the instructions given here but I keep running into this error. it seems to be an opencv error to me but I have reinstalled opencv multiple times (with OPENCL=OFF as well) and have removed my build folder in catkin_ws as well and still I keep running into this error.

Kindly tell me what the solution to this problem is.

Regards

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Re: catkin_make error in rtabmap_ros installation

matlabbe
Administrator
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Re: catkin_make error in rtabmap_ros installation

multinet
Hello,
Thank you for replying. My system configuration is as follows;

Ubuntu 14.04
OpenCV 2.4.13
Ros-Inidigo

And I followed the instructions given here for installing RTABMap.

RTABMap itself was first working with opencv 3.1.0 following the hand-held mapping instructions but gave the rgbd-odometry error as shown.
With opencv 2.4.13.6, 2.4.9 and 2.4.13 it just gives the make -j4 error during installation.

I tried installing opencv with OpenCL turned off and then also changed the CMakeLists.txt file so it looks for OpenCV first then catkin_Libraries in include_directories and target_link_libraries functions.

Regards
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Re: catkin_make error in rtabmap_ros installation

multinet
Hello,

I tried it again with a fresh install of ros-indigo and catkin workspace with Opencv 2.4.9 using the steps here and it built fine. But during the step to update it to new version it gave the this error during
roscd rtabmap_ros 
roscd: No such package/stack 'rtabmap_ros'

When I went manually in the directory and used
git pull origin master
 it said it was up to date.
Then during
catkin_make --pkg rtabmap_ros
 it gave said
The specified source space "/opt/ros/src" does not exist



When I try running rtabmap it just gives
Segmentation fault (core dumped)


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Re: catkin_make error in rtabmap_ros installation

matlabbe
Administrator
Hi,

I don't think your catkin workspace is correctly configured (roscd should go in ~/catkin_ws/devel, not /opt/ros/src). See http://wiki.ros.org/catkin/Tutorials/create_a_workspace

The rtabmap_ros installation instructions assume (see step before 0 on this page) that your catkin_ws is correctly configured and that ~/catkin_ws/devel/setup.bash is sourced following the link above.

Can you try skipping step 1 of the installation instructions to make sure you can run rtabmap built from source using the default dependencies?

For the seg fault on rtabmap standalone, run it with gdb and output the crash log:
$ gdb rtabmap
... type "run"
... wait until crash
... type "bt"
... copy/paste the log on the forum

cheers,
Mathieu
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Re: catkin_make error in rtabmap_ros installation

multinet
when we are running rtabmap_ros then its giving the following error:



when running rtabmap itself its giving error for segmentation and when I open a new terminal and run roscd it goes to the ros/opt/indigo directory.

Thank you for your help.
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Re: catkin_make error in rtabmap_ros installation

matlabbe
Administrator
Hi you may have to start the nodes with gdb (see this page) to see more info. Can you also do ldd on rtabmap library to see any problems with the linker?
$ ldd /home/d4sys/catkin_ws/devel/lib/librtabmap_ros.so
(Please copy/paste the text, not a screenshot of the text)
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Re: catkin_make error in rtabmap_ros installation

multinet
Hi when starting roslaunch nodes with gdb:-
launch-prefix="stterm -g 200x60 -e gdb -ex run --args

Its giving no error.

I didnt use this because its giving the following error :-

launch-prefix=xterm -e gdb --args: command not found

When using ulimit -a its shows the following:-

core file size          (blocks, -c) 0
data seg size           (kbytes, -d) unlimited
scheduling priority             (-e) 0
file size               (blocks, -f) unlimited
pending signals                 (-i) 27262
max locked memory       (kbytes, -l) 64
max memory size         (kbytes, -m) unlimited
open files                      (-n) 1024
pipe size            (512 bytes, -p) 8
POSIX message queues     (bytes, -q) 819200
real-time priority              (-r) 0
stack size              (kbytes, -s) 8192
cpu time               (seconds, -t) unlimited
max user processes              (-u) 27262
virtual memory          (kbytes, -v) unlimited
file locks                      (-x) unlimited

d4sys@d4sys:~$ ulimit -c unlimited
d4sys@d4sys:~$ echo 1 > /proc/sys/kernel/core_uses_pid
bash: /proc/sys/kernel/core_uses_pid: Permission denied


d4sys@d4sys:~$ #!/bin/sh
d4sys@d4sys:~$ tmux new-window "gdb --args $*"
failed to connect to server

Also when using this command :-
echo 1 > /proc/sys/kernel/core_uses_pid

the following error comes up:
bash: /proc/sys/kernel/core_uses_pid: Permission denied


 
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Re: catkin_make error in rtabmap_ros installation

multinet
In reply to this post by matlabbe
It is giving the following output when running this command ;
$ ldd /home/d4sys/catkin_ws/devel/lib/librtabmap_ros.so

