Valid .posegraph fails to deserialize in localization mode & no map is published in RViz

[neffatihiba]

Hi @SteveMacenski 👋

I'm working on a robot simulation using slam_toolbox on ROS 2 Humble (Ubuntu 22.04). I followed the standard workflow to play a .db3 rosbag, run slam_toolbox in mapping mode, and then save the map using the SlamToolboxPlugin in RViz. The file was saved as:
/home/hiba/warehouse_graph_ros2.posegraph

• File Details

ls -lh /home/hiba/warehouse_graph_ros2.posegraph
-rw-rw-r-- 1 hiba hiba 7.6K May 27 18:46 /home/hiba/warehouse_graph_ros2.posegraph

It is clearly non-empty and was saved from a live mapping session with /scan and /odom running.

❗ Problem
When I later try to load the file in localization mode, I get this error:

ros2 run slam_toolbox async_slam_toolbox_node --ros-args
-p use_sim_time:=true
-p mode:=localization
-p map_file_name:=/home/hiba/warehouse_graph_ros2.posegraph
-p map_frame:=map
-p odom_frame:=odom
-p base_frame:=base_link
-p map_start_pose:="[1.0, 2.0, 0.0]"
Error:
[slam_toolbox]: serialization::Read: Failed to open requested file: /home/hiba/warehouse_graph_ros2.posegraph.
[slam_toolbox]: DeserializePoseGraph: Failed to read file: ...

Additional issue noticed

Even when the .posegraph loads correctly, no /map is published in localization mode.

RViz shows: No map received

The /map topic exists, but no messages are ever published

[SteveMacenski]

[slam_toolbox]: serialization::Read: Failed to open requested file: /home/hiba/warehouse_graph_ros2.posegraph.
[slam_toolbox]: DeserializePoseGraph: Failed to read file: ...

I think this is saying there's an issue reading the file :-) I wouldn't expect anything to publish if no file is successfully loaded. Do you have a large enough stack size set for the size of graph (i.e. same as when you saved it presumably)? Is the filepath correct?