{"action":"created","issue":{"url":"https://api.github.com/repos/introlab/rtabmap_ros/issues/248","repository_url":"https://api.github.com/repos/introlab/rtabmap_ros","labels_url":"https://api.github.com/repos/introlab/rtabmap_ros/issues/248/labels{/name}","comments_url":"https://api.github.com/repos/introlab/rtabmap_ros/issues/248/comments","events_url":"https://api.github.com/repos/introlab/rtabmap_ros/issues/248/events","html_url":"https://github.com/introlab/rtabmap_ros/issues/248","id":327994651,"node_id":"MDU6SXNzdWUzMjc5OTQ2NTE=","number":248,"title":"After update to version 0.17.2 cannot open rtabmap node","user":{"login":"ruifanwu","id":29444497,"node_id":"MDQ6VXNlcjI5NDQ0NDk3","avatar_url":"https://avatars1.githubusercontent.com/u/29444497?v=4","gravatar_id":"","url":"https://api.github.com/users/ruifanwu","html_url":"https://github.com/ruifanwu","followers_url":"https://api.github.com/users/ruifanwu/followers","following_url":"https://api.github.com/users/ruifanwu/following{/other_user}","gists_url":"https://api.github.com/users/ruifanwu/gists{/gist_id}","starred_url":"https://api.github.com/users/ruifanwu/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ruifanwu/subscriptions","organizations_url":"https://api.github.com/users/ruifanwu/orgs","repos_url":"https://api.github.com/users/ruifanwu/repos","events_url":"https://api.github.com/users/ruifanwu/events{/privacy}","received_events_url":"https://api.github.com/users/ruifanwu/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":2,"created_at":"2018-05-31T05:00:21Z","updated_at":"2018-05-31T15:53:36Z","closed_at":null,"author_association":"NONE","body":"Hi there,\r\n\r\nI just updated rtabmap_ros to 0.17.2. But I cannot open rtabmap node.\r\n\r\nI am using kinect v2, and when I do `roslaunch rgbd_mapping_kinect2.launch`. A warning popped out, there is no image in loop closure detection window. And there is no transform between map->odom. I checked the rosnode in rqt, there is no rtabmap node. Before the update, rtabmap_ros worked just fine. And I did not change anything before or after the update. The output of `roslaunch rgbd_mapping_kinect2.launch` is as follows:\r\n\r\n`administrator@jackal:~/catkin_ws/src/rtabmap_ros/launch$ roslaunch rgbd_mapping_kinect2.launch \r\n... logging to /home/administrator/.ros/log/6e9b35b4-648b-11e8-804c-9689319299bc/roslaunch-jackal-17725.log\r\nChecking log directory for disk usage. This may take awhile.\r\nPress Ctrl-C to interrupt\r\nDone checking log file disk usage. Usage is <1GB.\r\n\r\nstarted roslaunch server http://jackal:54827/\r\n\r\nSUMMARY\r\n========\r\n\r\nPARAMETERS\r\n * /rosdistro: indigo\r\n * /rosversion: 1.11.21\r\n * /rtabmap/rtabmap/GFTT/BlockSize: 5\r\n * /rtabmap/rtabmap/GFTT/MinDistance: 5\r\n * /rtabmap/rtabmap/approx_sync: False\r\n * /rtabmap/rtabmap/frame_id: kinect2_base_link\r\n * /rtabmap/rtabmap/subscribe_depth: True\r\n * /rtabmap/rtabmapviz/approx_sync: False\r\n * /rtabmap/rtabmapviz/frame_id: kinect2_base_link\r\n * /rtabmap/rtabmapviz/subscribe_depth: True\r\n * /rtabmap/rtabmapviz/subscribe_odom_info: True\r\n * /rtabmap/visual_odometry/GFTT/BlockSize: 5\r\n * /rtabmap/visual_odometry/GFTT/MinDistance: 5\r\n * /rtabmap/visual_odometry/approx_sync: False\r\n * /rtabmap/visual_odometry/frame_id: kinect2_base_link\r\n\r\nNODES\r\n  /rtabmap/\r\n    rtabmap (rtabmap_ros/rtabmap)\r\n    rtabmapviz (rtabmap_ros/rtabmapviz)\r\n    visual_odometry (rtabmap_ros/rgbd_odometry)\r\n  /\r\n    kinect2_base_link (tf/static_transform_publisher)\r\n\r\nROS_MASTER_URI=http://localhost:11311\r\n\r\ncore service [/rosout] found\r\nprocess[kinect2_base_link-1]: started with pid [17743]\r\nprocess[rtabmap/visual_odometry-2]: started with pid [17744]\r\nprocess[rtabmap/rtabmap-3]: started with pid [17755]\r\nprocess[rtabmap/rtabmapviz-4]: started with pid [17756]\r\n[ INFO] [1527742277.722655324]: Starting node...\r\n[ INFO] [1527742277.741481195]: Initializing nodelet with 4 worker threads.\r\n[ INFO] [1527742277.796478681]: Initializing nodelet with 4 worker threads.\r\n[ INFO] [1527742277.899716752]: Starting node...\r\n[ INFO] [1527742277.943456801]: /rtabmap/rtabmap(maps): map_filter_radius          = 0.000000\r\n[ INFO] [1527742277.943512932]: /rtabmap/rtabmap(maps): map_filter_angle           = 30.000000\r\n[ INFO] [1527742277.943541592]: /rtabmap/rtabmap(maps): map_cleanup                = true\r\n[ INFO] [1527742277.943563802]: /rtabmap/rtabmap(maps): map_negative_poses_ignored = true\r\n[ INFO] [1527742277.943597106]: /rtabmap/rtabmap(maps): map_negative_scan_ray_tracing = true\r\n[ INFO] [1527742277.943619661]: /rtabmap/rtabmap(maps): cloud_output_voxelized     = true\r\n[ INFO] [1527742277.943649957]: /rtabmap/rtabmap(maps): cloud_subtract_filtering   = false\r\n[ INFO] [1527742277.943672717]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2\r\n[ INFO] [1527742277.951186921]: /rtabmap/rtabmap(maps): octomap_tree_depth         = 16\r\n[ INFO] [1527742277.978310754]: rtabmap: frame_id      = kinect2_base_link\r\n[ INFO] [1527742277.978552817]: rtabmap: map_frame_id  = map\r\n[ INFO] [1527742277.978660749]: rtabmap: tf_delay      = 0.050000\r\n[ INFO] [1527742277.978757907]: rtabmap: tf_tolerance  = 0.100000\r\n[ INFO] [1527742277.978858492]: rtabmap: odom_sensor_sync   = false\r\n[ INFO] [1527742278.018282181]: rtabmapviz: Using configuration from \"/home/administrator/catkin_ws/src/rtabmap_ros/launch/config/rgbd_gui.ini\"\r\n[ INFO] [1527742278.043249601]: Odometry: frame_id               = kinect2_base_link\r\n[ INFO] [1527742278.043339764]: Odometry: odom_frame_id          = odom\r\n[ INFO] [1527742278.043393790]: Odometry: publish_tf             = true\r\n[ INFO] [1527742278.043440162]: Odometry: wait_for_transform     = true\r\n[ INFO] [1527742278.043515731]: Odometry: wait_for_transform_duration  = 0.100000\r\n[ INFO] [1527742278.043593393]: Odometry: initial_pose           = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000\r\n[ INFO] [1527742278.043667196]: Odometry: ground_truth_frame_id  = \r\n[ INFO] [1527742278.043718030]: Odometry: ground_truth_base_frame_id = kinect2_base_link\r\n[ INFO] [1527742278.043765262]: Odometry: config_path            = \r\n[ INFO] [1527742278.043811871]: Odometry: publish_null_when_lost = true\r\n[ INFO] [1527742278.043867365]: Odometry: guess_frame_id         = \r\n[ INFO] [1527742278.043915405]: Odometry: guess_min_translation  = 0.000000\r\n[ INFO] [1527742278.044003350]: Odometry: guess_min_rotation     = 0.000000\r\n[ INFO] [1527742278.075064173]: Setting RTAB-Map parameter \"GFTT/BlockSize\"=\"5\"\r\n[ INFO] [1527742278.079202368]: Setting RTAB-Map parameter \"GFTT/MinDistance\"=\"5\"\r\n[ INFO] [1527742278.098906075]: Setting odometry parameter \"GFTT/BlockSize\"=\"5\"\r\n[ INFO] [1527742278.102773860]: Setting odometry parameter \"GFTT/MinDistance\"=\"5\"\r\n[ INFO] [1527742278.360339440]: Setting RTAB-Map parameter \"Mem/IncrementalMemory\"=\"true\"\r\n[ INFO] [1527742278.361226102]: Setting RTAB-Map parameter \"Mem/InitWMWithAllNodes\"=\"false\"\r\n[ INFO] [1527742278.671406464]: RGBDOdometry: approx_sync    = false\r\n[ INFO] [1527742278.671445234]: RGBDOdometry: queue_size     = 5\r\n[ INFO] [1527742278.671481362]: RGBDOdometry: subscribe_rgbd = false\r\n[ INFO] [1527742278.671498565]: RGBDOdometry: rgbd_cameras   = 1\r\n[ INFO] [1527742278.697693735]: \r\n/rtabmap/visual_odometry subscribed to (exact sync):\r\n   /kinect2/qhd/image_color_rect,\r\n   /kinect2/qhd/image_depth_rect,\r\n   /kinect2/qhd/camera_info\r\n[ INFO] [1527742279.050477733]: Reading parameters from the ROS server...\r\n[ INFO] [1527742279.555517431]: Parameters read = 0\r\n[ INFO] [1527742279.840778860]: Odom: quality=0, std dev=99.995000m|99.995000rad, update time=0.051566s\r\n[ INFO] [1527742279.867456333]: /rtabmap/rtabmapviz: queue_size    = 10\r\n[ INFO] [1527742279.867506831]: /rtabmap/rtabmapviz: rgbd_cameras = 1\r\n[ INFO] [1527742279.867528270]: /rtabmap/rtabmapviz: approx_sync   = false\r\n[ INFO] [1527742279.867568972]: Setup depth callback\r\n[ INFO] [1527742279.996277275]: \r\n/rtabmap/rtabmapviz subscribed to (exact sync):\r\n   /rtabmap/odom,\r\n   /kinect2/qhd/image_color_rect,\r\n   /kinect2/qhd/image_depth_rect,\r\n   /kinect2/qhd/camera_info,\r\n   /rtabmap/odom_info\r\n[ INFO] [1527742279.996587030]: rtabmapviz started.\r\n[ INFO] [1527742280.066160587]: RTAB-Map detection rate = 1.000000 Hz\r\n[ INFO] [1527742280.066317514]: rtabmap: Deleted database \"/home/administrator/.ros/rtabmap.db\" (--delete_db_on_start or -d are set).\r\n[ INFO] [1527742280.066364166]: rtabmap: Using database from \"/home/administrator/.ros/rtabmap.db\" (0 MB).\r\n[ INFO] [1527742280.097927483]: Odom: quality=678, std dev=0.023980m|0.043821rad, update time=0.172774s\r\n[ INFO] [1527742280.185066527]: rtabmap: Database version = \"0.17.1\".\r\n[ INFO] [1527742280.244855928]: /rtabmap/rtabmap: queue_size    = 10\r\n[ INFO] [1527742280.244905189]: /rtabmap/rtabmap: rgbd_cameras = 1\r\n[ INFO] [1527742280.245017672]: /rtabmap/rtabmap: approx_sync   = false\r\n[ INFO] [1527742280.245159856]: Setup depth callback\r\n[ INFO] [1527742280.269036563]: Odom: quality=703, std dev=0.016887m|0.031018rad, update time=0.108691s\r\n[ INFO] [1527742280.297410071]: \r\n/rtabmap/rtabmap subscribed to (exact sync):\r\n   /rtabmap/odom,\r\n   /kinect2/qhd/image_color_rect,\r\n   /kinect2/qhd/image_depth_rect,\r\n   /kinect2/qhd/camera_info,\r\n   /rtabmap/odom_info\r\n[ INFO] [1527742280.311710001]: rtabmap 0.17.2 started...