The following is what it shows :

linux-vdso.so.1 =>  (0x00007ffdd5fe5000)
        libtf.so => /opt/ros/indigo/lib/libtf.so (0x00007f874e72a000)
        libtf2_ros.so => /opt/ros/indigo/lib/libtf2_ros.so (0x00007f874e488000)
        libactionlib.so => /opt/ros/indigo/lib/libactionlib.so (0x00007f874e26b000)
        libmessage_filters.so => /opt/ros/indigo/lib/libmessage_filters.so (0x00007f874e066000)
        libroscpp.so => /opt/ros/indigo/lib/libroscpp.so (0x00007f874dd01000)
        libboost_filesystem.so.1.54.0 => /usr/lib/x86_64-linux-gnu/libboost_filesystem.so.1.54.0 (0x00007f874daeb000)
        librosconsole.so => /opt/ros/indigo/lib/librosconsole.so (0x00007f874d8bf000)
        libroscpp_serialization.so => /opt/ros/indigo/lib/libroscpp_serialization.so (0x00007f874d6bc000)
        librostime.so => /opt/ros/indigo/lib/librostime.so (0x00007f874d492000)
        libboost_system.so.1.54.0 => /usr/lib/x86_64-linux-gnu/libboost_system.so.1.54.0 (0x00007f874d28e000)
        libboost_thread.so.1.54.0 => /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.54.0 (0x00007f874d078000)
        libpthread.so.0 => /lib/x86_64-linux-gnu/libpthread.so.0 (0x00007f874ce5a000)
        libconsole_bridge.so.0.2 => /usr/lib/x86_64-linux-gnu/libconsole_bridge.so.0.2 (0x00007f874cc50000)
        libcostmap_2d.so => /opt/ros/indigo/lib/libcostmap_2d.so (0x00007f874c9bb000)
        liblaser_geometry.so => /opt/ros/indigo/lib/liblaser_geometry.so (0x00007f874c7a9000)
        libpcl_ros_tf.so => /opt/ros/indigo/lib/libpcl_ros_tf.so (0x00007f874c585000)
        libpcl_common.so.1.7 => /usr/lib/libpcl_common.so.1.7 (0x00007f874c2d1000)
        libpcl_filters.so.1.7 => /usr/lib/libpcl_filters.so.1.7 (0x00007f874b9f2000)
        libpcl_segmentation.so.1.7 => /usr/lib/libpcl_segmentation.so.1.7 (0x00007f874ae67000)
        libdynamic_reconfigure_config_init_mutex.so => /opt/ros/indigo/lib/libdynamic_reconfigure_config_init_mutex.so (0x00007f874ac61000)
        libnodeletlib.so => /opt/ros/indigo/lib/libnodeletlib.so (0x00007f874aa05000)
        libclass_loader.so => /opt/ros/indigo/lib/libclass_loader.so (0x00007f874a7e6000)
        libroslib.so => /opt/ros/indigo/lib/libroslib.so (0x00007f874a5d4000)
        libtinyxml.so.2.6.2 => /usr/lib/x86_64-linux-gnu/libtinyxml.so.2.6.2 (0x00007f874a3bf000)
        libcv_bridge.so => /opt/ros/indigo/lib/libcv_bridge.so (0x00007f874a19d000)
        libimage_transport.so => /opt/ros/indigo/lib/libimage_transport.so (0x00007f8749f27000)
        libtf_conversions.so => /opt/ros/indigo/lib/libtf_conversions.so (0x00007f8749d23000)
        libeigen_conversions.so => /opt/ros/indigo/lib/libeigen_conversions.so (0x00007f8749b1e000)
        libimage_geometry.so => /opt/ros/indigo/lib/libimage_geometry.so (0x00007f8749912000)
        libopencv_core.so.2.4 => /usr/local/lib/libopencv_core.so.2.4 (0x00007f8749477000)
        librtabmap_core.so.0.17 => /usr/local/lib/librtabmap_core.so.0.17 (0x00007f8748b70000)
        librtabmap_utilite.so.0.17 => /usr/local/lib/librtabmap_utilite.so.0.17 (0x00007f8748950000)
        libQtGui.so.4 => /usr/lib/x86_64-linux-gnu/libQtGui.so.4 (0x00007f8747c9d000)
        libQtCore.so.4 => /usr/lib/x86_64-linux-gnu/libQtCore.so.4 (0x00007f87477b8000)
        librviz.so => /opt/ros/indigo/lib/librviz.so (0x00007f874739e000)
        libOgreMain.so.1.8.1 => /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.8.1 (0x00007f8746cd1000)
        libdefault_plugin.so => /opt/ros/indigo/lib/libdefault_plugin.so (0x00007f8746619000)
        libstdc++.so.6 => /usr/lib/x86_64-linux-gnu/libstdc++.so.6 (0x00007f8746315000)
