Hugh-Chen-Hugues
commented
1 month ago Hi, I rebuild the whole project and now it still can not work, could you please tell me what the problem is? Thx!
roslaunch hydra_ros uhumans2.launch
... logging to /home/hugh/.ros/log/815d2696-4583-11ef-ab5f-fd2e822235bf/roslaunch-hugh-ZHENGJIUZHE-REN9000-25ICZ-11069.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://hugh-ZHENGJIUZHE-REN9000-25ICZ:45841/
SUMMARY
========
PARAMETERS
* /hydra_dsg_visualizer/config/collapse_layers: False
* /hydra_dsg_visualizer/config/color_places_by_distance: False
* /hydra_dsg_visualizer/config/dynamic_layer/2/color_offset: 3
* /hydra_dsg_visualizer/config/dynamic_layer/2/edge_alpha: 0.9
* /hydra_dsg_visualizer/config/dynamic_layer/2/edge_scale: 0.05
* /hydra_dsg_visualizer/config/dynamic_layer/2/edge_sl_ratio: 0.6
* /hydra_dsg_visualizer/config/dynamic_layer/2/interlayer_edge_insertion_skip: 10
* /hydra_dsg_visualizer/config/dynamic_layer/2/label_height: 0.9
* /hydra_dsg_visualizer/config/dynamic_layer/2/label_scale: 0.8
* /hydra_dsg_visualizer/config/dynamic_layer/2/luminance: 0.7
* /hydra_dsg_visualizer/config/dynamic_layer/2/node_alpha: 0.9
* /hydra_dsg_visualizer/config/dynamic_layer/2/node_scale: 0.2
* /hydra_dsg_visualizer/config/dynamic_layer/2/node_use_sphere: True
* /hydra_dsg_visualizer/config/dynamic_layer/2/num_colors: 5
* /hydra_dsg_visualizer/config/dynamic_layer/2/saturation: 0.9
* /hydra_dsg_visualizer/config/dynamic_layer/2/visualize: True
* /hydra_dsg_visualizer/config/dynamic_layer/2/visualize_interlayer_edges: False
* /hydra_dsg_visualizer/config/dynamic_layer/2/z_offset_scale: 0.0
* /hydra_dsg_visualizer/config/layer2/bbox_wireframe_edge_scale: 0.05
* /hydra_dsg_visualizer/config/layer2/bbox_wireframe_scale: 0.05
* /hydra_dsg_visualizer/config/layer2/bounding_box_alpha: 0.9
* /hydra_dsg_visualizer/config/layer2/collapse_bounding_box: True
* /hydra_dsg_visualizer/config/layer2/interlayer_edge_alpha: 0.3
* /hydra_dsg_visualizer/config/layer2/interlayer_edge_insertion_skip: 10
* /hydra_dsg_visualizer/config/layer2/interlayer_edge_scale: 0.05
* /hydra_dsg_visualizer/config/layer2/interlayer_edge_use_color: True
* /hydra_dsg_visualizer/config/layer2/intralayer_edge_alpha: 0.6
* /hydra_dsg_visualizer/config/layer2/intralayer_edge_insertion_skip: 0
* /hydra_dsg_visualizer/config/layer2/intralayer_edge_scale: 0.03
* /hydra_dsg_visualizer/config/layer2/intralayer_edge_use_color: False
* /hydra_dsg_visualizer/config/layer2/label_height: 0.5
* /hydra_dsg_visualizer/config/layer2/label_scale: 0.45
* /hydra_dsg_visualizer/config/layer2/marker_alpha: 0.6
* /hydra_dsg_visualizer/config/layer2/marker_color_mode: 0
* /hydra_dsg_visualizer/config/layer2/marker_scale: 0.4
* /hydra_dsg_visualizer/config/layer2/use_bounding_box: True
* /hydra_dsg_visualizer/config/layer2/use_collapsed_label: True
* /hydra_dsg_visualizer/config/layer2/use_edge_source: True
* /hydra_dsg_visualizer/config/layer2/use_label: False
* /hydra_dsg_visualizer/config/layer2/use_sphere_marker: False
* /hydra_dsg_visualizer/config/layer2/visualize: True
* /hydra_dsg_visualizer/config/layer2/z_offset_scale: 2.0
* /hydra_dsg_visualizer/config/layer20/boundary_alpha: 1.0
* /hydra_dsg_visualizer/config/layer20/boundary_use_node_color: True
* /hydra_dsg_visualizer/config/layer20/boundary_wireframe_scale: 0.1
* /hydra_dsg_visualizer/config/layer20/bounding_box_alpha: 0.5
* /hydra_dsg_visualizer/config/layer20/collapse_boundary: False
* /hydra_dsg_visualizer/config/layer20/collapse_bounding_box: False
* /hydra_dsg_visualizer/config/layer20/draw_boundaries: True
* /hydra_dsg_visualizer/config/layer20/interlayer_edge_alpha: 0.4
* /hydra_dsg_visualizer/config/layer20/interlayer_edge_insertion_skip: 0
* /hydra_dsg_visualizer/config/layer20/interlayer_edge_scale: 0.08
* /hydra_dsg_visualizer/config/layer20/interlayer_edge_use_color: True
