[rtabmap/rtabmapviz-3] process has died

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[rtabmap/rtabmapviz-3] process has died

Yuli
Dear Mathieu,
I reinstalled RTABMAP AND RTABMAP_ROS, but when running
rtabmap.launch
 
the following message kept showing and rtabmapviz wouldn't display

[rtabmap/rtabmapviz-3] process has died [pid 27636, exit code -11, cmd /home/acid/acid/catkin_ws/devel/lib/rtabmap_ros/rtabmapviz -d ~/.ros/rtabmap_gui.ini rgb/image:=/camera/rgb/image_rect_color depth/image:=/camera/depth/depth_registered rgb/camera_info:=/camera/rgb/camera_info rgbd_image:=rgbd_image left/image_rect:=/stereo_camera/left/image_rect_color right/image_rect:=/stereo_camera/right/image_rect left/camera_info:=/stereo_camera/left/camera_info right/camera_info:=/stereo_camera/right/camera_info scan:=/scan scan_cloud:=/scan_cloud odom:=odom __name:=rtabmapviz __log:=/home/acid/.ros/log/732ff450-5fec-11e8-a5d3-9cb6d064f041/rtabmap-rtabmapviz-3.log].
log file: /home/acid/.ros/log/732ff450-5fec-11e8-a5d3-9cb6d064f041/rtabmap-rtabmapviz-3*.log
^C[rtabmap/rtabmap-2] killing on exit



this is my cmake of RTABMAP and I think it's ok
, after I added sudo ldconfig, sometimes it worked
,but next run it would fail again! I am puzzled! Could you give me a hint. Thank you.


CMake Warning at CMakeLists.txt:180 (MESSAGE):
  PCL definitions contain "-march=native", make sure all libraries using
  Eigen are also compiled with that flag to avoid some segmentation faults
  (with gdb referring to some Eigen functions).


-- Found OpenMP
-- Found OpenCV: /opt/ros/kinetic/include/opencv-3.3.1-dev;/opt/ros/kinetic/include/opencv-3.3.1-dev/opencv
-- Found PCL: /usr/local/include/pcl-1.8;/usr/local/include/eigen3;/usr/include;/usr/include/ni;/usr/include/openni2;/usr/include/vtk-6.2;/usr/include/libxml2;/usr/lib/openmpi/include/openmpi/opal/mca/event/libevent2021/libevent;/usr/lib/openmpi/include/openmpi/opal/mca/event/libevent2021/libevent/include;/usr/lib/openmpi/include;/usr/lib/openmpi/include/openmpi;/usr/include/hdf5/openmpi;/usr/include/freetype2;/usr/include/x86_64-linux-gnu/freetype2;/usr/include/x86_64-linux-gnu;/usr/include/jsoncpp;/usr/include/tcl;/usr/include/python2.7
-- Found ZLIB: /usr/include
-- Found OpenNI2: /usr/include/openni2
-- Found DC1394: /usr/include/dc1394
-- Old g2o version detected with c++03 interface (config file: /opt/ros/kinetic/include/g2o/config.h).
-- Found g2o: /opt/ros/kinetic/include;/usr/include/suitesparse;/usr/include/suitesparse
-- GTSAM include directory:  /usr/local/lib/cmake/GTSAM/../../../include;/usr/include;/usr/local/include/gtsam/3rdparty/Eigen/
-- Found CUDA: /usr/local/cuda (found suitable exact version "9.1")
-- Found ZED sdk: /usr/local/zed/include
-- Found CUDA: /usr/local/cuda (found version "9.1")
-- Found CUDA: /usr/local/cuda/include
-- Found Pthreads
-- --------------------------------------------
-- Info :
--   Version : 0.17.1
--   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++11
--   PCL_DEFINITIONS =  -march=native -msse4.2 -mfpmath=sse ;-DDISABLE_ENSENSO;-DDISABLE_DAVIDSDK;-DDISABLE_DSSDK;-DDISABLE_PCAP;-DDISABLE_PNG;-DDISABLE_LIBUSB_1_0;-DFLANN_STATIC;-Dqh_QHpointer;-DDISABLE_RSSDK
--   With OpenCV 3 xfeatures2d module (SIFT/SURF/BRIEF/FREAK) = YES (License: Non commercial)
--   With Freenect             = NO (libfreenect not found)
--   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 dc1394               = YES (License: LGPL)
--   With FlyCapture2/Triclops = NO (Point Grey SDK not found)
--   With TORO                 = YES (License: Creative Commons [Attribution-NonCommercial-ShareAlike])
--   With g2o                  = YES (License: BSD)
--   With GTSAM                = YES (License: BSD)
--   With VERTIGO              = YES (License: GPLv3)
--   With cvsba                = NO (cvsba not found)
--   With libpointmatcher      = NO (libpointmatcher not found)
--   With ZED                  = YES (With CUDA)
--   With RealSense            = NO (librealsense not found)
--   With OCTOMAP              = NO (octomap not found)
--   With CPUTSDF              = NO (CPUTSDF not found)
--   With OpenChisel           = NO (open_chisel not found)
--   With libfovis             = NO (libfovis not found)
--   With libviso2             = NO (libviso2 not found)
--   With dvo_core             = NO (dvo_core not found)
--   With okvis                = NO (okvis not found)
--   With ORB_SLAM2            = NO (WITH_G2O should be OFF as ORB_SLAM2 uses its own g2o version)
--   With Qt5                  = YES (License: Open Source or Commercial)
-- --------------------------------------------
-- Configuring done
-- Generating done



