Closed mjforan closed 4 months ago
My configuration is similar to the stereo examples and it works okay:
/**: ros__parameters: frontend: left_image_topic: "/stereo/left/image_rect" right_image_topic: "/stereo/right/image_rect" left_camera_info_topic: "/stereo/left/camera_info" right_camera_info_topic: "/stereo/right/camera_info" odom_topic: "odom" sensor_base_frame_id: "ar0234_front_right_optical_frame" sensor_type: "stereo" inter_robot_loop_closure_budget: 1 inter_robot_detection_period_sec: 1 max_queue_size: 100 similarity_threshold: 0.8 global_descriptors_topic: "global_descriptors" image_crop_size: 376 intra_loop_min_inbetween_keyframes: 20 pnp_min_inliers: 18 detection_publication_period_sec: 1.0 detection_publication_max_elems_per_msg: 10 enable_intra_robot_loop_closures: true keyframe_generation_ratio_threshold: 1.0 use_vertex_cover_selection: true map_manager_process_period_ms: 10 #100 enable_sparsification: true global_descriptor_technique: "cosplace" nn_checkpoint: "/models/resnet101_512.pth" cosplace: backbone: "resnet101" descriptor_dim: 512 neighbor_management: enable_neighbor_monitoring: true max_heartbeat_delay_sec: 5.0 init_delay_sec: 5.0 heartbeat_period_sec: 1.0 backend: pose_graph_optimization_start_period_ms: 10000 pose_graph_optimization_loop_period_ms: 100 max_waiting_time_sec: 60 enable_broadcast_tf_frames: true evaluation: enable_logs: true log_folder: "results" enable_gps_recording: false enable_pose_timestamps_recording: true enable_sparsification_comparison: false visualization: enable: true publishing_period_ms: 1000
However, when I set evaluation.enable_logs: false the backend crashes:
evaluation.enable_logs: false
[ERROR] [pose_graph_manager-3]: process has died [pid 55, exit code -11, cmd '/Swarm-SLAM/install/cslam/lib/cslam/pose_graph_manager --ros-args -r __node:=cslam_pose_graph_manager -r __ns:=/r0 --params-file /config/argus_stereo.yaml --params-file /tmp/launch_params_9vl8y1jx'].
Sorry for the delayed response, I had trouble reproducing this bug, but I added a line referencing this issue in the start-up instructions in case someone else experiences it.
My configuration is similar to the stereo examples and it works okay:
However, when I set
evaluation.enable_logs: false
the backend crashes: