Online Octomapping Causing RGBDSLAM Application Rrash

[jacksonkr]

Issue

When Online Octomapping is enabled at app start, the app crashes on image process. The workaround is to launch RGBDSLAM without drivers and disable Online Octomapping. Online Octomapping works fine if the user waits to enable it until after some point cloud information has been processed first.

Setup

$ lsb_release -a
No LSB modules are available.
Distributor ID: Ubuntu
Description:    Ubuntu 14.04.3 LTS
Release:    14.04
Codename:   trusty

$ rosversion -d
indigo

App Init

terminal A $ roslaunch freenect_launch freenect.launch

terminal B $ roslaunch rgbdslam rgbdslam.launch

Steps to Reproduce

• Start Application
• Begin processing
• Enable Online Octomapping
• Close application
• Start application
• Application crashes immediately

Crash Info

from terminal B

$ roslaunch rgbdslam rgbdslam.launch 
... logging to /home/jackson/.ros/log/b64242c4-d05c-11e5-aae8-080027c9e22a/roslaunch-jackson-VirtualBox-4188.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://jackson-VirtualBox:56952/

SUMMARY
========

PARAMETERS
 * /rgbdslam/config/backend_solver: pcg
 * /rgbdslam/config/cloud_creation_skip_step: 2
 * /rgbdslam/config/cloud_display_type: POINTS
 * /rgbdslam/config/detector_grid_resolution: 3
 * /rgbdslam/config/feature_detector_type: ORB
 * /rgbdslam/config/feature_extractor_type: ORB
 * /rgbdslam/config/max_keypoints: 600
 * /rgbdslam/config/max_matches: 300
 * /rgbdslam/config/min_sampled_candidates: 4
 * /rgbdslam/config/neighbor_candidates: 4
 * /rgbdslam/config/optimizer_skip_step: 1
 * /rgbdslam/config/pose_relative_to: largest_loop
 * /rgbdslam/config/predecessor_candidates: 4
 * /rgbdslam/config/ransac_iterations: 100
 * /rgbdslam/config/topic_image_depth: /camera/depth_reg...
 * /rgbdslam/config/topic_image_mono: /camera/rgb/image...
 * /rgbdslam/config/topic_points: 
 * /rosdistro: indigo
 * /rosversion: 1.11.16

NODES
  /
    rgbdslam (rgbdslam/rgbdslam)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[rgbdslam-1]: started with pid [4206]
Initializing Node...
[ INFO] [1455153268.195273441]: Connected to roscore
[ INFO] [1455153268.383877753]: Using ORB keypoint detector.
[ INFO] [1455153268.384054435]: Using gridded keypoint detector with 3x3 cells, keeping 900 keypoints in total.
[ INFO] [1455153268.384210123]: Using adjusted keypoint detector with 5 maximum iterations, keeping the number of keypoints between 67 and 100
[ INFO] [1455153268.413364198]: Listening to /camera/rgb/image_color and /camera/depth_registered/sw_registered/image_rect_raw
pci id for fd 41: 80ee:beef, driver (null)
OpenGL Warning: glFlushVertexArrayRangeNV not found in mesa table
OpenGL Warning: glVertexArrayRangeNV not found in mesa table
OpenGL Warning: glCombinerInputNV not found in mesa table
OpenGL Warning: glCombinerOutputNV not found in mesa table
OpenGL Warning: glCombinerParameterfNV not found in mesa table
OpenGL Warning: glCombinerParameterfvNV not found in mesa table
OpenGL Warning: glCombinerParameteriNV not found in mesa table
OpenGL Warning: glCombinerParameterivNV not found in mesa table
OpenGL Warning: glFinalCombinerInputNV not found in mesa table
OpenGL Warning: glGetCombinerInputParameterfvNV not found in mesa table
OpenGL Warning: glGetCombinerInputParameterivNV not found in mesa table
OpenGL Warning: glGetCombinerOutputParameterfvNV not found in mesa table
OpenGL Warning: glGetCombinerOutputParameterivNV not found in mesa table
OpenGL Warning: glGetFinalCombinerInputParameterfvNV not found in mesa table
OpenGL Warning: glGetFinalCombinerInputParameterivNV not found in mesa table
OpenGL Warning: glDeleteFencesNV not found in mesa table
OpenGL Warning: glFinishFenceNV not found in mesa table
OpenGL Warning: glGenFencesNV not found in mesa table
OpenGL Warning: glGetFenceivNV not found in mesa table
OpenGL Warning: glIsFenceNV not found in mesa table
OpenGL Warning: glSetFenceNV not found in mesa table
OpenGL Warning: glTestFenceNV not found in mesa table
libGL error: core dri or dri2 extension not found
libGL error: failed to load driver: vboxvideo
X Error: BadDrawable (invalid Pixmap or Window parameter) 9
  Major opcode: 14 (X_GetGeometry)
  Resource id:  0x440000e
[ WARN] [1455153268.995914788]: First RGBD-Data Received
[ INFO] [1455153268.996155739]: Encoding: bgr8
[ INFO] [1455153269.083485905]: Feature 2d size: 563, 3D: 563
[ INFO] [1455153269.083785553]: Keypoints: 563
[ INFO] [1455153269.083975101]: Feature Count of Node:  563
[ WARN] [1455153269.095225182]: "openni_rgb_optical_frame" passed to lookupTransform argument target_frame does not exist. 
[ WARN] [1455153269.095646395]: Using Standard kinect /openni_camera -> /openni_rgb_optical_frame as transformation (This message is throttled to 1 per 5 seconds)
[ INFO] [1455153269.109451891]: Encoding: bgr8
[ INFO] [1455153269.114531126]: Setting Renderable
[ INFO] [1455153269.115756613]: Ground Truth Transform for First Node: Translation 0 0 0
[ INFO] [1455153269.115887763]: Ground Truth Transform for First Node: Rotation 0 0 0 1
[ INFO] [1455153269.116005412]: Adding initial node with id 0 and seq 0, v_id: 0
[ INFO] [1455153269.148527475]: No change to renderer skip (1).
[ INFO] [1455153269.148858803]: 1 Keyframes: 0, 
[ WARN] [1455153269.189030270]: Loop Closures: 0, Sequential Edges: 0
[ WARN] [1455153269.189261837]: Starting Optimization
rgbdslam: /tmp/binarydeb/ros-indigo-libg2o-2014.02.18/g2o/core/sparse_optimizer.cpp:271: virtual bool g2o::SparseOptimizer::initializeOptimization(g2o::HyperGraph::EdgeSet&): Assertion `workspaceAllocated && "Error while allocating memory for the Jacobians"' failed.
================================================================================REQUIRED process [rgbdslam-1] has died!
process has died [pid 4206, exit code -6, cmd /home/jackson/rgbdslam_catkin_ws/devel/lib/rgbdslam/rgbdslam __name:=rgbdslam __log:=/home/jackson/.ros/log/b64242c4-d05c-11e5-aae8-080027c9e22a/rgbdslam-1.log].
log file: /home/jackson/.ros/log/b64242c4-d05c-11e5-aae8-080027c9e22a/rgbdslam-1*.log
Initiating shutdown!
================================================================================
[rgbdslam-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done