Campus-Outdoor Data Testing and Custom YAML Configuration with Kimera-Multi

[CSH-1220]

Hello, I have a few questions .

Firstly, I have been working with the Campus-Outdoor data set for testing with Kimera-Multi. I've followed the instructions provided, running the command CATKIN_WS= DATA_PATH= LOG_DIR= tmuxp load 1014-example.yaml. Despite the process completing without any module errors, I am unable to visualize the robot's path in RViz. I have tried solutions mentioned in closed issues https://github.com/MIT-SPARK/Kimera-Multi-Data/issues/3, https://github.com/MIT-SPARK/Kimera-Multi-Data/issues/6, and https://github.com/MIT-SPARK/Kimera-Multi-Data/issues/8 on your repository, but the problem persists. I suspect an issue with the DPGO module, possibly related to loop closure detection. I have attached the log file from this run for your reference.

Secondly, I have created a custom YAML file, 1014-example-2robots.yaml, based on the original file logic, modifying it to operate with only two robots instead of six. However, I encounter an error during the execution of the second robot ( Total inter-robot loop closures: 0; DistributedLoopClosure.cpp:100] Check failed: robotid >= config.myid (0 vs. 1)), which seems unexpected given the logical nature of the modifications. I am attaching this YAML file as well in the zip file and would greatly appreciate your insights into whether my approach is correct and what might be causing this error.

Thank you for your time and consideration. klog.zip

[yunzc]

Hi, from a quick glance at your yaml and your logs: I would check that the robot names and ids are assigned correctly here. This seems to match up with the error you got. For example, acl_jackal2 should be with robot-id 1. My recommendation is to either create the two robot example with acl_jackal instead of acl_jackal2 or make sure acl_jackal2 is properly assigned to robot-id 0. Same for thoth and its robot-id.

[zhuoyuan00]

Hi I also met the first problem while using Campus-Outdoor bag. Following the process in readme, it seems the code is running without mistake, but there is nothing can be shown in rviz. How to deal with it?

[yunzc]

Hi I also met the first problem while using Campus-Outdoor bag. Following the process in readme, it seems the code is running without mistake, but there is nothing can be shown in rviz. How to deal with it?

Hi, could you try the solution mentioned here https://github.com/MIT-SPARK/Kimera-Multi/issues/3 and see if that helps?

[yunzc]

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