RTABMAP on Euclid

MPall2 · ‎07-07-2017

Has anybody successfully run rtabmap (standalone) on Euclid. I compiled it from the sources and whenever you stop mapping the application receives a segfault. Here's the stack from gdb. (compiled with -g) Looks like the segfault is originating in an Intel provided library.

Thanks,

Methlal

[Thread 0x7fff94d0c700 (LWP 2785) exited]

Thread 11 "rtabmap" received signal SIGSEGV, Segmentation fault.

[Switching to Thread 0x7fff970d3700 (LWP 2668)]

0x00007fffd5ce85dd in motion::MotionHalListnerAdapter::MotionHAL_onNotify(motion::MotionHAL::NotifyMsg const&) () from /usr/lib/libslimAPI.so

(gdb) btjavascript:;

# 0 0x00007fffd5ce85dd in motion::MotionHalListnerAdapter::MotionHAL_onNotify(motion::MotionHAL::NotifyMsg const&) () from /usr/lib/libslimAPI.so

# 1 0x00007fffccd7e91d in mmHAL::iAction_sACTIVE_eON_READ(perc::Message const&)

() from /usr/lib/libmotionHAL.so

# 2 0x00007fffccb6379e in perc::Fsm::fireEvent(perc::Message const&) ()

from /usr/lib/libinfra.so

# 3 0x00007fffccd7c678 in mmHAL::onRead(int, void*) ()

from /usr/lib/libmotionHAL.so

# 4 0x00007fffccb5dc2b in perc::Dispatcher::threadLoop() ()

from /usr/lib/libinfra.so

# 5 0x00007fffccb63159 in perc::Thread::_threadLoop(void*) ()

from /usr/lib/libinfra.so

# 6 0x00007fffefb856ba in start_thread (arg=0x7fff970d3700)

at pthread_create.c:333

# 7 0x00007ffff00a63dd in clone ()

at ../sysdeps/unix/sysv/linux/x86_64/clone.S:109

(gdb)

idata · ‎07-07-2017

Hi MPer,

Thank you for contacting us. Please allow us to investigate further on this case. We'll contact you as soon as we have more information.

We appreciate your patience.

Regards,

-Sergio A

Amit_M_Intel · ‎07-09-2017

Hi,

why did you compile from sources? you can simply install it, no?

amit

MPall2 · ‎07-09-2017

The issue can be temporarily avoided by commenting out the deletion of the _camera object in the destructor but will obviously result in a memory leak. What's puzzling is that the issue is only seen on Euclid and not on a x86_64 Ubuntu laptop with ZR300.

Thanks,

Methlal

Thread 1 "rtabmap" hit Breakpoint 1, rtabmap::CameraThread::~CameraThread (

this=0x40e76c0, __in_chrg=)

at /home/euclid/rtabmap/corelib/src/CameraThread.cpp:73

73 join(true);

(gdb) list

68 }

69

70 CameraThread::~CameraThread()

71 {

72 UDEBUG("");

73 join(true);

74 // if(_camera)

75 // {

76 // delete _camera;

77 // }

(gdb) print _camera

$1 = (rtabmap::Camera *) 0x40cdd80 <-- pointer looks valid

(gdb) bt

# 0 rtabmap::CameraThread::~CameraThread (this=0x40e76c0,

__in_chrg=)

at /home/euclid/rtabmap/corelib/src/CameraThread.cpp:73

# 1 0x00007ffff67af54a in rtabmap::CameraThread::~CameraThread (

this=0x40e76c0, __in_chrg=)

at /home/euclid/rtabmap/corelib/src/CameraThread.cpp:83

# 2 0x00007ffff7633e51 in rtabmap::MainWindow::stopDetection (this=0x9a0f30)

at /home/euclid/rtabmap/guilib/src/MainWindow.cpp:4661

# 3 0x00007ffff7999088 in rtabmap::MainWindow::qt_static_metacall (

_o=0x9a0f30, _c=QMetaObject::InvokeMetaMethod, _id=32, _a=0x7fffffffc900)

at /home/euclid/rtabmap/build/guilib/src/__/include/rtabmap/gui/moc_MainWindow.cpp:527

# 4 0x00007ffff0bb5d2a in QMetaObject::activate(QObject*, int, int, void**) ()

from /usr/lib/x86_64-linux-gnu/libQt5Core.so.5

# 5 0x00007ffff0f28412 in QAction::triggered(bool) ()