ORB_SLAM2 ROS Segmentation fault (core dumped) on Ubuntu 16.04 running on VM

[mohGhazala96]

I am using Ubuntu 16.04 on parallels Virtual machine running on MacOS 10.15.5. I have built both the build.sh and the build_ros.sh successfully. I have OpenCV 2.4.3 installed and Eigen3 3.1.0. When I run the Monocular Examples using the TUM Dataset, it works just fine. My problem is when running the Mono AR ROS example: parallels@ubuntu:/media/psf/Work/ORB_SLAM2$ rosrun ORB_SLAM2 MonoAR Vocabulary/ORBvoc.txt Examples/ROS/ORB_SLAM2/Asus.yaml Segmentation fault (core dumped) I tried changing the camera parameters in the Asus.yaml file but it's not working.

[makolele12]

Hi @mohGhazala96 , I just met with the same problem while trying to replay the EuRoc V101 rosbag, did you find any solution?

[northpoleforce]

@mohGhazala96 @makolele12 I met the same problem I fixed it by the solution below change ORB_SLAM2/Examples/ROS/ORB_SLAM2/CMakeLists.txt from

set(LIBS 
${OpenCV_LIBS} 
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/../../../Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/../../../Thirdparty/g2o/lib/libg2o.so
${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM2.so
)

to

set(LIBS 
${OpenCV_LIBS} 
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/../../../Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/../../../Thirdparty/g2o/lib/libg2o.so
${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM2.so
/usr/local/lib/libopencv_core.so.3.2
/usr/local/lib/libopencv_imgproc.so.3.2
/usr/lib/x86_64-linux-gnu/libopencv_core.so.4.2
/usr/lib/x86_64-linux-gnu/libopencv_imgproc.so.4.2
-lboost_system
)

and then rebuild

cd ORB_SLAM2/Examples/ROS/ORB_SLAM2
rm -r build
cd ORB_SLAM2
./build_ros.sh

finally, it runs well Hope to help you