* /hydra_dsg_visualizer/config/layer20/intralayer_edge_alpha: 0.5
* /hydra_dsg_visualizer/config/layer20/intralayer_edge_insertion_skip: 0
* /hydra_dsg_visualizer/config/layer20/intralayer_edge_scale: 0.01
* /hydra_dsg_visualizer/config/layer20/intralayer_edge_use_color: False
* /hydra_dsg_visualizer/config/layer20/label_height: 1.0
* /hydra_dsg_visualizer/config/layer20/label_scale: 0.5
* /hydra_dsg_visualizer/config/layer20/marker_alpha: 0.9
* /hydra_dsg_visualizer/config/layer20/marker_color_mode: 0
* /hydra_dsg_visualizer/config/layer20/marker_scale: 0.2
* /hydra_dsg_visualizer/config/layer20/use_bounding_box: False
* /hydra_dsg_visualizer/config/layer20/use_edge_source: False
* /hydra_dsg_visualizer/config/layer20/use_label: False
* /hydra_dsg_visualizer/config/layer20/use_sphere_marker: True
* /hydra_dsg_visualizer/config/layer20/visualize: True
* /hydra_dsg_visualizer/config/layer20/z_offset_scale: 3.0
* /hydra_dsg_visualizer/config/layer3/bounding_box_alpha: 0.5
* /hydra_dsg_visualizer/config/layer3/collapse_bounding_box: False
* /hydra_dsg_visualizer/config/layer3/interlayer_edge_alpha: 0.4
* /hydra_dsg_visualizer/config/layer3/interlayer_edge_insertion_skip: 0
* /hydra_dsg_visualizer/config/layer3/interlayer_edge_scale: 0.08
* /hydra_dsg_visualizer/config/layer3/interlayer_edge_use_color: True
* /hydra_dsg_visualizer/config/layer3/intralayer_edge_alpha: 0.5
* /hydra_dsg_visualizer/config/layer3/intralayer_edge_insertion_skip: 0
* /hydra_dsg_visualizer/config/layer3/intralayer_edge_scale: 0.01
* /hydra_dsg_visualizer/config/layer3/intralayer_edge_use_color: False
* /hydra_dsg_visualizer/config/layer3/label_height: 1.0
* /hydra_dsg_visualizer/config/layer3/label_scale: 0.5
* /hydra_dsg_visualizer/config/layer3/marker_alpha: 0.9
* /hydra_dsg_visualizer/config/layer3/marker_color_mode: 2
* /hydra_dsg_visualizer/config/layer3/marker_scale: 0.2
* /hydra_dsg_visualizer/config/layer3/use_bounding_box: False
* /hydra_dsg_visualizer/config/layer3/use_collapsed_label: False
* /hydra_dsg_visualizer/config/layer3/use_edge_source: False
* /hydra_dsg_visualizer/config/layer3/use_label: False
* /hydra_dsg_visualizer/config/layer3/use_sphere_marker: True
* /hydra_dsg_visualizer/config/layer3/visualize: True
* /hydra_dsg_visualizer/config/layer3/z_offset_scale: 3.0
* /hydra_dsg_visualizer/config/layer4/bounding_box_alpha: 0.5
* /hydra_dsg_visualizer/config/layer4/collapse_bounding_box: False
* /hydra_dsg_visualizer/config/layer4/interlayer_edge_alpha: 0.4
* /hydra_dsg_visualizer/config/layer4/interlayer_edge_insertion_skip: 3
* /hydra_dsg_visualizer/config/layer4/interlayer_edge_scale: 0.08
* /hydra_dsg_visualizer/config/layer4/interlayer_edge_use_color: True
* /hydra_dsg_visualizer/config/layer4/intralayer_edge_alpha: 0.2
* /hydra_dsg_visualizer/config/layer4/intralayer_edge_insertion_skip: 0
* /hydra_dsg_visualizer/config/layer4/intralayer_edge_scale: 0.1
* /hydra_dsg_visualizer/config/layer4/intralayer_edge_use_color: False
* /hydra_dsg_visualizer/config/layer4/label_height: 1.25
* /hydra_dsg_visualizer/config/layer4/label_scale: 1.0
* /hydra_dsg_visualizer/config/layer4/marker_alpha: 0.8
* /hydra_dsg_visualizer/config/layer4/marker_color_mode: 0
* /hydra_dsg_visualizer/config/layer4/marker_scale: 0.6
* /hydra_dsg_visualizer/config/layer4/use_bounding_box: False
* /hydra_dsg_visualizer/config/layer4/use_collapsed_label: False
* /hydra_dsg_visualizer/config/layer4/use_edge_source: True
* /hydra_dsg_visualizer/config/layer4/use_label: True
* /hydra_dsg_visualizer/config/layer4/use_sphere_marker: False
* /hydra_dsg_visualizer/config/layer4/visualize: True
* /hydra_dsg_visualizer/config/layer4/z_offset_scale: 4.2
* /hydra_dsg_visualizer/config/layer5/bounding_box_alpha: 0.5
* /hydra_dsg_visualizer/config/layer5/collapse_bounding_box: False
* /hydra_dsg_visualizer/config/layer5/interlayer_edge_alpha: 0.5
* /hydra_dsg_visualizer/config/layer5/interlayer_edge_insertion_skip: 0
