Core dumped when I run okvis_ros under ros kinetic.

[David-Willo]

I can run the cpp version of okvis, but I just get a 'core dumped' under ros.
I change the CMakeLists and force it to use the system ceres (version 1.13.0), would that be a problem?
But it works fine in the cpp version.
The error message looks like this:
F0725 19:29:39.074134 25689 parameter_block.h:175] Check failed: new_parameterization->GlobalSize() == size_ Invalid parameterization for parameter block.
The parameter block has size 7 while the parameterization has a global size of 6.
Did you accidentally use the wrong parameter block or parameterization?
*** Check failure stack trace: ***
@ 0x7fedb5fb75cd google::LogMessage::Fail()
@ 0x7fedb5fb9433 google::LogMessage::SendToLog()
@ 0x7fedb5fb715b google::LogMessage::Flush()
@ 0x7fedb5fb9e1e google::LogMessageFatal::~LogMessageFatal()
@ 0x63180c ceres::internal::ParameterBlock::SetParameterization()
@ 0x5a48b3 okvis::ceres::Map::addParameterBlock()
@ 0x5b3bf7 okvis::Estimator::addStates()
@ 0x51a97e okvis::ThreadedKFVio::matchingLoop()
@ 0x7fedb595dc80 (unknown)
@ 0x7fedb750e6ba start_thread
@ 0x7fedb50c33dd clone
@ (nil) (unknown)
Aborted (core dumped)

[David-Willo]

even though I use the default ceres (ver 1.9.0) , there is still a core dump, but this time there isn't any error message. Can anyone help?

I0725 20:40:55.018154 1836 VioParametersReader.cpp:412] IMU with transformation T_BS=
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
init done
I0725 20:43:04.779206 1836 okvis_node_synchronous.cpp:143] No. IMU messages: 36820
I0725 20:43:04.851106 1836 okvis_node_synchronous.cpp:167] No. cam 0 messages: 3682
W0725 20:43:04.851673 2006 Frontend.cpp:282] - Skipping propagation as only one IMU measurement has been given to frontend. Normal when starting up.
I0725 20:43:05.609779 2005 Frontend.cpp:758] Initializing pose from 2D-2D RANSAC
I0725 20:43:05.610064 2005 Frontend.cpp:187] Initialized!
Segmentation fault (core dumped)

[salahkhan94]

@David-Willo were you able to install OKVIS on Ubuntu 16.04 with ROS kinetic?

[David-Willo]

@salahkhan94 Sorry, I haven't figured it out yet.

[Yourbee]

I'm able to run OKVIS on Ubuntu 16.04 with ROS kinetic without do anything special.