RTAB-Map建图仿真，rviz没有生成点云图，提示有错误，请解答

youxia23

已根据要求进行仿真：
   运行启动脚本,并耐心等待Gazebo及rviz启动 roslaunch prometheus_gazebo sitl_rtabmap.launch
   正常运行截图如下,在rviz中勾选Ground_Truth及RTAB建图显示选项,绿色为真值,白色为建图结果(全局点云)


roslaunch prometheus_gazebo sitl_rtabmap.launch
启动的时候产生如下问题 红字部分：
[ INFO] [1664766508.779744405, 0.244000000]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
/opt/ros/melodic/lib/rtabmap_ros/rtabmap: symbol lookup error: /opt/ros/melodic/lib/librtabmap_ros.so: undefined symbol: _ZN7rtabmap7OctoMapC1Effbf
[rtabmap/rtabmap-16] process has died [pid 2472, exit code 127, cmd /opt/ros/melodic/lib/rtabmap_ros/rtabmap --delete_db_on_start rgb/image:=/realsense_plugin/camera/color/image_raw depth/image:=/realsense_plugin/camera/depth/image_raw rgb/camera_info:=/realsense_plugin/camera/color/camera_info rgbd_image:=rgbd_image_relay left/image_rect:=/stereo_camera/left/image_rect_color right/image_rect:=/stereo_camera/right/image_rect left/camera_info:=/stereo_camera/left/camera_info right/camera_info:=/stereo_camera/right/camera_info scan:=/scan scan_cloud:=/scan_cloud scan_descriptor:=/scan_descriptor user_data:=/user_data user_data_async:=/user_data_async gps/fix:=/gps/fix tag_detections:=/tag_detections odom:=/prometheus/drone_odom imu:=/imu/data __name:=rtabmap __log:=/home/amov/.ros/log/8efdf1aa-42c8-11ed-8fcf-000c29d98cce/rtabmap-rtabmap-16.log].
log file: /home/amov/.ros/log/8efdf1aa-42c8-11ed-8fcf-000c29d98cce/rtabmap-rtabmap-16*.log
[vehicle_spawn_amov_lxy_2244_999589597778947799-5] process has finished cleanly
log file: /home/amov/.ros/log/8efdf1aa-42c8-11ed-8fcf-000c29d98cce/vehicle_spawn_amov_lxy_2244_999589597778947799-5*.log


通过tf tree观察见附件


通过 rqt graph观察见附件

运行控制 rosrun prometheus_control terminal_control 控制无人机经过障碍物，但是无法在rviz建点云图

我知道答案 回答被采纳将会获得3 阿木币 已有2人回答

youxia23

考虑将环境变量设置为本机地址。

BOSHEN97

看着像RTABMAP没安装好，试一下sudo apt-get install ros-melodic-rtabmap-ros这个命令安装一下功能包