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Re: [rtabmap/rtabmapviz-3] process has died

matlabbe
Administrator
Hi,

for the CMake warning "PCL definitions contain -march=native", are g2o and GTSAM built with -march=native too? You seem to use g2o binaries from kinetic, which are not built with -march=native. For GTSAM, add "-march=native" to GTSAM_CMAKE_CXX_FLAGS cmake option. For g2o, make sure BUILD_WITH_MARCH_NATIVE cmake option is true when building it from source (uninstall the kinetic binaries).

cheers,
Mathieu
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Re: [rtabmap/rtabmapviz-3] process has died

Yuli
Dear Mathieu
I built g2o from source, then when I cmake rtabmap
,it showed it couldn't find g2o in  /opt/ros/kinetic/include/.
I did make install g2o , but it's only installed in usr/local.

Thank you.


CMake Warning at CMakeLists.txt:180 (MESSAGE):
  PCL definitions contain "-march=native", make sure all libraries using
  Eigen are also compiled with that flag to avoid some segmentation faults
  (with gdb referring to some Eigen functions).


-- Found OpenMP
-- Found OpenCV: /opt/ros/kinetic/include/opencv-3.3.1-dev;/opt/ros/kinetic/include/opencv-3.3.1-dev/opencv
-- Found PCL: /usr/local/include/pcl-1.8;/usr/local/include/eigen3;/usr/include;/usr/include/ni;/usr/include/openni2;/usr/include/vtk-6.2;/usr/include/libxml2;/usr/lib/openmpi/include/openmpi/opal/mca/event/libevent2021/libevent;/usr/lib/openmpi/include/openmpi/opal/mca/event/libevent2021/libevent/include;/usr/lib/openmpi/include;/usr/lib/openmpi/include/openmpi;/usr/include/hdf5/openmpi;/usr/include/freetype2;/usr/include/x86_64-linux-gnu/freetype2;/usr/include/x86_64-linux-gnu;/usr/include/jsoncpp;/usr/include/tcl;/usr/include/python2.7
-- Found ZLIB: /usr/include
-- Found OpenNI2: /usr/include/openni2
-- Found DC1394: /usr/include/dc1394
CMake Error at cmake_modules/FindG2O.cmake:116 (FILE):
  file failed to open for reading (No such file or directory):

    /opt/ros/kinetic/include/g2o/config.h
Call Stack (most recent call first):
  CMakeLists.txt:299 (FIND_PACKAGE)
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Re: [rtabmap/rtabmapviz-3] process has died

matlabbe
Administrator
Make sure to remove the CMakeCache from rtabmap/build directory to reset dependency paths previously found.
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Re: [rtabmap/rtabmapviz-3] process has died

Yuli

Dear Mathieu,
Under g2o folder, I did
cmake  -DBUILD_WITH_MARCH_NATIVE=ON ../
but the same warning in rtabmap 0.17 still showed;
I tried to use rtabmap 0.16, but I didn't know how to
find a compatible rtabmap_ros.
Thank you for your patience.






CMake Warning at CMakeLists.txt:180 (MESSAGE):
  PCL definitions contain "-march=native", make sure all libraries using
  Eigen are also compiled with that flag to avoid some segmentation faults
  (with gdb referring to some Eigen functions).


