Closed wuyang171 closed 3 years ago
You need to provide the filepath to the rosbag you want to use, right now this parameter is empty:
* /kimera_vio_ros/kimera_vio_ros_node/rosbag_path:
Just modify the parameter rosbag_path
in the launch file you are using.
After updating rosbag_path
, the following error might happen:
F0817 15:37:33.890363 3954893 RosBagDataProvider.cpp:304] Check failed: vio_params_.backend_params_->autoInitialize_ == 1 (0 vs. 1) Requested ground-truth initialization, but no gt_odom_topic was given. Make sure you set ground_truth_odometry_rosbag_topic, or turn autoInitialize to false in BackendParameters.yaml.
*** Check failure stack trace: ***
@ 0x7fad5455f703 google::LogMessage::Fail()
@ 0x7fad545644ab google::LogMessage::SendToLog()
@ 0x7fad5455f3ff google::LogMessage::Flush()
@ 0x7fad5455fc2f google::LogMessageFatal::~LogMessageFatal()
@ 0x7fad542fe215 VIO::RosbagDataProvider::parseRosbag()
@ 0x7fad542fe685 VIO::RosbagDataProvider::initialize()
@ 0x7fad542e5a04 VIO::KimeraVioRos::createDataProvider()
@ 0x7fad542e76ed VIO::KimeraVioRos::runKimeraVio()
@ 0x55f4cc0539c9 main
@ 0x7fad53a35083 __libc_start_main
@ 0x55f4cc053a4e _start
================================================================================REQUIRED process [kimera_vio_ros/kimera_vio_ros_node-1] has died!
process has died [pid 3954893, exit code -6, cmd /home/shapelim/kimera_vio_ws/devel/lib/kimera_vio_ros/kimera_vio_ros_node --use_lcd=false --vocabulary_path=/home/shapelim/kimera_vio_ws/src/Kimera-VIO/vocabulary/ORBvoc.yml --flagfile=/home/shapelim/kimera_vio_ws/src/Kimera-VIO/params/Euroc/flags/Mesher.flags --flagfile=/home/shapelim/kimera_vio_ws/src/Kimera-VIO/params/Euroc/flags/VioBackend.flags --flagfile=/home/shapelim/kimera_vio_ws/src/Kimera-VIO/params/Euroc/flags/RegularVioBackend.flags --flagfile=/home/shapelim/kimera_vio_ws/src/Kimera-VIO/params/Euroc/flags/Visualizer3D.flags --use_external_odometry=false --do_coarse_imu_camera_temporal_sync=false --do_fine_imu_camera_temporal_sync=false --lcd_no_optimize=false --lcd_no_detection=false --depth_image_mask= --logtostderr=1 --colorlogtostderr=1 --log_prefix=1 --minloglevel=0 --v=1 --log_output=false --log_euroc_gt_data=false --output_path=/home/shapelim/kimera_vio_ws/src/Kimera-VIO-ROS/output_logs/ --lcd_disable_stereo_match_depth_check=false --no_incremental_pose=false --viz_type=0 --visualize=true reinit_flag:=reinit_flag reinit_pose:=reinit_pose odometry:=odometry resiliency:=resiliency imu_bias:=imu_bias optimized_trajectory:=optimized_trajectory pose_graph:=pose_graph mesh:=mesh frontend_stats:=frontend_stats debug_mesh_img/image_raw:=debug_mesh_img/image_raw feature_tracks/image_raw:=feature_tracks/image_raw time_horizon_pointcloud:=time_horizon_pointcloud __name:=kimera_vio_ros_node __log:=/home/shapelim/.ros/log/e8f4c314-5ccf-11ef-8b10-89c894c2eed9/kimera_vio_ros-kimera_vio_ros_node-1.log].
log file: /home/shapelim/.ros/log/e8f4c314-5ccf-11ef-8b10-89c894c2eed9/kimera_vio_ros-kimera_vio_ros_node-1*.log
Initiating shutdown!
================================================================================
Change autoInitialize: 0
to autoInitialize: 1
in the params/Euroc/BackendParams.yaml
file.
Description:
when i compile the project,using ros to run.probem accured. Command:
Console output:
Additional files: Please attach all the files needed to reproduce the error.
Please give also the following information:
opencv_version