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HKPolyU-UAV / FLVIS

FLVIS: Feedback Loop Based Visual Inertial SLAM
BSD 2-Clause "Simplified" License
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[FATAL] [1632737727.144338183]: Failed to load nodelet '/LoopClosingNodeletClass_loader` of type `flvis/LoopClosingNodeletClass` to manager `flvis_nodelet_manager' #12

Closed Pallav1299 closed 2 years ago

Pallav1299 commented 2 years ago

While testing FLVIS, I faced this issue, where I am not able to load the loop closing nodelet, while the other nodelets are able to load. Any ideas why? The program crashes in runtime. I am running it on ROS melodic.

Pallav1299 commented 2 years ago

I am working with E2ES simulator and was using the defined procedure in README.md. I was getting this error because the params corresponding to LoopClosureThread were not configured in the CONFIG file inside the e2es simulation.

Ttoto commented 2 years ago

I am working with E2ES simulator and was using the defined procedure in README.md. I was getting this error because the params corresponding to LoopClosureThread were not configured in the CONFIG file inside the e2es simulation.

Thank you for your feedback. If u use the FLVIS with the E2ES. We suggest you disable the loop closing feature for two reasons: 1, The pose estimation is accurate enough for most applications (<1% drift in the simulator) 2, As we use the same wallpaper in the simulation world. This might lead to a mismatch of loop closure.

darshan-kt commented 2 years ago

I resolved this issue by installing the libg20 library. $ sudo apt-get install ros-melodic-libg2o