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MIT-SPARK / Kimera-VIO-ROS

ROS wrapper for Kimera-VIO
BSD 2-Clause "Simplified" License
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[kimera_vio_ros/posegraph_viewer-2] process has died [pid 14460, exit code -6, cmd] #100

Open bessszilard opened 4 years ago

bessszilard commented 4 years ago

Description:

First of all, thank you for this wonderful open-source library. I was able to run the catkin build command with the gstam library's developer branch, due to this https://github.com/MIT-SPARK/Kimera-VIO-ROS/issues/74#issuecomment-628888438.

I tried to run the demo file with Euroc / V1_01_easy

In the simulation, it shows only the point cloud without meshes [1] and not is like in the demo image.

My questions:

  1. Why do I get that two errors? [2]
  2. How can I enable to show the meshes as well?

Command: I used the given commands in the tutorial

  1. Run roscore roscore
  2. In another terminal, launch KimeraVIO ROS wrapper: 
    roslaunch kimera_vio_ros kimera_vio_ros_euroc.launch
  3. In another terminal, launch rviz for visualization: 
    rviz -d $(rospack find kimera_vio_ros)/rviz/kimera_vio_euroc.rviz

I tried to run the

Console output: I received these 2 errors:

[2] error:

[kimera_vio_ros/posegraph_viewer-2] process has died [pid 14460, exit code -6, cmd /home/szilard/catkin_ws/devel/lib/pose_graph_tools/visualizer_node graph:=pose_graph __name:=posegraph_viewer __log:=/home/szilard/.ros/log/ec01ca86-e607-11ea-abdf-18dbf240af48/kimera_vio_ros-posegraph_viewer-2.log].
log file: /home/szilard/.ros/log/ec01ca86-e607-11ea-abdf-18dbf240af48/kimera_vio_ros-posegraph_viewer-2*.log
I0824 19:18:54.620903 14459 RosOnlineDataProvider.cpp:56] Requested initialization from ground-truth. Initializing ground-truth odometry one-shot subscriber.
W0824 19:18:54.623056 14459 RosOnlineDataProvider.cpp:65] Waiting for ground-truth pose to initialize VIO on ros topic: /kimera_vio_ros/gt_odom
E0824 19:18:57.721786 14459 RosOnlineDataProvider.cpp:82] Missing ground-truth pose while trying for 3.0008 seconds.
Enabling autoInitialize and continuing without ground-truth pose.

The whole console output until the errors:


... logging to /home/szilard/.ros/log/ec01ca86-e607-11ea-abdf-18dbf240af48/roslaunch-pop-os-14443.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://pop-os:37161/

SUMMARY
========

PARAMETERS
 * /kimera_vio_ros/kimera_vio_ros_node/base_link_frame_id: base_link
 * /kimera_vio_ros/kimera_vio_ros_node/left_cam_frame_id: cam0
 * /kimera_vio_ros/kimera_vio_ros_node/map_frame_id: map
 * /kimera_vio_ros/kimera_vio_ros_node/mono_ransac_threshold: 30
 * /kimera_vio_ros/kimera_vio_ros_node/online_run: True
 * /kimera_vio_ros/kimera_vio_ros_node/params_folder_path: /home/szilard/cat...
 * /kimera_vio_ros/kimera_vio_ros_node/position_det_threshold: 0.3
 * /kimera_vio_ros/kimera_vio_ros_node/right_cam_frame_id: cam1
 * /kimera_vio_ros/kimera_vio_ros_node/stereo_ransac_threshold: 20
 * /kimera_vio_ros/kimera_vio_ros_node/use_lcd: False
 * /kimera_vio_ros/kimera_vio_ros_node/use_online_cam_params: False
 * /kimera_vio_ros/kimera_vio_ros_node/velocity_det_threshold: 0.1
 * /kimera_vio_ros/kimera_vio_ros_node/world_frame_id: world
 * /kimera_vio_ros/posegraph_viewer/frame_id: world
 * /rosdistro: melodic
 * /rosversion: 1.14.7
 * /use_sim_time: True

NODES
  /kimera_vio_ros/
    kimera_vio_ros_node (kimera_vio_ros/kimera_vio_ros_node)
    posegraph_viewer (pose_graph_tools/visualizer_node)