        libm.so.6 => /lib/x86_64-linux-gnu/libm.so.6 (0x00007f874600f000)
        libgcc_s.so.1 => /lib/x86_64-linux-gnu/libgcc_s.so.1 (0x00007f8745df9000)
        libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x00007f8745a30000)
        libtf2.so => /opt/ros/indigo/lib/libtf2.so (0x00007f87457fc000)
        libxmlrpcpp.so => /opt/ros/indigo/lib/libxmlrpcpp.so (0x00007f87455de000)
        libcpp_common.so => /opt/ros/indigo/lib/libcpp_common.so (0x00007f87453d6000)
        librosconsole_log4cxx.so => /opt/ros/indigo/lib/librosconsole_log4cxx.so (0x00007f87451c2000)
        librosconsole_backend_interface.so => /opt/ros/indigo/lib/librosconsole_backend_interface.so (0x00007f8744fc0000)
        liblog4cxx.so.10 => /usr/lib/liblog4cxx.so.10 (0x00007f8744bd8000)
        libboost_regex.so.1.54.0 => /usr/lib/x86_64-linux-gnu/libboost_regex.so.1.54.0 (0x00007f87448d1000)
        librt.so.1 => /lib/x86_64-linux-gnu/librt.so.1 (0x00007f87446c9000)
        /lib64/ld-linux-x86-64.so.2 (0x00007f875434c000)
        libgomp.so.1 => /usr/lib/x86_64-linux-gnu/libgomp.so.1 (0x00007f87444ba000)
        libpcl_sample_consensus.so.1.7 => /usr/lib/libpcl_sample_consensus.so.1.7 (0x00007f87438b9000)
        libpcl_search.so.1.7 => /usr/lib/libpcl_search.so.1.7 (0x00007f874350e000)
        libpcl_kdtree.so.1.7 => /usr/lib/libpcl_kdtree.so.1.7 (0x00007f87431e7000)
        libpcl_octree.so.1.7 => /usr/lib/libpcl_octree.so.1.7 (0x00007f8742dfa000)
        libbondcpp.so => /opt/ros/indigo/lib/libbondcpp.so (0x00007f8742bca000)
        libPocoFoundation.so.9 => /usr/lib/libPocoFoundation.so.9 (0x00007f874287a000)
        librospack.so => /opt/ros/indigo/lib/librospack.so (0x00007f874263a000)
        libopencv_imgproc.so.2.4 => /usr/local/lib/libopencv_imgproc.so.2.4 (0x00007f8742142000)
        libopencv_highgui.so.2.4 => /usr/local/lib/libopencv_highgui.so.2.4 (0x00007f8741eaa000)
        libopencv_contrib.so.2.4 => /usr/local/lib/libopencv_contrib.so.2.4 (0x00007f8741bb2000)
        libkdl_conversions.so => /opt/ros/indigo/lib/libkdl_conversions.so (0x00007f87419af000)
        liborocos-kdl.so.1.3 => /opt/ros/indigo/lib/liborocos-kdl.so.1.3 (0x00007f8741731000)
        libopencv_calib3d.so.2.4 => /usr/local/lib/libopencv_calib3d.so.2.4 (0x00007f8741491000)
        libz.so.1 => /lib/x86_64-linux-gnu/libz.so.1 (0x00007f8741278000)
        libGL.so.1 => /usr/lib/x86_64-linux-gnu/mesa/libGL.so.1 (0x00007f8741010000)
        libtbb.so.2 => /usr/lib/libtbb.so.2 (0x00007f8740ddc000)
        libOpenNI2.so.0 => /usr/lib/libOpenNI2.so.0 (0x00007f8740b81000)
        libpcl_io.so.1.7 => /usr/lib/libpcl_io.so.1.7 (0x00007f87406c9000)
        libpcl_surface.so.1.7 => /usr/lib/libpcl_surface.so.1.7 (0x00007f87400a6000)
        libpcl_features.so.1.7 => /usr/lib/libpcl_features.so.1.7 (0x00007f873e5a8000)
        libfreenect.so.0.2 => /usr/lib/x86_64-linux-gnu/libfreenect.so.0.2 (0x00007f873e39d000)
        libdc1394.so.22 => /usr/lib/x86_64-linux-gnu/libdc1394.so.22 (0x00007f873e129000)
        liboctomap.so.1.6 => /opt/ros/indigo/lib/liboctomap.so.1.6 (0x00007f873dee1000)
        liboctomath.so.1.6 => /opt/ros/indigo/lib/liboctomath.so.1.6 (0x00007f873dcdb000)
        libopencv_nonfree.so.2.4 => /usr/local/lib/libopencv_nonfree.so.2.4 (0x00007f873dabd000)
        libopencv_gpu.so.2.4 => /usr/local/lib/libopencv_gpu.so.2.4 (0x00007f873d872000)
        libopencv_video.so.2.4 => /usr/local/lib/libopencv_video.so.2.4 (0x00007f873d619000)
        libopencv_features2d.so.2.4 => /usr/local/lib/libopencv_features2d.so.2.4 (0x00007f873d369000)
        libvtkCommon.so.5.8 => /usr/lib/libvtkCommon.so.5.8 (0x00007f873cdf3000)
