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APRIL-ZJU / lidar_IMU_calib

[IROS 2020] Targetless Calibration of LiDAR-IMU System Based on Continuous-time Batch Estimation
GNU General Public License v3.0
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There are some problem in Ubuntu 20.04 #31

Closed AdamPengG closed 2 years ago

AdamPengG commented 2 years ago

Hi guys, firstly thanks for your generosity. I followed your tips, and finishing catkin_make the program well. However, when running the program, the terminal shows Load dataset from /home/peng/catkin_li_calib/bag/Garage-01.bag /velodyne_packets: 298 /imu1/data_sync: 12001 [li_calib_gui-2] process has died [pid 13222, exit code -11, cmd /home/peng/catkin_li_calib/devel/lib/li_calib/li_calib_gui __name:=li_calib_gui __log:=/home/peng/.ros/log/e4d4be00-2b23-11ec-a65d-c7a458efd3d2/li_calib_gui-2.log]. log file: /home/peng/.ros/log/e4d4be00-2b23-11ec-a65d-c7a458efd3d2/li_calib_gui-2*.log Then I use gdb to find the problem. The gdb shows like this: `[Thread debugging using libthread_db enabled] Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1". [New Thread 0x7fffe1038700 (LWP 7384)] [New Thread 0x7fffe0837700 (LWP 7385)] [New Thread 0x7fffdbfff700 (LWP 7386)] [New Thread 0x7fffdb7fe700 (LWP 7387)]

Load dataset from /home/peng/catkin_li_calib/bag/Garage-01.bag /velodyne_packets: 298 /imu1/data_sync: 12001 --Type for more, q to quit, c to continue without paging--c

Thread 1 "li_calib_gui" received signal SIGSEGV, Segmentation fault. 0x0000000000000000 in ?? () (gdb) where

0 0x0000000000000000 in ()

1 0x00005555555ad0dd in licalib::IO::LioDataset::read(std::cxx11::basic_string<char, std::char_traits, std::allocator >, std::cxx11::basic_string<char, std::char_traits, std::allocator >, std::__cxx11::basic_string<char, std::char_traits, std::allocator >, double, double) ()

2 0x000055555558ea9c in licalib::CalibrHelper::CalibrHelper(ros::NodeHandle&)

()

3 0x00005555555af67d in CalibInterface::CalibInterface(ros::NodeHandle&) ()

4 0x0000555555585548 in main ()

` I have no idea where is wrong. Could you help me find it.

AdamPengG commented 2 years ago

The gdb can't tell where is wrong. And I follow the #1 0x00005555555ad0dd . The function "read" in the dataset_reader.h will be someting wrong. lio_dataset_temp.read(bag_path_, topic_imu_, topic_lidar, bag_start, bag_durr); dataset_reader_ = lio_dataset_temp.get_data(); dataset_reader_->adjustDataset(); I thought after read function , the adjustDataset maybe somewhere wrong.

GarethZhang commented 2 years ago

@AdamPengG Were you able to solve the problem? I am having the same issue. Thank you!