ROS_MASTER_URI=http://localhost:11311

process[kimera_vio_ros/kimera_vio_ros_node-1]: started with pid [14459]
process[kimera_vio_ros/posegraph_viewer-2]: started with pid [14460]
[ INFO] [1598289520.302719909]: Initializing pose graph visualizer
visualizer_node: /home/szilard/catkin_ws/src/pose_graph_tools/src/visualizer.cpp:11: Visualizer::Visualizer(ros::NodeHandle&): Assertion `nh.getParam("frame_id", frame_id_)' failed.
I0824 19:18:40.463707 14459 RegularVioBackEnd.cpp:114] Using Regular VIO backend.
I0824 19:18:40.463845 14459 PipelineModule.h:449] MISO Pipeline Module: Display has no output queue registered.
I0824 19:18:40.464617 14459 RosOnlineDataProvider.cpp:45] Waiting for ROS time to be valid... 
(Sim Time is enabled; run rosbag with --clock argument)
[kimera_vio_ros/posegraph_viewer-2] process has died [pid 14460, exit code -6, cmd /home/szilard/catkin_ws/devel/lib/pose_graph_tools/visualizer_node graph:=pose_graph __name:=posegraph_viewer __log:=/home/szilard/.ros/log/ec01ca86-e607-11ea-abdf-18dbf240af48/kimera_vio_ros-posegraph_viewer-2.log].
log file: /home/szilard/.ros/log/ec01ca86-e607-11ea-abdf-18dbf240af48/kimera_vio_ros-posegraph_viewer-2*.log
I0824 19:18:54.620903 14459 RosOnlineDataProvider.cpp:56] Requested initialization from ground-truth. Initializing ground-truth odometry one-shot subscriber.
W0824 19:18:54.623056 14459 RosOnlineDataProvider.cpp:65] Waiting for ground-truth pose to initialize VIO on ros topic: /kimera_vio_ros/gt_odom
E0824 19:18:57.721786 14459 RosOnlineDataProvider.cpp:82] Missing ground-truth pose while trying for 3.0008 seconds.
Enabling autoInitialize and continuing without ground-truth pose.
I0824 19:18:57.735524 14540 Pipeline.h:185] Spinning Kimera-VIO.
I0824 19:18:57.735507 14459 KimeraVioRos.cpp:114] Statistics
-----------                                  #  Log Hz  {avg     +- std    }    [min,max]
Display [ms]                                    0   
backend_input_queue Size [#]                    0   
data_provider_left_frame_queue Size [#]         0   
data_provider_right_frame_queue Size [#]        0   
display_input_queue Size [#]                    0   
mesher_backend Size [#]                         0   
mesher_frontend Size [#]                        0   
stereo_frontend_input_queue Size [#]            0   
visualizer_backend_queue Size [#]               0   
visualizer_frontend_queue Size [#]              0   
visualizer_mesher_queue Size [#]                0   
W0824 19:18:58.057679 14540 DataProviderModule.cpp:103] Waiting for IMU data...
I0824 19:18:58.071601 14540 Pipeline.cpp:788] Frontend launched (parallel_run set to 1).
I0824 19:18:58.071628 14540 Pipeline.cpp:601] ------------------- Initialize Pipeline with frame k = 2--------------------
W0824 19:18:58.071638 14540 InitializationFromImu.cpp:26] InitializationFromImu: assumes that the vehicle is stationary and upright along some axis,and gravity vector is along a single axis!
I0824 19:18:58.115443 14540 Pipeline.cpp:310] Before launching threads.
I0824 19:18:58.115618 14540 Pipeline.cpp:817] Backend, mesher and visualizer launched (parallel_run set to 1).
I0824 19:18:58.115628 14540 Pipeline.cpp:312]  launching threads.

Additional files:

[1] Screenshot about kimera output Selection_001

Please give also the following information:

zheng-xiao commented 3 years ago

Hi, I have the same issue about "Enabling autoInitialize and continuing without ground-truth pose". Do you solve it?

bessszilard commented 3 years ago

Sorry, but I stopped working on this field, so the issue was no longer relevant.

JaeYoungLee79 commented 2 years ago

I have same error. Some example working well and other is not. Some computer working with no error but jetson board has happened this.