        libdl.so.2 => /lib/x86_64-linux-gnu/libdl.so.2 (0x00007f873cbef000)
        libfontconfig.so.1 => /usr/lib/x86_64-linux-gnu/libfontconfig.so.1 (0x00007f873c9b3000)
        libaudio.so.2 => /usr/lib/x86_64-linux-gnu/libaudio.so.2 (0x00007f873c79b000)
        libglib-2.0.so.0 => /lib/x86_64-linux-gnu/libglib-2.0.so.0 (0x00007f873c493000)
        libpng12.so.0 => /lib/x86_64-linux-gnu/libpng12.so.0 (0x00007f873c26d000)
        libfreetype.so.6 => /usr/lib/x86_64-linux-gnu/libfreetype.so.6 (0x00007f873bfca000)
        libgobject-2.0.so.0 => /usr/lib/x86_64-linux-gnu/libgobject-2.0.so.0 (0x00007f873bd79000)
        libSM.so.6 => /usr/lib/x86_64-linux-gnu/libSM.so.6 (0x00007f873bb71000)
        libICE.so.6 => /usr/lib/x86_64-linux-gnu/libICE.so.6 (0x00007f873b955000)
        libXi.so.6 => /usr/lib/x86_64-linux-gnu/libXi.so.6 (0x00007f873b745000)
        libXrender.so.1 => /usr/lib/x86_64-linux-gnu/libXrender.so.1 (0x00007f873b53b000)
        libXext.so.6 => /usr/lib/x86_64-linux-gnu/libXext.so.6 (0x00007f873b329000)
        libX11.so.6 => /usr/lib/x86_64-linux-gnu/libX11.so.6 (0x00007f873aff4000)
        libboost_program_options.so.1.54.0 => /usr/lib/x86_64-linux-gnu/libboost_program_options.so.1.54.0 (0x00007f873ad86000)
        libresource_retriever.so => /opt/ros/indigo/lib/libresource_retriever.so (0x00007f873ab80000)
        libassimp.so.3 => /usr/lib/libassimp.so.3 (0x00007f873a30a000)
        libyaml-cpp.so.0.5 => /usr/lib/x86_64-linux-gnu/libyaml-cpp.so.0.5 (0x00007f873a08a000)
        libXt.so.6 => /usr/lib/x86_64-linux-gnu/libXt.so.6 (0x00007f8739e24000)
        libXaw.so.7 => /usr/lib/x86_64-linux-gnu/libXaw.so.7 (0x00007f8739bb3000)
        libfreeimage.so.3 => /usr/lib/libfreeimage.so.3 (0x00007f873990b000)
        libzzip-0.so.13 => /usr/lib/x86_64-linux-gnu/libzzip-0.so.13 (0x00007f8739704000)
        libinteractive_markers.so => /opt/ros/indigo/lib/libinteractive_markers.so (0x00007f8739488000)
        liburdf.so => /opt/ros/indigo/lib/liburdf.so (0x00007f873925b000)
        liburdfdom_world.so.0.2 => /usr/lib/x86_64-linux-gnu/liburdfdom_world.so.0.2 (0x00007f873902e000)
        libaprutil-1.so.0 => /usr/lib/x86_64-linux-gnu/libaprutil-1.so.0 (0x00007f8738e07000)
        libapr-1.so.0 => /usr/lib/x86_64-linux-gnu/libapr-1.so.0 (0x00007f8738bd6000)
        libicuuc.so.52 => /usr/lib/x86_64-linux-gnu/libicuuc.so.52 (0x00007f873885d000)
        libicui18n.so.52 => /usr/lib/x86_64-linux-gnu/libicui18n.so.52 (0x00007f8738456000)
        libuuid.so.1 => /lib/x86_64-linux-gnu/libuuid.so.1 (0x00007f8738251000)
        libpcre.so.3 => /lib/x86_64-linux-gnu/libpcre.so.3 (0x00007f8738013000)
        libpython2.7.so.1.0 => /usr/lib/x86_64-linux-gnu/libpython2.7.so.1.0 (0x00007f8737aaf000)
        libjpeg.so.8 => /usr/lib/x86_64-linux-gnu/libjpeg.so.8 (0x00007f873785a000)
        libtiff.so.5 => /usr/lib/x86_64-linux-gnu/libtiff.so.5 (0x00007f87375e7000)
        libjasper.so.1 => /usr/lib/x86_64-linux-gnu/libjasper.so.1 (0x00007f873738f000)
        libIlmImf.so.6 => /usr/lib/x86_64-linux-gnu/libIlmImf.so.6 (0x00007f87370e0000)
        libHalf.so.6 => /usr/lib/x86_64-linux-gnu/libHalf.so.6 (0x00007f8736e9d000)
        libgstreamer-0.10.so.0 => /usr/lib/x86_64-linux-gnu/libgstreamer-0.10.so.0 (0x00007f8736bb3000)
        libgstapp-0.10.so.0 => /usr/lib/x86_64-linux-gnu/libgstapp-0.10.so.0 (0x00007f87369a7000)
        libgstvideo-0.10.so.0 => /usr/lib/x86_64-linux-gnu/libgstvideo-0.10.so.0 (0x00007f873678b000)
        libv4l1.so.0 => /usr/lib/x86_64-linux-gnu/libv4l1.so.0 (0x00007f8736585000)
        libavcodec.so.54 => /usr/lib/x86_64-linux-gnu/libavcodec.so.54 (0x00007f8735830000)