* /hydra_dsg_visualizer/config/layer5/interlayer_edge_scale: 0.1
* /hydra_dsg_visualizer/config/layer5/interlayer_edge_use_color: False
* /hydra_dsg_visualizer/config/layer5/intralayer_edge_alpha: 1.0
* /hydra_dsg_visualizer/config/layer5/intralayer_edge_insertion_skip: 0
* /hydra_dsg_visualizer/config/layer5/intralayer_edge_scale: 0.05
* /hydra_dsg_visualizer/config/layer5/intralayer_edge_use_color: False
* /hydra_dsg_visualizer/config/layer5/label_height: 1.5
* /hydra_dsg_visualizer/config/layer5/label_scale: 1.25
* /hydra_dsg_visualizer/config/layer5/marker_alpha: 1.0
* /hydra_dsg_visualizer/config/layer5/marker_color_mode: 0
* /hydra_dsg_visualizer/config/layer5/marker_scale: 1.0
* /hydra_dsg_visualizer/config/layer5/use_bounding_box: False
* /hydra_dsg_visualizer/config/layer5/use_collapsed_label: False
* /hydra_dsg_visualizer/config/layer5/use_edge_source: False
* /hydra_dsg_visualizer/config/layer5/use_label: True
* /hydra_dsg_visualizer/config/layer5/use_sphere_marker: False
* /hydra_dsg_visualizer/config/layer5/visualize: True
* /hydra_dsg_visualizer/config/layer5/z_offset_scale: 5.5
* /hydra_dsg_visualizer/config/layer_z_step: 5.5
* /hydra_dsg_visualizer/config/mesh_edge_break_ratio: 0.5
* /hydra_dsg_visualizer/config/mesh_layer_offset: 0.0
* /hydra_dsg_visualizer/config/places_colormap/max_hue: 0.5
* /hydra_dsg_visualizer/config/places_colormap/max_luminance: 0.85
* /hydra_dsg_visualizer/config/places_colormap/max_saturation: 0.8
* /hydra_dsg_visualizer/config/places_colormap/min_hue: 0.0
* /hydra_dsg_visualizer/config/places_colormap/min_luminance: 0.6
* /hydra_dsg_visualizer/config/places_colormap/min_saturation: 0.9
* /hydra_dsg_visualizer/config/places_colormap_max_distance: 3.0
* /hydra_dsg_visualizer/config/places_colormap_min_distance: 0.0
* /hydra_dsg_visualizer/dsg_mesh/color_by_label: False
* /hydra_dsg_visualizer/dsg_mesh/label_colormap: /home/hugh/catkin...
* /hydra_dsg_visualizer/load_graph: False
* /hydra_dsg_visualizer/output_path:
* /hydra_dsg_visualizer/plugins/dsg_mesh/type: MeshPlugin
* /hydra_dsg_visualizer/plugins/gt_regions/draw_labels: True
* /hydra_dsg_visualizer/plugins/gt_regions/fill_polygons: False
* /hydra_dsg_visualizer/plugins/gt_regions/gt_regions_filepath:
* /hydra_dsg_visualizer/plugins/gt_regions/label_offset: 2.0
* /hydra_dsg_visualizer/plugins/gt_regions/label_scale: 1.0
* /hydra_dsg_visualizer/plugins/gt_regions/line_width: 0.2
* /hydra_dsg_visualizer/plugins/gt_regions/type: GtRegionPlugin
* /hydra_dsg_visualizer/plugins/gt_regions/use_boundary_color: True
* /hydra_dsg_visualizer/scene_graph_filepath:
* /hydra_dsg_visualizer/use_zmq: False
* /hydra_dsg_visualizer/visualizer_frame: map
* /hydra_dsg_visualizer/zmq_url: tcp://127.0.0.1:8001
* /hydra_ros_node/backend/building_color: [169, 8, 194]
* /hydra_ros_node/backend/building_semantic_label: 22
* /hydra_ros_node/backend/dsg/add_places_to_deformation_graph: True
* /hydra_ros_node/backend/dsg/enable_merge_undos: False
* /hydra_ros_node/backend/dsg/enable_node_merging: True
* /hydra_ros_node/backend/dsg/merge_update_dynamic: True
* /hydra_ros_node/backend/dsg/merge_update_map/BUILDINGS: False
* /hydra_ros_node/backend/dsg/merge_update_map/OBJECTS: False
* /hydra_ros_node/backend/dsg/merge_update_map/PLACES: True
* /hydra_ros_node/backend/dsg/merge_update_map/ROOMS: False
* /hydra_ros_node/backend/dsg/num_neighbors_to_find_for_merge: 1
* /hydra_ros_node/backend/dsg/optimize_on_lc: True
* /hydra_ros_node/backend/dsg/places_merge_distance_tolerance_m: 0.4
* /hydra_ros_node/backend/dsg/places_merge_pos_threshold_m: 0.4
* /hydra_ros_node/backend/dsg/rpgo_solver: LM
* /hydra_ros_node/backend/dsg/rpgo_verbosity: update
* /hydra_ros_node/backend/dsg/use_active_flag_for_updates: True
* /hydra_ros_node/backend/dsg/use_zmq_interface: True
* /hydra_ros_node/backend/dsg/zmq_recv_url: tcp://127.0.0.1:8002