\r\n[ INFO] [1527742280.535264994]: Odom: quality=700, std dev=0.030802m|0.054012rad, update time=0.113628s\r\n[ INFO] [1527742280.716539102]: Odom: quality=685, std dev=0.013440m|0.024930rad, update time=0.121960s\r\n[ INFO] [1527742280.825918421]: Odom: quality=685, std dev=0.011229m|0.000032rad, update time=0.106650s\r\n[ INFO] [1527742281.036623222]: Odom: quality=697, std dev=0.020077m|0.046875rad, update time=0.098918s\r\n[ INFO] [1527742281.218089265]: Odom: quality=712, std dev=0.014399m|0.040663rad, update time=0.104841s\r\n[rtabmap/rtabmap-3] process has died [pid 17755, exit code -11, cmd /home/administrator/catkin_ws/devel/lib/rtabmap_ros/rtabmap --delete_db_on_start rgb/image:=/kinect2/qhd/image_color_rect depth/image:=/kinect2/qhd/image_depth_rect rgb/camera_info:=/kinect2/qhd/camera_info __name:=rtabmap __log:=/home/administrator/.ros/log/6e9b35b4-648b-11e8-804c-9689319299bc/rtabmap-rtabmap-3.log].\r\nlog file: /home/administrator/.ros/log/6e9b35b4-648b-11e8-804c-9689319299bc/rtabmap-rtabmap-3*.log\r\n[ INFO] [1527742281.514779944]: Odom: quality=701, std dev=0.011797m|0.000032rad, update time=0.118101s\r\n[ INFO] [1527742281.644237177]: Odom: quality=691, std dev=0.013655m|0.033069rad, update time=0.100385s\r\n[ INFO] [1527742281.819614221]: Odom: quality=715, std dev=0.010526m|0.000032rad, update time=0.105454s\r\n[ INFO] [1527742282.056783770]: Odom: quality=679, std dev=0.018841m|0.038257rad, update time=0.098143s\r\n^C[ INFO] [1527742282.415742842]: Odom: quality=701, std dev=0.010353m|0.000032rad, update time=0.099883s\r\n[rtabmap/rtabmapviz-4] killing on exit\r\n[ INFO] [1527742282.481752714]: rtabmapviz: ctrl-c catched! Exiting Qt app...\r\n[rtabmap/visual_odometry-2] killing on exit\r\n[kinect2_base_link-1] killing on exit\r\nshutting down processing monitor...\r\n... shutting down processing monitor complete\r\n`\r\n\r\n"},"comment":{"url":"https://api.github.com/repos/introlab/rtabmap_ros/issues/comments/393579167","html_url":"https://github.com/introlab/rtabmap_ros/issues/248#issuecomment-393579167","issue_url":"https://api.github.com/repos/introlab/rtabmap_ros/issues/248","id":393579167,"node_id":"MDEyOklzc3VlQ29tbWVudDM5MzU3OTE2Nw==","user":{"login":"ruifanwu","id":29444497,"node_id":"MDQ6VXNlcjI5NDQ0NDk3","avatar_url":"https://avatars1.githubusercontent.com/u/29444497?v=4","gravatar_id":"","url":"https://api.github.com/users/ruifanwu","html_url":"https://github.com/ruifanwu","followers_url":"https://api.github.com/users/ruifanwu/followers","following_url":"https://api.github.com/users/ruifanwu/following{/other_user}","gists_url":"https://api.github.com/users/ruifanwu/gists{/gist_id}","starred_url":"https://api.github.com/users/ruifanwu/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ruifanwu/subscriptions","organizations_url":"https://api.github.com/users/ruifanwu/orgs","repos_url":"https://api.github.com/users/ruifanwu/repos","events_url":"https://api.github.com/users/ruifanwu/events{/privacy}","received_events_url":"https://api.github.com/users/ruifanwu/received_events","type":"User","site_admin":false},"created_at":"2018-05-31T15:53:36Z","updated_at":"2018-05-31T15:53:36Z","author_association":"NONE","body":"Hi matlabbe,\r\nI just found in the output of launch command the `rtabmap: Database version = \"0.17.1\"`. Is this the cause of this problem? "}}
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