        libavformat.so.54 => /usr/lib/x86_64-linux-gnu/libavformat.so.54 (0x00007f873550e000)
        libavutil.so.52 => /usr/lib/x86_64-linux-gnu/libavutil.so.52 (0x00007f87352e9000)
        libswscale.so.2 => /usr/lib/x86_64-linux-gnu/libswscale.so.2 (0x00007f87350a2000)
        libQt5Test.so.5 => /usr/lib/x86_64-linux-gnu/libQt5Test.so.5 (0x00007f8734e79000)
        libQt5OpenGL.so.5 => /usr/lib/x86_64-linux-gnu/libQt5OpenGL.so.5 (0x00007f8734c15000)
        libQt5Widgets.so.5 => /usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5 (0x00007f87343ec000)
        libQt5Gui.so.5 => /usr/lib/x86_64-linux-gnu/libQt5Gui.so.5 (0x00007f8733d9f000)
        libQt5Core.so.5 => /usr/lib/x86_64-linux-gnu/libQt5Core.so.5 (0x00007f87336f9000)
        libopencv_ml.so.2.4 => /usr/local/lib/libopencv_ml.so.2.4 (0x00007f8733470000)
        libopencv_objdetect.so.2.4 => /usr/local/lib/libopencv_objdetect.so.2.4 (0x00007f87331eb000)
        libopencv_flann.so.2.4 => /usr/local/lib/libopencv_flann.so.2.4 (0x00007f8732f77000)
        libexpat.so.1 => /lib/x86_64-linux-gnu/libexpat.so.1 (0x00007f8732d4d000)
        libxcb-dri3.so.0 => /usr/lib/x86_64-linux-gnu/libxcb-dri3.so.0 (0x00007f8732b4a000)
        libxcb-present.so.0 => /usr/lib/x86_64-linux-gnu/libxcb-present.so.0 (0x00007f8732947000)
        libxcb-sync.so.1 => /usr/lib/x86_64-linux-gnu/libxcb-sync.so.1 (0x00007f8732741000)
        libxshmfence.so.1 => /usr/lib/x86_64-linux-gnu/libxshmfence.so.1 (0x00007f873253f000)
        libglapi.so.0 => /usr/lib/x86_64-linux-gnu/libglapi.so.0 (0x00007f8732311000)
        libXdamage.so.1 => /usr/lib/x86_64-linux-gnu/libXdamage.so.1 (0x00007f873210e000)
        libXfixes.so.3 => /usr/lib/x86_64-linux-gnu/libXfixes.so.3 (0x00007f8731f08000)
        libX11-xcb.so.1 => /usr/lib/x86_64-linux-gnu/libX11-xcb.so.1 (0x00007f8731d06000)
        libxcb-glx.so.0 => /usr/lib/x86_64-linux-gnu/libxcb-glx.so.0 (0x00007f8731aef000)
        libxcb-dri2.so.0 => /usr/lib/x86_64-linux-gnu/libxcb-dri2.so.0 (0x00007f87318ea000)
        libxcb.so.1 => /usr/lib/x86_64-linux-gnu/libxcb.so.1 (0x00007f87316cb000)
        libXxf86vm.so.1 => /usr/lib/x86_64-linux-gnu/libXxf86vm.so.1 (0x00007f87314c5000)
        libdrm.so.2 => /usr/lib/x86_64-linux-gnu/libdrm.so.2 (0x00007f87312b7000)
        libboost_iostreams.so.1.54.0 => /usr/lib/x86_64-linux-gnu/libboost_iostreams.so.1.54.0 (0x00007f873109e000)
        libboost_chrono.so.1.54.0 => /usr/lib/x86_64-linux-gnu/libboost_chrono.so.1.54.0 (0x00007f8730e97000)
        libpcl_io_ply.so.1.7 => /usr/lib/libpcl_io_ply.so.1.7 (0x00007f8730c48000)
        libvtkFiltering.so.5.8 => /usr/lib/libvtkFiltering.so.5.8 (0x00007f87306bf000)
        libvtkImaging.so.5.8 => /usr/lib/libvtkImaging.so.5.8 (0x00007f87300d2000)
        libvtkIO.so.5.8 => /usr/lib/libvtkIO.so.5.8 (0x00007f872f951000)
        libusb-1.0.so.0 => /lib/x86_64-linux-gnu/libusb-1.0.so.0 (0x00007f872f73a000)
        libOpenNI.so.0 => /usr/lib/libOpenNI.so.0 (0x00007f872f4c2000)
        libvtkGraphics.so.5.8 => /usr/lib/libvtkGraphics.so.5.8 (0x00007f872eb06000)
        libqhull.so.6 => /usr/lib/x86_64-linux-gnu/libqhull.so.6 (0x00007f872e8b0000)
        libraw1394.so.11 => /usr/lib/x86_64-linux-gnu/libraw1394.so.11 (0x00007f872e6a2000)
        libvtksys.so.5.8 => /usr/lib/libvtksys.so.5.8 (0x00007f872e466000)
        libXau.so.6 => /usr/lib/x86_64-linux-gnu/libXau.so.6 (0x00007f872e262000)
        libffi.so.6 => /usr/lib/x86_64-linux-gnu/libffi.so.6 (0x00007f872e05a000)
        libcurl.so.4 => /usr/lib/x86_64-linux-gnu/libcurl.so.4 (0x00007f872ddf3000)
        libXmu.so.6 => /usr/lib/x86_64-linux-gnu/libXmu.so.6 (0x00007f872dbda000)