* /hydra_ros_node/backend/dsg/zmq_send_url: tcp://127.0.0.1:8001
* /hydra_ros_node/backend/enable_rooms: True
* /hydra_ros_node/backend/frontier_config/frontier_removal_check_threshold: 4
* /hydra_ros_node/backend/frontier_config/frontier_removal_threshold: 1
* /hydra_ros_node/backend/pgmo/add_initial_prior: True
* /hydra_ros_node/backend/pgmo/covariance/loop_close: 0.05
* /hydra_ros_node/backend/pgmo/covariance/mesh_mesh: 0.01
* /hydra_ros_node/backend/pgmo/covariance/object_merge: 10.0
* /hydra_ros_node/backend/pgmo/covariance/odom: 0.01
* /hydra_ros_node/backend/pgmo/covariance/place_edge: 10.0
* /hydra_ros_node/backend/pgmo/covariance/place_merge: 10.0
* /hydra_ros_node/backend/pgmo/covariance/place_mesh: 0.01
* /hydra_ros_node/backend/pgmo/covariance/pose_mesh: 0.01
* /hydra_ros_node/backend/pgmo/covariance/prior: 0.01
* /hydra_ros_node/backend/pgmo/covariance/sg_loop_close: 0.1
* /hydra_ros_node/backend/pgmo/embed_trajectory_delta_t: 5.0
* /hydra_ros_node/backend/pgmo/enable_sparsify: False
* /hydra_ros_node/backend/pgmo/interp_horizon: 10.0
* /hydra_ros_node/backend/pgmo/num_interp_pts: 3
* /hydra_ros_node/backend/pgmo/rot_node_dist: 1.2
* /hydra_ros_node/backend/pgmo/rpgo/gnc_alpha: 0.9
* /hydra_ros_node/backend/pgmo/rpgo/gnc_cost_tolerance: 1e-05
* /hydra_ros_node/backend/pgmo/rpgo/gnc_fix_prev_inliers: True
* /hydra_ros_node/backend/pgmo/rpgo/gnc_max_iterations: 100
* /hydra_ros_node/backend/pgmo/rpgo/gnc_mu_step: 1.6
* /hydra_ros_node/backend/pgmo/rpgo/gnc_weight_tolerance: 0.0001
* /hydra_ros_node/backend/pgmo/rpgo/lm_diagonal_damping: True
* /hydra_ros_node/backend/pgmo/rpgo/odom_rot_threshold: 0.01
* /hydra_ros_node/backend/pgmo/rpgo/odom_trans_threshold: 0.05
* /hydra_ros_node/backend/pgmo/rpgo/pcm_rot_threshold: -1
* /hydra_ros_node/backend/pgmo/rpgo/pcm_trans_threshold: -1
* /hydra_ros_node/backend/pgmo/rpgo/solver: LM
* /hydra_ros_node/backend/pgmo/rpgo/verbosity: UPDATE
* /hydra_ros_node/backend/pgmo/run_mode: FULL
* /hydra_ros_node/backend/pgmo/trans_node_dist: 1.0
* /hydra_ros_node/backend/pgmo/use_msg_time: True
* /hydra_ros_node/backend/places2d_config/allow_places_merge: True
* /hydra_ros_node/backend/places2d_config/connection_max_delta_z: 0.5
* /hydra_ros_node/backend/places2d_config/connection_overlap_threshold: 0
* /hydra_ros_node/backend/places2d_config/merge_max_delta_z: 0.5
* /hydra_ros_node/backend/places2d_config/min_points: 10
* /hydra_ros_node/backend/places2d_config/min_size: 2
* /hydra_ros_node/backend/room_finder/clip_dilation_window_to_max: False
* /hydra_ros_node/backend/room_finder/clustering_mode: NEIGHBORS
* /hydra_ros_node/backend/room_finder/dilation_diff_threshold_m: -1.0
* /hydra_ros_node/backend/room_finder/dilation_threshold_mode: PLATEAU
* /hydra_ros_node/backend/room_finder/log_filtrations: False
* /hydra_ros_node/backend/room_finder/log_place_graphs: False
* /hydra_ros_node/backend/room_finder/max_dilation_m: 1.2
* /hydra_ros_node/backend/room_finder/max_modularity_iters: 5
* /hydra_ros_node/backend/room_finder/min_component_size: 10
* /hydra_ros_node/backend/room_finder/min_dilation_m: 0.5
* /hydra_ros_node/backend/room_finder/min_lifetime_length_m: 0.1
* /hydra_ros_node/backend/room_finder/min_room_size: 10
* /hydra_ros_node/backend/room_finder/min_window_size: 0.2
* /hydra_ros_node/backend/room_finder/modularity_gamma: 1.0
* /hydra_ros_node/backend/room_finder/plateau_ratio: 0.15
* /hydra_ros_node/backend/room_finder/room_prefix: R
* /hydra_ros_node/backend/type: BackendModule
* /hydra_ros_node/backend/use_2d_places: True
* /hydra_ros_node/backend/visualize_place_factors: False
* /hydra_ros_node/backend/zmq_publish_mesh: True
* /hydra_ros_node/descriptor_creation_horizon_m: 15.0
* /hydra_ros_node/disable_timer_output: True
* /hydra_ros_node/dsg/zmq_num_threads: 2
* /hydra_ros_node/dsg/zmq_poll_time_ms: 10
* /hydra_ros_node/dynamic_labels: [20]
