{"action":"created","issue":{"url":"https://api.github.com/repos/introlab/rtabmap/issues/129","repository_url":"https://api.github.com/repos/introlab/rtabmap","labels_url":"https://api.github.com/repos/introlab/rtabmap/issues/129/labels{/name}","comments_url":"https://api.github.com/repos/introlab/rtabmap/issues/129/comments","events_url":"https://api.github.com/repos/introlab/rtabmap/issues/129/events","html_url":"https://github.com/introlab/rtabmap/issues/129","id":183292862,"number":129,"title":"Segmentation fault rtabmap, process exits -11 rtabmap_ros","user":{"login":"chiragmajithia","id":17626550,"avatar_url":"https://avatars.githubusercontent.com/u/17626550?v=3","gravatar_id":"","url":"https://api.github.com/users/chiragmajithia","html_url":"https://github.com/chiragmajithia","followers_url":"https://api.github.com/users/chiragmajithia/followers","following_url":"https://api.github.com/users/chiragmajithia/following{/other_user}","gists_url":"https://api.github.com/users/chiragmajithia/gists{/gist_id}","starred_url":"https://api.github.com/users/chiragmajithia/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/chiragmajithia/subscriptions","organizations_url":"https://api.github.com/users/chiragmajithia/orgs","repos_url":"https://api.github.com/users/chiragmajithia/repos","events_url":"https://api.github.com/users/chiragmajithia/events{/privacy}","received_events_url":"https://api.github.com/users/chiragmajithia/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":8,"created_at":"2016-10-16T21:26:51Z","updated_at":"2016-10-17T02:16:27Z","closed_at":null,"body":"Hello,\r\nI am new to linux and ros in general. I am trying to install rtabmap and rtabmap_ros on my laptop. I used the [source](https://github.com/introlab/rtabmap) to install rtabmap library and stand-alone application. Then I installed rtabmap_ros in a catkin workspace named slam and followed the instruction - I guess properly - to install rtabmap in the workspace/devel folder.\r\nEverything compiled but when I ran the rtabmap_ros with Intel R200, the process died with exit code -11. After reading posts on the [forum](http://official-rtab-map-forum.67519.x6.nabble.com/Rtabmap-error-in-process-rtabmap-rgbd-odometry-1-ubuntu-on-raspberry-pi-td444.html), I tried to run rtabmap standalone application. I was able to set database and select sensor, but as soon as I clicked start, the application crashed with segmentation fault (core dumped).\r\nThen, tried installing new vtk - as during cmake of rtabmap it showed this warning: \r\n```\r\n\r\n> The imported target \"vtkRenderingPythonTkWidgets\" references the file\r\n>    \"/usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so\"\r\n> but this file does not exist.  Possible reasons include:\r\n> * The file was deleted, renamed, or moved to another location.\r\n> * An install or uninstall procedure did not complete successfully.\r\n> * The installation package was faulty and contained\r\n>    \"/usr/lib/cmake/vtk-6.2/VTKTargets.cmake\"\r\n> but not all the files it references.` \r\n\r\nHence, I found out that this belongs to python-vtk and I installed [this](http://packages.ubuntu.com/search?suite=xenial&arch=amd64&mode=exactfilename&searchon=contents&keywords=libvtkRenderingPythonTkWidgets.so). \r\nAfter this installation, the cmake warning stopped and finally I get this when I do cmake ..\r\n\r\n> `chirag@thunderbolt:~/vision/rtabmap/build$ cmake ..