        libXpm.so.4 => /usr/lib/x86_64-linux-gnu/libXpm.so.4 (0x00007f872d9c8000)
        libopenjpeg.so.2 => /usr/lib/x86_64-linux-gnu/libopenjpeg.so.2 (0x00007f872d7a6000)
        libIex.so.6 => /usr/lib/x86_64-linux-gnu/libIex.so.6 (0x00007f872d588000)
        libraw.so.9 => /usr/lib/x86_64-linux-gnu/libraw.so.9 (0x00007f872d2ef000)
        librosconsole_bridge.so => /opt/ros/indigo/lib/librosconsole_bridge.so (0x00007f872d0eb000)
        liburdfdom_model.so.0.2 => /usr/lib/x86_64-linux-gnu/liburdfdom_model.so.0.2 (0x00007f872cebe000)
        libcrypt.so.1 => /lib/x86_64-linux-gnu/libcrypt.so.1 (0x00007f872cc85000)
        libicudata.so.52 => /usr/lib/x86_64-linux-gnu/libicudata.so.52 (0x00007f872b418000)
        libutil.so.1 => /lib/x86_64-linux-gnu/libutil.so.1 (0x00007f872b215000)
        liblzma.so.5 => /lib/x86_64-linux-gnu/liblzma.so.5 (0x00007f872aff3000)
        libjbig.so.0 => /usr/lib/x86_64-linux-gnu/libjbig.so.0 (0x00007f872ade5000)
        libIlmThread.so.6 => /usr/lib/x86_64-linux-gnu/libIlmThread.so.6 (0x00007f872abdf000)
        libgmodule-2.0.so.0 => /usr/lib/x86_64-linux-gnu/libgmodule-2.0.so.0 (0x00007f872a9db000)
        libxml2.so.2 => /usr/lib/x86_64-linux-gnu/libxml2.so.2 (0x00007f872a674000)
        libgstbase-0.10.so.0 => /usr/lib/x86_64-linux-gnu/libgstbase-0.10.so.0 (0x00007f872a420000)
        liborc-0.4.so.0 => /usr/lib/x86_64-linux-gnu/liborc-0.4.so.0 (0x00007f872a19e000)
        libv4l2.so.0 => /usr/lib/x86_64-linux-gnu/libv4l2.so.0 (0x00007f8729f90000)
        libxvidcore.so.4 => /usr/lib/x86_64-linux-gnu/libxvidcore.so.4 (0x00007f8729c52000)
        libx264.so.142 => /usr/lib/x86_64-linux-gnu/libx264.so.142 (0x00007f87298bc000)
        libvpx.so.1 => /usr/lib/x86_64-linux-gnu/libvpx.so.1 (0x00007f87294dd000)
        libvorbisenc.so.2 => /usr/lib/x86_64-linux-gnu/libvorbisenc.so.2 (0x00007f872900e000)
        libvorbis.so.0 => /usr/lib/x86_64-linux-gnu/libvorbis.so.0 (0x00007f8728de1000)
        libtheoraenc.so.1 => /usr/lib/x86_64-linux-gnu/libtheoraenc.so.1 (0x00007f8728ba1000)
        libtheoradec.so.1 => /usr/lib/x86_64-linux-gnu/libtheoradec.so.1 (0x00007f8728988000)
        libspeex.so.1 => /usr/lib/x86_64-linux-gnu/libspeex.so.1 (0x00007f872876f000)
        libschroedinger-1.0.so.0 => /usr/lib/x86_64-linux-gnu/libschroedinger-1.0.so.0 (0x00007f87284ab000)
        libopus.so.0 => /usr/lib/x86_64-linux-gnu/libopus.so.0 (0x00007f8728263000)
        libmp3lame.so.0 => /usr/lib/x86_64-linux-gnu/libmp3lame.so.0 (0x00007f8727fd6000)
        libgsm.so.1 => /usr/lib/x86_64-linux-gnu/libgsm.so.1 (0x00007f8727dc8000)
        libva.so.1 => /usr/lib/x86_64-linux-gnu/libva.so.1 (0x00007f8727bb2000)
        librtmp.so.0 => /usr/lib/x86_64-linux-gnu/librtmp.so.0 (0x00007f8727998000)
        libgnutls.so.26 => /usr/lib/x86_64-linux-gnu/libgnutls.so.26 (0x00007f87276d9000)
        libbz2.so.1.0 => /lib/x86_64-linux-gnu/libbz2.so.1.0 (0x00007f87274c9000)
        libharfbuzz.so.0 => /usr/lib/x86_64-linux-gnu/libharfbuzz.so.0 (0x00007f8727274000)
        libXdmcp.so.6 => /usr/lib/x86_64-linux-gnu/libXdmcp.so.6 (0x00007f872706e000)
        libpq.so.5 => /usr/lib/libpq.so.5 (0x00007f8726e3f000)
        libmysqlclient.so.18 => /usr/lib/x86_64-linux-gnu/libmysqlclient.so.18 (0x00007f8726906000)
        libvtkDICOMParser.so.5.8 => /usr/lib/libvtkDICOMParser.so.5.8 (0x00007f87266ed000)
        libnetcdf.so.7 => /usr/lib/libnetcdf.so.7 (0x00007f87263b0000)
        libnetcdf_c++.so.4 => /usr/lib/libnetcdf_c++.so.4 (0x00007f8726193000)
        libvtkmetaio.so.5.8 => /usr/lib/libvtkmetaio.so.5.8 (0x00007f8725f06000)