* /hydra_ros_node/enable_frontend_output: True
* /hydra_ros_node/enable_lcd: False
* /hydra_ros_node/enable_reconstruction_output_queue: True
* /hydra_ros_node/exit_after_clock: False
* /hydra_ros_node/frontend/enable_places: True
* /hydra_ros_node/frontend/freespace_places/filter_ground: False
* /hydra_ros_node/frontend/freespace_places/filter_places: True
* /hydra_ros_node/frontend/freespace_places/graph/add_freespace_edges: False
* /hydra_ros_node/frontend/freespace_places/graph/add_heuristic_edges: False
* /hydra_ros_node/frontend/freespace_places/graph/add_overlap_edges: True
* /hydra_ros_node/frontend/freespace_places/graph/compression_distance_m: 1.5
* /hydra_ros_node/frontend/freespace_places/graph/merge_policy: distance
* /hydra_ros_node/frontend/freespace_places/graph/min_edge_distance_m: 0.25
* /hydra_ros_node/frontend/freespace_places/graph/min_node_distance_m: 0.4
* /hydra_ros_node/frontend/freespace_places/graph/node_merge_distance_m: 0.7
* /hydra_ros_node/frontend/freespace_places/graph/overlap_edges/min_clearance_m: 0.4
* /hydra_ros_node/frontend/freespace_places/graph/overlap_edges/num_neighbors_to_check: 4
* /hydra_ros_node/frontend/freespace_places/graph/type: CompressionGraphE...
* /hydra_ros_node/frontend/freespace_places/graph/validate_graph: False
* /hydra_ros_node/frontend/freespace_places/gvd/extract_graph: True
* /hydra_ros_node/frontend/freespace_places/gvd/max_distance_m: 4.5
* /hydra_ros_node/frontend/freespace_places/gvd/min_basis_for_extraction: 1
* /hydra_ros_node/frontend/freespace_places/gvd/min_diff_m: 0.1
* /hydra_ros_node/frontend/freespace_places/gvd/min_distance_m: 0.2
* /hydra_ros_node/frontend/freespace_places/gvd/min_weight: 1e-06
* /hydra_ros_node/frontend/freespace_places/gvd/multi_queue: False
* /hydra_ros_node/frontend/freespace_places/gvd/num_buckets: 20
* /hydra_ros_node/frontend/freespace_places/gvd/positive_distance_only: True
* /hydra_ros_node/frontend/freespace_places/gvd/voronoi_config/min_distance_m: 0.3
* /hydra_ros_node/frontend/freespace_places/gvd/voronoi_config/mode: L1_THEN_ANGLE
* /hydra_ros_node/frontend/freespace_places/gvd/voronoi_config/parent_cos_angle_separation: 0.2
* /hydra_ros_node/frontend/freespace_places/gvd/voronoi_config/parent_l1_separation: 20
* /hydra_ros_node/frontend/freespace_places/min_places_component_size: 3
* /hydra_ros_node/frontend/freespace_places/sinks: [{'type': 'Places...
* /hydra_ros_node/frontend/freespace_places/tsdf_interpolator/ratio: 2
* /hydra_ros_node/frontend/freespace_places/tsdf_interpolator/type: downsample
* /hydra_ros_node/frontend/freespace_places/type: gvd
* /hydra_ros_node/frontend/frontier_places/cluster_tolerance: 0.3
* /hydra_ros_node/frontend/frontier_places/dense_frontiers: False
* /hydra_ros_node/frontend/frontier_places/frontier_splitting_threshold: 0.2
* /hydra_ros_node/frontend/frontier_places/max_cluster_size: 100000
* /hydra_ros_node/frontend/frontier_places/max_place_radius: 5
* /hydra_ros_node/frontend/frontier_places/maximum_relative_z: 1
* /hydra_ros_node/frontend/frontier_places/min_cluster_size: 10
* /hydra_ros_node/frontend/frontier_places/minimum_relative_z: -1.0
* /hydra_ros_node/frontend/frontier_places/point_threshold: 10
* /hydra_ros_node/frontend/frontier_places/recent_block_distance: 25
* /hydra_ros_node/frontend/frontier_places/type: voxel_clustering
* /hydra_ros_node/frontend/min_object_vertices: 40
* /hydra_ros_node/frontend/objects/active_horizon_s: 10.0
* /hydra_ros_node/frontend/objects/active_index_horizon_m: 7.0
* /hydra_ros_node/frontend/objects/bounding_box_type: AABB
* /hydra_ros_node/frontend/objects/cluster_tolerance: 0.25
* /hydra_ros_node/frontend/objects/max_cluster_size: 100000
* /hydra_ros_node/frontend/objects/min_cluster_size: 40
* /hydra_ros_node/frontend/objects/prefix: O
* /hydra_ros_node/frontend/objects/sinks: [{'type': 'Object...
