当我在NVIDIA Jetson TX2上启动RTAB-Map时，该过程一直在继续。 但是，如果我在单独的Ubuntu工作区中运行相同的程序包，则不会出现此错误，并且RTAB-Map会毫无故障地启动。似乎与我的硬件（Jetson TX2）有关。
Jetson TX2配置了ROS Kinetic（在Ubuntu 16.04中）和JetPack3.1。 Jetson TX2上的roslaunch输出如下所示：
~/catkin_ws$ roslaunch slam_project mapping.launch
...登录到/home/nvidia/.ros/log/a8aae338-2545-11e8-a33e-00044ba7dade/roslaunch-tegra-ubuntu-3859.log。检查日志目录中的磁盘使用情况。可能还要等一下。按Ctrl-C中断“完成检查日志文件磁盘使用情况”。用量为<1GB。
启动roslaunch服务器http://tegra-ubuntu.../摘要
参数
/rosdistro: kinetic
/rosversion: 1.12.12
/rtabmap/rtabmap/Kp/DetectorStrategy: 0
/rtabmap/rtabmap/Kp/MaxFeatures: 400
/rtabmap/rtabmap/Mem/NotLinkedNodesKept: false
/rtabmap/rtabmap/Reg/Force3DoF: true
/rtabmap/rtabmap/Reg/Strategy: 0
/rtabmap/rtabmap/Rtabmap/DetectionRate: 1
/rtabmap/rtabmap/SURF/HessianThreshold: 100
/rtabmap/rtabmap/Vis/MinInliers: 15
/rtabmap/rtabmap/database_path: rtabmap.db
/rtabmap/rtabmap/frame_id: base_footprint
/rtabmap/rtabmap/odom_frame_id: odom
/rtabmap/rtabmap/subscribe_depth: True
/rtabmap/rtabmap/subscribe_scan: True
NODES /rtabmap/ rtabmap (rtabmap_ros/rtabmap)
ROS_MASTER_URI=http://localhost:11311
输出：
process[rtabmap/rtabmap-1]: started with pid [3876] [ WARN] (2018-03-11 17:07:19.432) Features2d.cpp:407::create() SURF and SIFT features cannot be used because OpenCV was not built with nonfree module. ORB is used instead.
[ WARN] (2018-03-11 17:07:19.436) Features2d.cpp:407::create() SURF and SIFT features cannot be used because OpenCV was not built with nonfree module. ORB is used instead.
[ WARN] (2018-03-11 17:07:19.441) Features2d.cpp:407::create() SURF and SIFT features cannot be used because OpenCV was not built with nonfree module. ORB is used instead.
[ WARN] (2018-03-11 17:07:19.564) Features2d.cpp:407::create() SURF and SIFT features cannot be used because OpenCV was not built with nonfree module. ORB is used instead.
/camera/rgb/image_raw, /camera/depth/image_raw, /camera/rgb/camera_info, /scan
[rtabmap/rtabmap-1] process has died [pid 3876, exit code -11, cmd /home/nvidia/catkin_ws/devel/lib/rtabmap_ros/rtabmap --delete_db_on_start scan:=/scan rgb/image:=/camera/rgb/image_raw depth/image:=/camera/depth/image_raw rgb/camera_info:=/camera/rgb/camera_info grid_map:=/map __name:=rtabmap __log:=/home/nvidia/.ros/log/a8aae338-2545-11e8-a33e-00044ba7dade/rtabmap-rtabmap-1.log]. log file: /home/nvidia/.ros/log/a8aae338-2545-11e8-a33e-00044ba7dade/rtabmap-rtabmap-1*.log
计算机上的所有进程均已终止，roslaunch将退出关闭正在处理的监视器。关闭处理监视器已完成。