        libsqlite3.so.0 => /usr/lib/x86_64-linux-gnu/libsqlite3.so.0 (0x00007f8725c4d000)
        libudev.so.1 => /lib/x86_64-linux-gnu/libudev.so.1 (0x00007f8725a3c000)
        libvtkverdict.so.5.8 => /usr/lib/libvtkverdict.so.5.8 (0x00007f8725806000)
        libidn.so.11 => /usr/lib/x86_64-linux-gnu/libidn.so.11 (0x00007f87255d3000)
        libssl.so.1.0.0 => /lib/x86_64-linux-gnu/libssl.so.1.0.0 (0x00007f8725374000)
        libcrypto.so.1.0.0 => /lib/x86_64-linux-gnu/libcrypto.so.1.0.0 (0x00007f8724f98000)
        libgssapi_krb5.so.2 => /usr/lib/x86_64-linux-gnu/libgssapi_krb5.so.2 (0x00007f8724d51000)
        liblber-2.4.so.2 => /usr/lib/x86_64-linux-gnu/liblber-2.4.so.2 (0x00007f8724b42000)
        libldap_r-2.4.so.2 => /usr/lib/x86_64-linux-gnu/libldap_r-2.4.so.2 (0x00007f87248f1000)
        liblcms2.so.2 => /usr/lib/x86_64-linux-gnu/liblcms2.so.2 (0x00007f872469c000)
        libv4lconvert.so.0 => /usr/lib/x86_64-linux-gnu/libv4lconvert.so.0 (0x00007f8724423000)
        libogg.so.0 => /usr/lib/x86_64-linux-gnu/libogg.so.0 (0x00007f872421a000)
        libgcrypt.so.11 => /lib/x86_64-linux-gnu/libgcrypt.so.11 (0x00007f8723f9a000)
        libtasn1.so.6 => /usr/lib/x86_64-linux-gnu/libtasn1.so.6 (0x00007f8723d86000)
        libp11-kit.so.0 => /usr/lib/x86_64-linux-gnu/libp11-kit.so.0 (0x00007f8723b44000)
        libgraphite2.so.3 => /usr/lib/x86_64-linux-gnu/libgraphite2.so.3 (0x00007f872391d000)
        libkrb5.so.3 => /usr/lib/x86_64-linux-gnu/libkrb5.so.3 (0x00007f8723652000)
        libcom_err.so.2 => /lib/x86_64-linux-gnu/libcom_err.so.2 (0x00007f872344e000)
        libhdf5_hl.so.7 => /usr/lib/x86_64-linux-gnu/libhdf5_hl.so.7 (0x00007f872321e000)
        libhdf5.so.7 => /usr/lib/x86_64-linux-gnu/libhdf5.so.7 (0x00007f8722d82000)
        libcurl-gnutls.so.4 => /usr/lib/x86_64-linux-gnu/libcurl-gnutls.so.4 (0x00007f8722b20000)
        libcgmanager.so.0 => /lib/x86_64-linux-gnu/libcgmanager.so.0 (0x00007f8722905000)
        libnih.so.1 => /lib/x86_64-linux-gnu/libnih.so.1 (0x00007f87226ed000)
        libnih-dbus.so.1 => /lib/x86_64-linux-gnu/libnih-dbus.so.1 (0x00007f87224e3000)
        libdbus-1.so.3 => /lib/x86_64-linux-gnu/libdbus-1.so.3 (0x00007f872229e000)
        libk5crypto.so.3 => /usr/lib/x86_64-linux-gnu/libk5crypto.so.3 (0x00007f872206f000)
        libkrb5support.so.0 => /usr/lib/x86_64-linux-gnu/libkrb5support.so.0 (0x00007f8721e64000)
        libresolv.so.2 => /lib/x86_64-linux-gnu/libresolv.so.2 (0x00007f8721c49000)
        libsasl2.so.2 => /usr/lib/x86_64-linux-gnu/libsasl2.so.2 (0x00007f8721a2e000)
        libgssapi.so.3 => /usr/lib/x86_64-linux-gnu/libgssapi.so.3 (0x00007f87217f0000)
        libgpg-error.so.0 => /lib/x86_64-linux-gnu/libgpg-error.so.0 (0x00007f87215eb000)
        libkeyutils.so.1 => /lib/x86_64-linux-gnu/libkeyutils.so.1 (0x00007f87213e7000)
        libheimntlm.so.0 => /usr/lib/x86_64-linux-gnu/libheimntlm.so.0 (0x00007f87211de000)
        libkrb5.so.26 => /usr/lib/x86_64-linux-gnu/libkrb5.so.26 (0x00007f8720f56000)
        libasn1.so.8 => /usr/lib/x86_64-linux-gnu/libasn1.so.8 (0x00007f8720cb5000)
        libhcrypto.so.4 => /usr/lib/x86_64-linux-gnu/libhcrypto.so.4 (0x00007f8720a82000)
        libroken.so.18 => /usr/lib/x86_64-linux-gnu/libroken.so.18 (0x00007f872086d000)
        libwind.so.0 => /usr/lib/x86_64-linux-gnu/libwind.so.0 (0x00007f8720644000)
        libheimbase.so.1 => /usr/lib/x86_64-linux-gnu/libheimbase.so.1 (0x00007f8720436000)
        libhx509.so.5 => /usr/lib/x86_64-linux-gnu/libhx509.so.5 (0x00007f87201ed000)
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Re: catkin_make error in rtabmap_ros installation