* /hydra_ros_node/frontend/pgmo/d_graph_resolution: 2.5
* /hydra_ros_node/frontend/pgmo/mesh_resolution: 0.005
* /hydra_ros_node/frontend/pgmo/time_horizon: 15.0
* /hydra_ros_node/frontend/pose_graph_tracker/type: PoseGraphFromOdom
* /hydra_ros_node/frontend/surface_places/cluster_tolerance: 0.3
* /hydra_ros_node/frontend/surface_places/max_cluster_size: 100000
* /hydra_ros_node/frontend/surface_places/min_cluster_size: 50
* /hydra_ros_node/frontend/surface_places/min_final_place_points: 10
* /hydra_ros_node/frontend/surface_places/place_max_neighbor_z_diff: 0.5
* /hydra_ros_node/frontend/surface_places/place_overlap_threshold: 0.0
* /hydra_ros_node/frontend/surface_places/prefix: P
* /hydra_ros_node/frontend/surface_places/pure_final_place_size: 1
* /hydra_ros_node/frontend/surface_places/type: place_2d
* /hydra_ros_node/frontend/type: FrontendModule
* /hydra_ros_node/frontend/use_2d_places: True
* /hydra_ros_node/frontend/use_frontiers: False
* /hydra_ros_node/frontend/validate_vertices: False
* /hydra_ros_node/frontend_mesh_separation_s: 0.5
* /hydra_ros_node/input/clear_queue_on_fail: True
* /hydra_ros_node/input/receivers: [{'type': 'ImageR...
* /hydra_ros_node/input/tf_verbosity: 1
* /hydra_ros_node/input/type: RosInput
* /hydra_ros_node/invalid_labels: []
* /hydra_ros_node/label_names: [{'label': 0, 'na...
* /hydra_ros_node/lcd/agent/max_registration_matches: 2
* /hydra_ros_node/lcd/agent/min_match_separation_m: 0.0
* /hydra_ros_node/lcd/agent/min_registration_score: 0.01
* /hydra_ros_node/lcd/agent/min_score: 0.04
* /hydra_ros_node/lcd/agent/min_score_ratio: 0.95
* /hydra_ros_node/lcd/agent/min_time_separation_s: 25.0
* /hydra_ros_node/lcd/agent/type: L1
* /hydra_ros_node/lcd/enable_agent_registration: True
* /hydra_ros_node/lcd/gnn_lcd/object_model_path: /home/hugh/catkin...
* /hydra_ros_node/lcd/gnn_lcd/places_model_path: /home/hugh/catkin...
* /hydra_ros_node/lcd/num_semantic_classes: 20
* /hydra_ros_node/lcd/object_extraction/fixed_radius: True
* /hydra_ros_node/lcd/object_extraction/max_radius_m: 13.0
* /hydra_ros_node/lcd/objects/registration/log_registration_problem: False
* /hydra_ros_node/lcd/objects/registration/min_correspondences: 5
* /hydra_ros_node/lcd/objects/registration/min_inliers: 5
* /hydra_ros_node/lcd/objects/registration/recreate_subgraph: False
* /hydra_ros_node/lcd/objects/registration/registration_output_path:
* /hydra_ros_node/lcd/objects/search/max_registration_matches: 2
* /hydra_ros_node/lcd/objects/search/min_match_separation_m: 5.0
* /hydra_ros_node/lcd/objects/search/min_registration_score: 0.93
* /hydra_ros_node/lcd/objects/search/min_score: 0.3
* /hydra_ros_node/lcd/objects/search/min_score_ratio: 0.9
* /hydra_ros_node/lcd/objects/search/min_time_separation_s: 25.0
* /hydra_ros_node/lcd/objects/search/type: L1
* /hydra_ros_node/lcd/place_histogram_config/bins: 30
* /hydra_ros_node/lcd/place_histogram_config/max: 2.5
* /hydra_ros_node/lcd/place_histogram_config/min: 0.5
* /hydra_ros_node/lcd/places/search/max_registration_matches: 5
* /hydra_ros_node/lcd/places/search/min_match_separation_m: 5.0
* /hydra_ros_node/lcd/places/search/min_registration_score: 1.5
* /hydra_ros_node/lcd/places/search/min_score: 0.2
* /hydra_ros_node/lcd/places/search/min_score_ratio: 0.7
* /hydra_ros_node/lcd/places/search/min_time_separation_s: 25.0
* /hydra_ros_node/lcd/places/search/type: L1
* /hydra_ros_node/lcd/places_extraction/fixed_radius: True
* /hydra_ros_node/lcd/places_extraction/max_radius_m: 13.0
* /hydra_ros_node/lcd/teaser/cbar2: 1.0
* /hydra_ros_node/lcd/teaser/estimate_scaling: False