-- Found OpenMP
-- Found OpenCV: /opt/ros/kinetic/include/opencv-3.3.1-dev;/opt/ros/kinetic/include/opencv-3.3.1-dev/opencv
-- Found PCL: /usr/local/include/pcl-1.8;/usr/local/include/eigen3;/usr/include;/usr/include/ni;/usr/include/openni2;/usr/include/vtk-6.2;/usr/include/libxml2;/usr/lib/openmpi/include/openmpi/opal/mca/event/libevent2021/libevent;/usr/lib/openmpi/include/openmpi/opal/mca/event/libevent2021/libevent/include;/usr/lib/openmpi/include;/usr/lib/openmpi/include/openmpi;/usr/include/hdf5/openmpi;/usr/include/freetype2;/usr/include/x86_64-linux-gnu/freetype2;/usr/include/x86_64-linux-gnu;/usr/include/jsoncpp;/usr/include/tcl;/usr/include/python2.7
-- Found ZLIB: /usr/include
-- Found Freenect: /usr/include
-- Found OpenNI2: /usr/include/openni2
-- Found DC1394: /usr/include/dc1394
CMake Warning at cmake_modules/FindG2O.cmake:122 (MESSAGE):
  Latest g2o version detected with c++11 interface (config file:
  /usr/local/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:299 (FIND_PACKAGE)


-- Found g2o: /usr/local/include;/usr/include/suitesparse;/usr/include/suitesparse
-- Found CUDA: /usr/local/cuda (found suitable exact version "9.1")
-- Found ZED sdk: /usr/local/zed/include
-- Found CUDA: /usr/local/cuda (found version "9.1")
-- Found CUDA: /usr/local/cuda/include
-- Found octomap 1.8.1: /opt/ros/kinetic/include
-- Found Pthreads
-- --------------------------------------------
-- Info :
--   Version : 0.17.1
--   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++11
--   PCL_DEFINITIONS =  -march=native -msse4.2 -mfpmath=sse ;-DDISABLE_ENSENSO;-DDISABLE_DAVIDSDK;-DDISABLE_DSSDK;-DDISABLE_PCAP;-DDISABLE_PNG;-DDISABLE_LIBUSB_1_0;-DFLANN_STATIC;-Dqh_QHpointer;-DDISABLE_RSSDK
--   With OpenCV 3 xfeatures2d module (SIFT/SURF/BRIEF/FREAK) = YES (License: Non commercial)
--   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 dc1394               = YES (License: LGPL)
--   With FlyCapture2/Triclops = NO (Point Grey SDK not found)
--   With TORO                 = YES (License: Creative Commons [Attribution-NonCommercial-ShareAlike])
--   With g2o                  = YES (License: BSD)
--   With GTSAM                = NO (GTSAM not found)
--   With VERTIGO              = YES (License: GPLv3)
--   With cvsba                = NO (cvsba not found)
--   With libpointmatcher      = NO (libpointmatcher not found)
--   With ZED                  = YES (With CUDA)
--   With RealSense            = NO (librealsense not found)
--   With OCTOMAP              = YES (License: BSD)
--   With CPUTSDF              = NO (CPUTSDF not found)
--   With OpenChisel           = NO (open_chisel not found)
--   With libfovis             = NO (libfovis not found)
--   With libviso2             = NO (libviso2 not found)
--   With dvo_core             = NO (dvo_core not found)
--   With okvis                = NO (okvis not found)
--   With ORB_SLAM2            = NO (WITH_G2O should be OFF as ORB_SLAM2 uses its own g2o version)
--   With Qt5                  = YES (License: Open Source or Commercial)
-- --------------------------------------------
-- Configuring done
-- Generating done
-- Build files have been written to: /home/acid/rtabmap/build
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Re: [rtabmap/rtabmapviz-3] process has died

Yuli
I recalled the working version of rtabmap on my computer
was 0.13, oneday I accidentally upgraded it and since then
rtabmapviz crashed soon after run.
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Re: [rtabmap/rtabmapviz-3] process has died

matlabbe
Administrator
Hi,

The master branches of rtabmap and rtabmap_ros are compatible.

The problem is that before PCL 1.8, they didn't build by default using "-march=native", so there was no problem as g2o and GTSAM are not built with it by default. To be simple, it would have been easier if you used PCL binaries coming with Ubuntu.

For your current configuration, try building rtabmap without g2o and gtsam support to see if it is really a "-march=native" problem:
$ cd rtabmap/build
$ cmake -DWITH_G2O=OFF -DWITH_GTSAM=OFF ..
$ make

Launch rtabmap:
$ cd ../bin
$ rtabmap

If it fails, launch with gdb and post the backtrace "bt" after the crash here:
$ gdb rtabmap
$ run
.... crash...
$ bt
... copy log

cheers,
Mathieu
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Re: [rtabmap/rtabmapviz-3] process has died

Yuli
Dear Mathieu,
I employed  libpcl-dev and everything back to normal again!!
thank you so much!