multinet
i have started a new topic here because the questions are not deviating from this topic.
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Re: catkin_make error in rtabmap_ros installation

matlabbe
Administrator

The only thing I see is that you are using a local version of opencv, while rtabmap_ros is linking on cv_bridge installed by indigo, which links on opencv installed with indigo.

For gdb, it more the backtrace information that is useful. When launching rtabmap like this:
$ roslaunch rtabmap_ros rtabmap.launch launch_prefix:="xterm -e gdb --args"
Type "run" in each terminal like this:


Type "bt" when it crashes, copy/paste the log here.
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Re: catkin_make error in rtabmap_ros installation

multinet
We tried the whole process and it worked on kinetic version of ubuntu 16.04, it gaved lots of error on ubuntu 14.04. but with this it was much easier and atlast its working fine on rviz as well. no odometry issue. can u please update the github file so that its not confusing. no core dumped issue and no Odometry issue.
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Re: catkin_make error in rtabmap_ros installation

matlabbe
Administrator
Which is exactly the problematic step for Indigo on this page?

I followed the steps from a fresh ros indigo using docker:

$ docker pull ros:indigo-perception
$ docker run -it ros:indigo-perception
# cd
# apt-get update
# sudo apt-get install ros-indigo-rtabmap ros-indigo-rtabmap-ros
# sudo apt-get remove ros-indigo-rtabmap ros-indigo-rtabmap-ros
# git clone https://github.com/introlab/rtabmap.git rtabmap
# cd rtabmap/build
# cmake ..
# make install

// The following would be already done if you setup the ros workspace
# mkdir catkin_ws
# cd catkin_ws
# mkdir src
# cd src
# catkin_init_workspace

# cd ~/catkin_ws
# git clone https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros
# catkin_make

// test without ui (cannot run gui app out-of-the-box using docker)
# roslaunch rtabmap_ros rtabmap.launch rtabmapviz:=false

// no errors...

Also tried launching freenect_launch with rviz on client computer (not in docker) to feed RGB-D images to rtabmap_ros running in docker and to visualize, and it worked fine.

Second installation approach with custom opencv installation (step 1), from the docker state above:
# cd
# git clone https://github.com/opencv/opencv.git
# cd opencv
# git checkout 2.4.11
# mkdir build
# cd build
# cmake -DBUILD_TESTS=OFF -DBUILD_PERF_TESTS=OFF -DBUILD_EXAMPLES=OFF ..
# make
# make install

// rebuild rtabmap and rtabmap_ros, make sure to clean build directories to reset cmake cache
# rm -rf ~/rtabmap/build/*
# rm -rf ~/catkin_ws/build/*
# cd ~/rtabmap/build
# cmake ..
# make 
# make install

# cd ~/catkin_ws
# catkin_make

// test
# roslaunch rtabmap_ros rtabmap.launch rtabmapviz:=false

Still no problems launching rtabmap nodes...