* /hydra_ros_node/lcd/teaser/inlier_selection_mode: PMC_EXACT
* /hydra_ros_node/lcd/teaser/kcore_heuristic_threshold: 0.5
* /hydra_ros_node/lcd/teaser/max_clique_time_limit: 3600
* /hydra_ros_node/lcd/teaser/noise_bound: 0.1
* /hydra_ros_node/lcd/teaser/rotation_cost_threshold: 1e-06
* /hydra_ros_node/lcd/teaser/rotation_gnc_factor: 1.4
* /hydra_ros_node/lcd/teaser/rotation_max_iterations: 100
* /hydra_ros_node/lcd/use_gnn_descriptors: False
* /hydra_ros_node/lcd_agent_horizon_s: 3.5
* /hydra_ros_node/lcd_use_bow_vectors: True
* /hydra_ros_node/lcd_visualizer_ns: /dsg/lcd_visualizer
* /hydra_ros_node/log_path: /home/hugh/catkin...
* /hydra_ros_node/log_timing_incrementally: False
* /hydra_ros_node/map_frame: map
* /hydra_ros_node/min_mesh_separation_s: 0.5
* /hydra_ros_node/object_labels: [5, 6, 7, 10, 12,...
* /hydra_ros_node/odom_frame: world
* /hydra_ros_node/reconstruction/dense_representation_radius_m: 8.0
* /hydra_ros_node/reconstruction/map/truncation_distance: 0.3
* /hydra_ros_node/reconstruction/map/voxel_size: 0.1
* /hydra_ros_node/reconstruction/map/voxels_per_side: 16
* /hydra_ros_node/reconstruction/mesh/integrator_threads: -1
* /hydra_ros_node/reconstruction/mesh/min_weight: 0.0001
* /hydra_ros_node/reconstruction/sinks: [{'type': 'Recons...
* /hydra_ros_node/reconstruction/tsdf/interpolation_method: bilinear
* /hydra_ros_node/reconstruction/tsdf/num_threads: -1
* /hydra_ros_node/reconstruction/tsdf/semantic_integrator/type: MLESemanticIntegr...
* /hydra_ros_node/reconstruction/tsdf/verbosity: 1
* /hydra_ros_node/reconstruction/type: ReconstructionModule
* /hydra_ros_node/rgb/image_transport: raw
* /hydra_ros_node/robot_frame: base_link_gt
* /hydra_ros_node/robot_id: 0
* /hydra_ros_node/semantic_colormap_file: /home/hugh/catkin...
* /hydra_ros_node/semantic_label_remap_filepath:
* /hydra_ros_node/surface_places_labels: [3, 15]
* /hydra_ros_node/timing_disabled: False
* /hydra_ros_node/topology_visualizer_ns: ~/topology_visual...
* /hydra_ros_node/total_semantic_labels: 21
* /rosdistro: noetic
* /rosversion: 1.16.0
* /use_sim_time: True
NODES
/
bag_static_tf_0 (tf2_ros/static_transform_publisher)
bag_static_tf_1 (tf2_ros/static_transform_publisher)
bag_static_tf_2 (tf2_ros/static_transform_publisher)
bag_static_tf_3 (tf2_ros/static_transform_publisher)
bag_static_tf_4 (tf2_ros/static_transform_publisher)
bag_static_tf_5 (tf2_ros/static_transform_publisher)
fake_world_tf (tf2_ros/static_transform_publisher)
hydra_dsg_visualizer (hydra_ros/hydra_visualizer_node)
hydra_ros_node (hydra_ros/hydra_ros_node)
rviz (rviz/rviz)
auto-starting new master
process[master]: started with pid [11088]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 815d2696-4583-11ef-ab5f-fd2e822235bf
process[rosout-1]: started with pid [11109]
started core service [/rosout]
process[bag_static_tf_0-2]: started with pid [11116]
process[bag_static_tf_1-3]: started with pid [11117]
process[bag_static_tf_2-4]: started with pid [11118]
process[bag_static_tf_3-5]: started with pid [11124]
process[bag_static_tf_4-6]: started with pid [11133]
process[bag_static_tf_5-7]: started with pid [11140]
process[fake_world_tf-8]: started with pid [11151]
process[hydra_ros_node-9]: started with pid [11161]
process[rviz-10]: started with pid [11167]
process[hydra_dsg_visualizer-11]: started with pid [11169]
[INFO] Overwriting type name for config 'hydra::BackendModule::Config' for base module 'hydra::BackendModule' from 'BackendModule' to 'RosBackend'. Defining different type identifiers for the same derived module is not recommended.
