Running Error!

[SIIYIIX]

I use TUM dataset to simulate camera by using ros node to publish photos(5 fps),after running the command "rosrun ORB_SLAM2 RGBD Vocabulary/ORBvoc.bin Examples/RGB-D/kinect.yaml", the program will show several photos, then show the fllowing fault:
ORB-SLAM2 Copyright (C) 2014-2016 Raul Mur-Artal, University of Zaragoza.
This program comes with ABSOLUTELY NO WARRANTY;
This is free software, and you are welcome to redistribute it
under certain conditions. See LICENSE.txt.

              Input sensor was set to: RGB-D
              
              Loading ORB Vocabulary. This could take a while...
              Vocabulary loaded in 0.42s
              Create new map.
              
              Camera Parameters: 
              - fx: 520.489
              - fy: 522.471
              - cx: 474.954
              - cy: 264.266
              - k1: 0.0583312
              - k2: -0.0765568
              - k3: 0.0222345
              - p1: -0.00314828
              - p2: 0.000580317
              - fps: 20
              - color order: RGB (ignored if grayscale)
              
              ORB Extractor Parameters: 
              - Number of Features: 1000
              - Scale Levels: 8
              - Scale Factor: 1.2
              - Initial Fast Threshold: 30
              - Minimum Fast Threshold: 12
              
              Depth Threshold (Close/Far Points): 4.61105
              OMPL version: 1.2.1
              New map created with 843 points
              in planning loop
              totally 843 points.
              0.0342349
              Info:    Loading path length optimization objective.
              Initializing camera data...
              Init custom objective function.
              Initializing camera data...
              Info:    RRTstar: Space information setup was not yet called. Calling now.
              Debug:   RRTstar: Planner range detected to be 2.814257
              Settings for the state space 'RealVectorSpace0'
                - state validity check resolution: 3%
                - valid segment count factor: 1
                - state space:
              Real vector state space 'RealVectorSpace0' of dimension 3 with bounds: 
                - min: -1.15 -5 -3.1416 
                - max: 6.5 5 3.1416 
              
              Declared parameters:
              longest_valid_segment_fraction = 0.029999999999999999
              projection.cellsize.0 = 0.061726795780625045
              projection.cellsize.1 = 0.077006495031747751
              projection.cellsize_factor = 
              valid_segment_count_factor = 1
              Valid state sampler named uniform with parameters:
              nr_attempts = 100
              Info:    RRTstar: Starting planning with 1 states already in datastructure
              Info:    RRTstar: Initial k-nearest value of 3
              Info:    RRTstar: Created 0 new states. Checked 0 rewire options. 0 goal states in tree. Final solution cost inf
              No solution found
              *********************** In Planning.cc *********************
              copied planned trajectory size = 0
              段错误