The pose_estimation stage node dies after launch about openrealm_ros1_bridge HOT 8 CLOSED

@donkikos Hmmm, this does not look like any problem that I am aware of. First things first:

1. Do you have an idea, what may cause the libGL error? OpenREALM should not have anything to do with iris. I guess it does not cause the problem, but let's make sure this is unrelated.
2. What system are you running this on? The initialization seems to take quite a long time. I'd assume your hardware is very limited or is this caused by docker?
3. I need more information on what's actually causing the problem. You can try to block comment all stages except for the pose estimation in the launch file and then use GDB to find the function that throws the exit:
   http://wiki.ros.org/roslaunch/Tutorials/Roslaunch%20Nodes%20in%20Valgrind%20or%20GDB

Best regards,
Alex

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@laxnpander

1. I don't know what causes the libGL error. Will try to figure out.

2. CPU is Intel(R) Core(TM) i7-7700HQ CPU @ 2.80GHz, GPU is GeForce GTX 1060. Looking at the timings it takes about 2 secs. Is that long?

3. Will try to debug.

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@donkikos Hardware looks good, a bit weaker than my laptop, but definitely not too weak. You may need to tune down the overall resolution on some stages, but this shouldn't cause the crash. Waiting for the GDB output, this should help hopefully. If you need further advice, let me know

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Hi @laxnpander , I tried to install outside of docker and I am getting the same error. The hardware is Intel i7 + Nvidia GTX 1070. Here is the gdb log. Something is happening in Eigen.

Also, I noticed that in OpenREALM install_deps.sh is installing Eigen with apt and then installs 3.3.7 from source. I tried to use the apt version (3.3.4 for Ubuntu 18.04) and still getting a crash.

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@donkikos: Ah, I think I know what causes this. It’s not a problem of OpenREALM, but OpenVSLAM. Try to uninstall g2o, dbow2 and openvslam and reinstall with

-DBUILD_WITH_MARCH_NATIVE=OFF

It‘s set to ON currently.

Note: This flag is relevant for the g2o install and the openvslam install so change both of them to „OFF“

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@laxnpander , thanks, will try. One question though - DBoW2 does not have that parameter in the scripts and in CMakeLists.txt. Is it necessary for it? Do I need to reinstall it?

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@donkikos It does not need the flag, you are correct. I guess you won’t need to reinstall it, yet I would do so just to make sure.

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@donkikos How did it go? Any more I can help you with?

Closing this. Reopen if there are still problems.

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