[INFO] Overwriting type name for config 'hydra::RosCameraIntrinsics::Config' for base module 'hydra::Sensor' from 'camera_info' to 'rosbag_camera_info'. Defining different type identifiers for the same derived module is not recommended.
W0719 12:00:59.479974 11161 log_to_glog.h:66] Errors parsing config 'PipelineConfig':
========================================== PipelineConfig ==========================================
Warning: Failed to parse param 'enable_lcd': yaml-cpp: error at line 1, column 1: bad conversion.
Warning: Failed to parse param 'timing_disabled': yaml-cpp: error at line 1, column 1: bad conversio
n.
Warning: Failed to parse param 'disable_timer_output': yaml-cpp: error at line 1, column 1: bad conv
ersion.
Warning: Failed to parse param 'logs.log_timing_incrementally': yaml-cpp: error at line 1, column 1:
bad conversion.
====================================================================================================
*** Aborted at 1721361659 (unix time) try "date -d @1721361659" if you are using GNU date ***
PC: @ 0x0 (unknown)
*** SIGSEGV (@0x0) received by PID 11169 (TID 0x7fcf30f2ea00) from PID 0; stack trace: ***
@ 0x7fcf3cf8d090 (unknown)
@ 0x7fcf3bce0b2a YAML::convert<>::decode()
@ 0x7fcf3d9ddd9a config::internal::Visitor::visitField<>()
@ 0x7fcf3db57762 hydra::declare_config()
@ 0x7fcf3db5fef6 config::fromYaml<>()
@ 0x7fcf3db57cca hydra::HydraVisualizer::HydraVisualizer()
@ 0x56169c61c21f main
@ 0x7fcf3cf6e083 __libc_start_main
@ 0x56169c61cd0e _start
@ 0x0 (unknown)
*** Aborted at 1721361659 (unix time) try "date -d @1721361659" if you are using GNU date ***
PC: @ 0x0 (unknown)
*** SIGSEGV (@0x0) received by PID 11161 (TID 0x7f707a267a00) from PID 0; stack trace: ***
@ 0x7f7085e06090 (unknown)
@ 0x7f7085019b2a YAML::convert<>::decode()
@ 0x7f7086d16d9a config::internal::Visitor::visitField<>()
@ 0x7f7086ced534 hydra::declare_config()
@ 0x7f7086d174da config::fromYaml<>()
@ 0x7f7086cee14f hydra::HydraRosPipeline::HydraRosPipeline()
@ 0x5607fe5fd5ab main
@ 0x7f7085de7083 __libc_start_main
@ 0x5607fe5fd6be _start
@ 0x0 (unknown)
================================================================================REQUIRED process [hydra_ros_node-9] has died!
process has died [pid 11161, exit code -11, cmd /home/hugh/catkin_ws/devel/lib/hydra_ros/hydra_ros_node --minloglevel=0 -v=0 ~pose_graph:=kimera_vio_ros/pose_graph_incremental ~agent_node_measurements:=kimera_distributed/optimized_nodes ~bow_vectors:=kimera_vio_ros/bow_query frame_registration:=kimera_vio_ros/kimera_vio_ros_node/register_lcd_frames ~pointcloud:=pointcloud ~rgb/image_raw:=/tesse/left_cam/rgb/image_raw ~rgb/image_raw/compressed:=/tesse/left_cam/rgb/image_raw/compressed ~rgb/camera_info:=/tesse/left_cam/camera_info ~depth_registered/image_rect:=/tesse/depth_cam/mono/image_raw ~semantic/image_raw:=/tesse/seg_cam/rgb/image_raw __name:=hydra_ros_node __log:=/home/hugh/.ros/log/815d2696-4583-11ef-ab5f-fd2e822235bf/hydra_ros_node-9.log].
log file: /home/hugh/.ros/log/815d2696-4583-11ef-ab5f-fd2e822235bf/hydra_ros_node-9*.log
Initiating shutdown!
================================================================================
[hydra_dsg_visualizer-11] killing on exit
[rviz-10] killing on exit
[fake_world_tf-8] killing on exit
[bag_static_tf_4-6] killing on exit
[bag_static_tf_5-7] killing on exit
[bag_static_tf_2-4] killing on exit
[bag_static_tf_3-5] killing on exit
[bag_static_tf_1-3] killing on exit
[bag_static_tf_0-2] killing on exit
[hydra_ros_node-9] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
warlrdBarton
Hi, thx for your wonderful work. I've compiled your most recent Hydra project successfully. But when I follow your tutorial typing
roslaunch hydra_ros uhumans2.launchin the terminal. It turns out to be failling at initializing. Below are the informations reported from terminal.Could you please tell me what the problem is? BTW, I've also compiled Kimera-VIO in the catkin_ws, and when I roslaunch kimera-vio, there is no bug, but after that when I tried to roslaunch hydra_ros, it reported the same problem as above.