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HKUST-Aerial-Robotics / VINS-Fusion

An optimization-based multi-sensor state estimator
GNU General Public License v3.0
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Segmentation Fault executing vins_node #134

Open tainibeibi1337 opened 3 years ago

tainibeibi1337 commented 3 years ago

Hello!

After compiling VINS-Fusion successfully, on a x86_64 machine, I am trying to execute it using Euroc config file, as so: rosrun vins vins_node ~/catkin_ws/src/VINS_Fusion/config/euroc/euroc_mono_imu_config.yaml

Execution results in Segmentation fault: $ rosrun vins vins_node ~/catkin_ws/src/VINS_Fusion/config/euroc/euroc_mono_imu_config.yaml [ INFO] [1600243514.529123941]: init begins config_file: /home/user/catkin_ws/src/VINS_Fusion/config/euroc/euroc_mono_imu_config.yaml Segmentation fault

I have opencv-4.4 built from source.

When trying to debug the executable using gdb, I stumbled upon this error: Thread 1 "vins_node" received signal SIGSEGV, Segmentation fault. __strlen_avx2 () at ../sysdeps/x86_64/multiarch/strlen-avx2.S:93 93 ../sysdeps/x86_64/multiarch/strlen-avx2.S: No such file or directory. I wasn't able to identify the root cause of the problem myself.

What could be the problem? Could it be the version of OpenCV? I have a Jetson Xavier with opencv-4.3 installed on it, and Vins works fine there.

Would be glad for some help, Thank you for your work!

001SCH commented 3 years ago

I also encountered the same problem, using gdb debugging to find the problem in the rosNodeTest.cpp file readParameter this function, do you have a solution?

robin-shaun commented 3 years ago

@tainibeibi1337 I changed opencv version from opencv4.1.1 to opencv3.2.0 and solved the error. For @001SCH , I think it is the wrong path of config file that cause the problem.

zhongguanLiu commented 1 year ago

hi, have you solve this problem? my opencv version(pkg-config --modversion opencv) is 3.4.16, but i also meet the same fault, i dont konw how to solve it . and my ubutun version is 20.04