\r\n> -- Found OpenMP\r\n> -- Found OpenCV: /opt/ros/kinetic/include/opencv;/opt/ros/kinetic/include\r\n> -- Found PCL: /usr/local/include/pcl-1.8;/usr/local/include/eigen3;/usr/include;/usr/include/ni;/usr/include/openni2;/opt/ensenso/development/c/include;/usr/local/include/davidSDK;/usr/local/include/vtk-7.0\r\n> -- Found ZLIB: /usr/include\r\n> -- Found OpenNI2: /usr/include/openni2\r\n> -- Found DC1394: /usr/include/dc1394\r\n> -- Could NOT find CSPARSE (missing:  CSPARSE_INCLUDE_DIR CSPARSE_LIBRARY) \r\n> -- GTSAM include directory:  /usr/local/lib/cmake/GTSAM/../../../include;/usr/include;/usr/local/include/gtsam/3rdparty/Eigen/\r\n> -- Found cvsba: /usr/local/include\r\n> -- Found RealSense: /opt/ros/kinetic/include\r\n> -- Found octomap: /opt/ros/kinetic/include\r\n> -- Found Pthreads\r\n> -- --------------------------------------------\r\n> -- Info :\r\n> --   Version : 0.11.11\r\n> --   CMAKE_INSTALL_PREFIX = /usr/local\r\n> --   CMAKE_BUILD_TYPE =     Debug\r\n> --   CMAKE_INSTALL_LIBDIR = lib\r\n> --   BUILD_APP =            ON\r\n> --   BUILD_TOOLS =          ON\r\n> --   BUILD_EXAMPLES =       ON\r\n> --   BUILD_SHARED_LIBS =    ON\r\n> --   CMAKE_CXX_FLAGS =  -fmessage-length=0  -fopenmp -std=c++11\r\n> --   With OpenCV 2 nonfree module (SIFT/SURF) = NO (not found, License: BSD)\r\n> --   With Freenect             = NO (libfreenect not found)\r\n> --   With OpenNI2              = YES (License: Apache v2)\r\n> --   With Freenect2            = NO (libfreenect2 not found)\r\n> --   With dc1394               = YES (License: LGPL)\r\n> --   With FlyCapture2/Triclops = NO (Point Grey SDK not found)\r\n> --   With TORO                 = YES (License: Creative Commons [Attribution-NonCommercial-ShareAlike])\r\n> --   With g2o                  = NO (g2o not found)\r\n> --   With GTSAM                = YES (License: BSD)\r\n> --   With VERTIGO              = YES (License: GPLv3)\r\n> --   With cvsba                = YES (License: GPLv2)\r\n> --   With ZED                  = NO (ZED sdk not found)\r\n> --   With RealSense            = YES (License: Apache-2)\r\n> --   With OCTOMAP              = YES (License: BSD)\r\n> --   With Qt5                  = YES (License: Open Source or Commercial)\r\n> -- --------------------------------------------\r\n> -- Configuring done\r\n> -- Generating done\r\n> -- Build files have been written to: /home/chirag/vision/rtabmap/build\r\n> \r\n\r\n```\r\nBut now when I compile rtabmap, I receive following error and I am not able to revert the changes.\r\n\r\n```\r\n\r\n> `[  7%] Linking CXX shared library ../../../bin/librtabmap_cored.so\r\n> /usr/bin/ld: cannot find -lvtkftgl\r\n> /usr/bin/ld: cannot find -lvtkIOFFMPEG\r\n> /usr/bin/ld: cannot find -lvtkIOParallelNetCDF\r\n> /usr/bin/ld: cannot find -lvtkParallelMPI\r\n> /usr/bin/ld: cannot find -lvtkFiltersParallelGeometry\r\n> /usr/bin/ld: cannot find -lvtkIOMPIImage\r\n> /usr/bin/ld: cannot find -lvtkGUISupportQtWebkit\r\n> /usr/bin/ld: cannot find -lvtkViewsQt\r\n> /usr/bin/ld: cannot find -lvtkGUISupportQt\r\n> /usr/bin/ld: cannot find -lvtkRenderingOpenGL\r\n> /usr/bin/ld: cannot find -lvtkViewsGeovis\r\n> /usr/bin/ld: cannot find -lvtkTestingIOSQL\r\n> /usr/bin/ld: cannot find -lvtkIOMySQL\r\n> /usr/bin/ld: cannot find -lvtkIOMPIParallel\r\n> /usr/bin/ld: cannot find -lvtkIOXdmf2\r\n> /usr/bin/ld: cannot find -lvtkxdmf2\r\n> /usr/bin/ld: cannot find -lvtkRenderingFreeTypeOpenGL\r\n> /usr/bin/ld: cannot find -lvtkRenderingGL2PS\r\n> /usr/bin/ld: cannot find -lvtkRenderingContextOpenGL\r\n> /usr/bin/ld: cannot find -lvtkTestingRendering\r\n> /usr/bin/ld: cannot find -lvtkIOVPIC\r\n> /usr/bin/ld: cannot find -lVPIC\r\n> /usr/bin/ld: cannot find -lvtkIOPostgreSQL\r\n> /usr/bin/ld: cannot find -lvtkFiltersReebGraph\r\n> /usr/bin/ld: cannot find -lvtkRenderingVolumeOpenGL\r\n> /usr/bin/ld: cannot find -lvtkRenderingMatplotlib\r\n> /usr/bin/ld: cannot find -lvtkPythonInterpreter\r\n> /usr/bin/ld: cannot find -lvtkWrappingPythonCore\r\n> /usr/bin/ld: cannot find -lvtkWrappingTools\r\n> /usr/bin/ld: cannot find -lvtkRenderingQt\r\n> /usr/bin/ld: cannot find -lvtkIOParallelExodus\r\n> /usr/bin/ld: cannot find -lvtkIOGDAL\r\n> /usr/bin/ld: cannot find -lvtkGUISupportQtOpenGL\r\n> /usr/bin/ld: cannot find -lvtkIOGeoJSON\r\n> /usr/bin/ld: cannot find -lvtkFiltersPython\r\n> /usr/bin/ld: cannot find -lvtkIOODBC\r\n> /usr/bin/ld: cannot find -lvtkLocalExample\r\n> /usr/bin/ld: cannot find -lvtkFiltersParallelStatistics\r\n> /usr/bin/ld: cannot find -lvtkFiltersParallelFlowPaths\r\n> /usr/bin/ld: cannot find -lvtkRenderingParallel\r\n> /usr/bin/ld: cannot find -lvtkRenderingExternal\r\n> /usr/bin/ld: cannot find -lvtkRenderingParallelLIC\r\n> /usr/bin/ld: cannot find -lvtkRenderingLIC\r\n> /usr/bin/ld: cannot find -lvtkInfovisBoostGraphAlgorithms\r\n> /usr/bin/ld: cannot find -lvtkTestingGenericBridge\r\n> /usr/bin/ld: cannot find -lvtkFiltersParallelMPI\r\n> /usr/bin/ld: cannot find -lvtkParallelMPI4Py\r\n> /usr/bin/ld: cannot find -lvtkRenderingFreeTypeFontConfig\r\n> /usr/bin/ld: cannot find -lvtkGUISupportQtSQL\r\n> /usr/bin/ld: cannot find -lvtkWrappingJava\r\n> /usr/bin/ld: cannot find -lvtkIOParallelLSDyna\r\n> collect2: error: ld returned 1 exit status\r\n> corelib/src/CMakeFiles/rtabmap_core.dir/build.make:2152: recipe for target '../bin/librtabmap_cored.so.0.11.11' failed\r\n> make[2]: *** [../bin/librtabmap_cored.so.0.11.11] Error 1\r\n> CMakeFiles/Makefile2:267: recipe for target 'corelib/src/CMakeFiles/rtabmap_core.dir/all' failed\r\n> make[1]: *** [corelib/src/CMakeFiles/rtabmap_core.dir/all] Error 2\r\n> Makefile:149: recipe for target 'all' failed\r\n> make: *** [all] Error 2\r\n\r\n```\r\n/`\r\nCould anyone please guide me on how to get this running.\r\nThanks,\r\nChirag"},"comment":{"url":"https://api.github.com/repos/introlab/rtabmap/issues/comments/254097201","html_url":"https://github.com/introlab/rtabmap/issues/129#issuecomment-254097201","issue_url":"https://api.github.com/repos/introlab/rtabmap/issues/129","id":254097201,"user":{"login":"matlabbe","id":2319645,"avatar_url":"https://avatars.githubusercontent.com/u/2319645?v=3","gravatar_id":"","url":"https://api.github.com/users/matlabbe","html_url":"https://github.com/matlabbe","followers_url":"https://api.github.com/users/matlabbe/followers","following_url":"https://api.github.com/users/matlabbe/following{/other_user}","gists_url":"https://api.github.com/users/matlabbe/gists{/gist_id}","starred_url":"https://api.github.com/users/matlabbe/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/matlabbe/subscriptions","organizations_url":"https://api.github.com/users/matlabbe/orgs","repos_url":"https://api.github.com/users/matlabbe/repos","events_url":"https://api.github.com/users/matlabbe/events{/privacy}","received_events_url":"https://api.github.com/users/matlabbe/received_events","type":"User","site_admin":false},"created_at":"2016-10-17T02:16:27Z","updated_at":"2016-10-17T02:16:27Z","body":"I updated the comment, it should work with PCL >=1.7. "}}
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