问题描述：
[ERROR] (2021-12-31 09:54:45.763) CloudViewer.cpp:3066::setCloudVisibility() Cannot find actor named “cloud1”.
[ERROR] (2021-12-31 09:54:45.801) CloudViewer.cpp:3066::setCloudVisibility() Cannot find actor named “cloudOdom”.
[ERROR] (2021-12-31 09:54:45.801) CloudViewer.cpp:3066::setCloudVisibility() Cannot find actor named “featuresOdom”.
rtabmap: /usr/include/boost/smart_ptr/shared_ptr.hpp:728: typename boost::detail::sp_dereference::type boost::shared_ptr::operator*() const [with T = boost::signals2::mutex; typename boost::detail::sp_dereference::type = boost::signals2::mutex&]: Assertion `px != 0’ failed.
Aborted (core dumped)
分析：
可以看出是你的boost定位出现错误。
可以在电脑根目录下面搜索boost，会发现有两个。
解决方法：
首先删除编译和安装完成的rtabmap.
清理之前安装的残余.
sudo apt-get autoremove --purge rtabmap-*
删除错误的boost
sudo rm -rf /usr/local/include/boost