Is your code not automatically exiting?

[TwiceMao]

Is your code not automatically exiting? Then how can I see the estimated pose of the output in the saved path of the estimated pose of the output? Because I need to calculate the ATE metric with the pose estimated by Swarm-SLAM.

I successfully ran graco_lidar.launch.py. The two ros2 bags, ground_2 and ground_3, are used, because ground_1 is really difficult to download successfully. It ran successfully for about tens of minutes, and the terminal has always been the following continuous output: But I use cslam_visualization to visualize it, and I feel that the trajectory has finished running, so what should I do?

I successfully ran graco_lidar.launch.py. The two ros2 bags, ground_2 and ground_3, are used, because ground_1 cannot be downloaded . It ran successfully for about tens of minutes, and the terminal has always been the following continuous output: But I use cslam_visualization to visualize it, and I feel that the trajectory has finished running, so what should I do?

[lajoiepy]

Indeed, the code never stops, you need to kill it yourself. If you enabled logging https://github.com/lajoiepy/cslam_experiments/blob/9f72df6549478e55643e5c1ae566675d14faee13/config/graco_lidar.yaml#L35 you should see results in your log_folder. Otherwise, you can create a small ros2 node that listen to the same pose graph messages as the visualization (see https://github.com/lajoiepy/cslam_visualization/blob/3240ca015e3b27036b3cecb7147c232a0fd456cd/cslam_visualization/pose_graph_visualizer.py#L18 ) and save them to a file.

[ResearcherYan]

@TwiceMao Hi TwiceMao, I've also successfully run the graco_lidar.launch.py with normal /r0/odom data published, as shown in issue 31. But I can't visualize the pose like you did using cslam_visualization. When I launch cslam_visualization, the rviz is always blank.

Did you modify the settings of cslam_visualization to successfully show the poses? Could you help me? Thank you so much!