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MISTLab / Swarm-SLAM

Sparse Decentralized Collaborative Simultaneous Localization and Mapping Framework for Multi-Robot Systems
https://lajoiepy.github.io/cslam_documentation/html/index.html
MIT License
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Lunch error while using Ros2 Humble #29

Closed asadwadood closed 5 months ago

asadwadood commented 6 months ago

hello, i am using Swarm-SLam. when i tried to run on Ros2 Humble ,i can build it. but getting error while launching it.

slam) a@Asad:~/Swarm-SLAM$ ros2 launch cslam_experiments graco_lidar.launch.py [INFO] [launch]: All log files can be found below /home/a/.ros/log/2024-03-07-16-46-10-122207-Asad-78396 [INFO] [launch]: Default logging verbosity is set to INFO [ERROR] [launch]: Caught exception in launch (see debug for traceback): "package 'rtabmap_odom' not found, searching: ['/home/a/Swarm-SLAM/install/cslam_experiments', '/home/a/Swarm-SLAM/install/cslam', '/home/a/Swarm-SLAM/install/cslam_common_interfaces', '/opt/ros/humble']" [INFO] [static_transform_publisher-1]: process started with pid [78397] [INFO] [static_transform_publisher-2]: process started with pid [78399] [INFO] [loop_closure_detection_node.py-3]: process started with pid [78419] [INFO] [lidar_handler_node.py-4]: process started with pid [78421] [INFO] [pose_graph_manager-5]: process started with pid [78423] [INFO] [static_transform_publisher-2]: sending signal 'SIGINT' to process[static_transform_publisher-2] [INFO] [static_transform_publisher-1]: sending signal 'SIGINT' to process[static_transform_publisher-1] [static_transform_publisher-1] [WARN] [1709797570.192786070] []: Old-style arguments are deprecated; see --help for new-style arguments [static_transform_publisher-1] [INFO] [1709797570.203246452] [static_transform_publisher_SNO0Kpo63NvwE0kJ]: Spinning until stopped - publishing transform [static_transform_publisher-1] translation: ('0.000000', '0.000000', '0.000000') [static_transform_publisher-1] rotation: ('0.000000', '0.000000', '0.000000', '1.000000') [static_transform_publisher-1] from 'velodyne' to 'base_link' [static_transform_publisher-2] [WARN] [1709797570.192773967] []: Old-style arguments are deprecated; see --help for new-style arguments [static_transform_publisher-2] [INFO] [1709797570.205952163] [static_transform_publisher_AYSJuVVWtWZbvo9U]: Spinning until stopped - publishing transform [static_transform_publisher-2] translation: ('-0.011920', '-0.019700', '0.122600') [static_transform_publisher-2] rotation: ('0.000000', '0.000000', '0.000000', '1.000000') [static_transform_publisher-2] from 'velodyne' to 'gnss' [INFO] [pose_graph_manager-5]: sending signal 'SIGINT' to process[pose_graph_manager-5] [INFO] [lidar_handler_node.py-4]: sending signal 'SIGINT' to process[lidar_handler_node.py-4] [INFO] [loop_closure_detection_node.py-3]: sending signal 'SIGINT' to process[loop_closure_detection_node.py-3]

[lidar_handler_node.py-4] Traceback (most recent call last): [lidar_handler_node.py-4] File "/home/a/miniconda3/envs/cslam/lib/python3.10/site-packages/numpy/core/init.py", line 24, in [lidar_handler_node.py-4] from . import multiarray [lidar_handler_node.py-4] File "/home/a/miniconda3/envs/cslam/lib/python3.10/site-packages/numpy/core/multiarray.py", line 10, in

[lidar_handler_node.py-4] from . import overrides [lidar_handler_node.py-4] File "/home/a/miniconda3/envs/cslam/lib/python3.10/site-packages/numpy/core/overrides.py", line 8, in [lidar_handler_node.py-4] from numpy.core._multiarray_umath import ( [lidar_handler_node.py-4] ImportError: PyCapsule_Import could not import module "datetime" [lidar_handler_node.py-4] [lidar_handler_node.py-4] During handling of the above exception, another exception occurred: [lidar_handler_node.py-4] [lidar_handler_node.py-4] Traceback (most recent call last): [lidar_handler_node.py-4] File "/home/a/miniconda3/envs/cslam/lib/python3.10/site-packages/numpy/init.py", line 130, in [lidar_handler_node.py-4] from numpy.config import show as show_config [lidar_handler_node.py-4] File "/home/a/miniconda3/envs/cslam/lib/python3.10/site-packages/numpy/config.py", line 4, in [lidar_handler_node.py-4] from numpy.core._multiarray_umath import ( [lidar_handler_node.py-4] File "/home/a/miniconda3/envs/cslam/lib/python3.10/site-packages/numpy/core/init.py", line 50, in [lidar_handler_node.py-4] raise ImportError(msg) [lidar_handler_node.py-4] ImportError: [lidar_handler_node.py-4] [lidar_handler_node.py-4] IMPORTANT: PLEASE READ THIS FOR ADVICE ON HOW TO SOLVE THIS ISSUE! [lidar_handler_node.py-4] [lidar_handler_node.py-4] Importing the numpy C-extensions failed. This error can happen for [lidar_handler_node.py-4] many reasons, often due to issues with your setup or how NumPy was [lidar_handler_node.py-4] installed. [lidar_handler_node.py-4] [lidar_handler_node.py-4] We have compiled some common reasons and troubleshooting tips at: [lidar_handler_node.py-4] [lidar_handler_node.py-4] https://numpy.org/devdocs/user/troubleshooting-importerror.html [lidar_handler_node.py-4] [lidar_handler_node.py-4] Please note and check the following: [lidar_handler_node.py-4] [lidar_handler_node.py-4] The Python version is: Python3.10 from "/home/a/miniconda3/envs/cslam/bin/python3" [lidar_handler_node.py-4] The NumPy version is: "1.26.4" [lidar_handler_node.py-4] [lidar_handler_node.py-4] and make sure that they are the versions you expect. [lidar_handler_node.py-4] Please carefully study the documentation linked above for further help. [lidar_handler_node.py-4] [lidar_handler_node.py-4] Original error was: PyCapsule_Import could not import module "datetime" [lidar_handler_node.py-4] [lidar_handler_node.py-4] [lidar_handler_node.py-4] The above exception was the direct cause of the following exception: [lidar_handler_node.py-4] [lidar_handler_node.py-4] Traceback (most recent call last): [lidar_handler_node.py-4] File "/home/a/Swarm-SLAM/install/cslam/lib/cslam/lidar_handler_node.py", line 2, in [lidar_handler_node.py-4] import numpy as np [lidar_handler_node.py-4] File "/home/a/miniconda3/envs/cslam/lib/python3.10/site-packages/numpy/init.py", line 135, in [lidar_handler_node.py-4] raise ImportError(msg) from e [lidar_handler_node.py-4] ImportError: Error importing numpy: you should not try to import numpy from [lidar_handler_node.py-4] its source directory; please exit the numpy source tree, and relaunch [lidar_handler_node.py-4] your python interpreter from there. [pose_graph_manager-5] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError' [pose_graph_manager-5] what(): could not create subscription: rcl node's context is invalid, at ./src/rcl/node.c:428 [loop_closure_detection_node.py-3] Traceback (most recent call last): [loop_closure_detection_node.py-3] File "/home/a/Swarm-SLAM/install/cslam/lib/cslam/loop_closure_detection_node.py", line 5, in [loop_closure_detection_node.py-3] import rclpy [loop_closure_detection_node.py-3] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/init.py", line 48, in [loop_closure_detection_node.py-3] from rclpy.parameter import Parameter [loop_closure_detection_node.py-3] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/parameter.py", line 18, in [loop_closure_detection_node.py-3] from rcl_interfaces.msg import Parameter as ParameterMsg [loop_closure_detection_node.py-3] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rcl_interfaces/msg/init.py", line 1, in [loop_closure_detection_node.py-3] from rcl_interfaces.msg._floating_point_range import FloatingPointRange # noqa: F401 [loop_closure_detection_node.py-3] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rcl_interfaces/msg/_floating_point_range.py", line 12, in [loop_closure_detection_node.py-3] import rosidl_parser.definition # noqa: E402, I100 [loop_closure_detection_node.py-3] KeyboardInterrupt [ERROR] [loop_closure_detection_node.py-3]: process has died [pid 78419, exit code -2, cmd '/home/a/Swarm-SLAM/install/cslam/lib/cslam/loop_closure_detection_node.py --ros-args -r node:=cslam_loop_closure_detection -r ns:=/r0 --params-file /home/a/Swarm-SLAM/install/cslam_experiments/share/cslam_experiments/config/graco_lidar.yaml --params-file /tmp/launch_params_ihvu_x9h']. [ERROR] [lidar_handler_node.py-4]: process has died [pid 78421, exit code 1, cmd '/home/a/Swarm-SLAM/install/cslam/lib/cslam/lidar_handler_node.py --ros-args -r node:=cslam_map_manager -r __ns:=/r0 --params-file /home/a/Swarm-SLAM/install/cslam_experiments/share/cslam_experiments/config/graco_lidar.yaml --params-file /tmp/launch_params_ccylq2jj -r /r0/pointcloud:=/points']. [ERROR] [pose_graph_manager-5]: process has died [pid 78423, exit code -6, cmd '/home/a/Swarm-SLAM/install/cslam/lib/cslam/pose_graph_manager --ros-args -r node:=cslam_pose_graph_manager -r __ns:=/r0 --params-file /home/a/Swarm-SLAM/install/cslam_experiments/share/cslam_experiments/config/graco_lidar.yaml --params-file /tmp/launch_params_1ic42_ao']. [INFO] [static_transform_publisher-1]: process has finished cleanly [pid 78397] [INFO] [static_transform_publisher-2]: process has finished cleanly [pid 78399]

please suggest the solution. thank you Screenshot from 2024-03-07 16-51-36

lajoiepy commented 6 months ago

Hi! You are missing some dependencies. Try 


sudo apt install ros-humble-rtabmap*
asadwadood commented 5 months ago

Thank you. it worked.