Open wkyouncnu opened 3 years ago
I started e2es ros package, and it works fine.
wkyoun@wkyoun:~/catkin_ws/src/E2ES$ ./sim.sh
Then, I tried to run the following lauch file, and I get the following error.
(However, mlmapping works correctly with RosBag files (corridor.bag))
wkyoun@wkyoun:~/catkin_ws/src/E2ES$ roslaunch mlmapping mlmapping_gazebo.launch
... logging to /home/wkyoun/.ros/log/493a0752-f8b0-11eb-a27a-f83441d19d8b/roslaunch-wkyoun-6256.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://wkyoun:43475/ SUMMARY ======== PARAMETERS * /mlmapping_configfile: /home/wkyoun/catk... * /mlmapping_nodelet_manager/num_worker_threads: 4 * /rosdistro: melodic * /rosversion: 1.14.11 * /use_sim_time: True NODES / awareness_loader (nodelet/nodelet) localmap_loader (nodelet/nodelet) mlmapping_nodelet_manager (nodelet/nodelet) visualization (mlmapping/visualization) ROS_MASTER_URI=http://localhost:11311 process[visualization-1]: started with pid [6282] process[mlmapping_nodelet_manager-2]: started with pid [6283] process[awareness_loader-3]: started with pid [6285] localmap discretization to n_Rho: 40 n_Phi:180 n_Z:51 process[localmap_loader-4]: started with pid [6291] [ INFO] [1628473331.601150937]: Loading nodelet /localmap_loader of type mlmapping/LocalMapNodeletClass to manager mlmapping_nodelet_manager with the following remappings: [ INFO] [1628473331.601465233]: Initializing nodelet with 4 worker threads. globalmapnode: read the config file awareness map contain 367200 cells local map contain 2041875 cells esdf map esdf map init finished~ local map contain 2041875 cells [ INFO] [1628473332.593471227]: Loading nodelet /awareness_loader of type mlmapping/AwarenessMapNodeletClass to manager mlmapping_nodelet_manager with the following remappings: [ INFO] [1628473332.594161250]: /mlmapping/pc -> /camera/depth/color/points [ INFO] [1628473332.594178012]: /mlmapping/pose -> /mavros/local_position/pose awareness map node: config file path: /home/wkyoun/catkin_ws/src/MLMapping/launch/config/config.yaml localmap discretization to n_Rho: 40 n_Phi:180 n_Z:51 awareness map contain 367200 cells ApproxSyncPolicy _/opt/ros/melodic/lib/nodelet/nodelet: symbol lookup error: /home/wkyoun/catkin_ws/devel/lib//libmlmapping.so: undefined symbol: _ZN3pcl23removeNaNFromPointCloudINS_8PointXYZEEEvRKNS_10PointCloudIT_EERS4_RSt6vectorIiSaIiEE_ [mlmapping_nodelet_manager-2] process has died [pid 6283, exit code 127, cmd /opt/ros/melodic/lib/nodelet/nodelet manager __name:=mlmapping_nodelet_manager __log:=/home/wkyoun/.ros/log/493a0752-f8b0-11eb-a27a-f83441d19d8b/mlmapping_nodelet_manager-2.log]. log file: /home/wkyoun/.ros/log/493a0752-f8b0-11eb-a27a-f83441d19d8b/mlmapping_nodelet_manager-2*.log [ INFO] [1628473342.742857020, 1767.087000000]: Bond broken, exiting [awareness_loader-3] process has finished cleanly log file: /home/wkyoun/.ros/log/493a0752-f8b0-11eb-a27a-f83441d19d8b/awareness_loader-3*.log '''
<?xml version="1.0"?>
Currently, the E2ES support glmapping only. I will add the support of mlmapping by this Fri.
I started e2es ros package, and it works fine.
wkyoun@wkyoun:~/catkin_ws/src/E2ES$ ./sim.sh
Then, I tried to run the following lauch file, and I get the following error.
(However, mlmapping works correctly with RosBag files (corridor.bag))
wkyoun@wkyoun:~/catkin_ws/src/E2ES$ roslaunch mlmapping mlmapping_gazebo.launch
<?xml version="1.0"?>