Closed Hugh-Chen-Hugues closed 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
Did you solve the problem? I encounter it as well.
Did you solve the problem? I encounter it as well.
I reinstalled my Ubuntu system and then built hydra in the clean ubuntu system, and it worked.
Thx for ur reply. I also found the problem lies in catkin build calls a wrong gtsam in ros built-in directory, instead of the one we installed in system. I uninstalled the one in ros directory, and specified explicitly in cmakelists. then I can compile it successfully.
Hugh-Chen-Hugues @.***>于2024年9月1日 周日10:27写道:
Did you solve the problem? I encounter it as well.
I reinstalled my Ubuntu system and then built hydra in the clean ubuntu system, and it worked.
— Reply to this email directly, view it on GitHub https://github.com/MIT-SPARK/Hydra/issues/54#issuecomment-2323129043, or unsubscribe https://github.com/notifications/unsubscribe-auth/A5YSKVY7PQ47XNF3YKC3SITZUJ3QJAVCNFSM6AAAAABK22ENOCVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDGMRTGEZDSMBUGM . You are receiving this because you commented.Message ID: @.***>
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.launch
in 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.