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MIT-SPARK / Kimera-VIO-ROS

ROS wrapper for Kimera-VIO
BSD 2-Clause "Simplified" License
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No tf data. Actual error: Fixed Frame [world] does not exist, no publisher for /feature_tracks, [kimera_vio_ros/kimera_vio_ros_node-8] process has died [pid 24821, exit code -6 #155

Open Haoyuelll opened 3 years ago

Haoyuelll commented 3 years ago

Description: Hi~ Here is a problem with the world frame, mesh and feature_tracks output First it reports an error in rviz that "No tf data. Actual error: Fixed Frame [world] does not exist", and no imge received from feature_tracks, or to be accurate, from rostopic info, the topic actually has no publisher. For the world frame problem, i added: <node pkg="tf" type="static_transform_publisher" name="world_trans" args="0 0 0 0 0 0 world map 10" /> into the launch file, then no trans from base_link to odom, and i added another tf trans (im using a rplidar and a realsense D455 on the robot, for rplidar im using cartographer for mapping, the tf tree is now like world->map->base_link->camera&laser) now the tf works, but still no output in features track

Same problem also occurs when running the euroc bag From rqtgraph, camera node and kimera are not directly linked, but kimera did subscribed topics like /camera/infra1/image_raw

Command:

launch file as below:
<launch>
  <arg name="dataset_name" value="RealSenseIR"/>
  <arg name="online" default="True" />

  <arg name="log_output" default="false"/>
  <arg name="log_output_path"
       default="$(find kimera_vio_ros)/output_logs/"
       if="$(arg log_output)"/>
  <arg name="log_gt_data" default="false"/>
  <arg name="gt_topic" default=""/>
  <!-- Set use_sim_time to true if you use rosbag with clock argument -->
  <arg name="should_use_sim_time" default="false"/>

  <!-- Only used when parsing a rosbag -->
  <arg name="rosbag_path" default="default.bag"
       unless="$(arg online)"/>"/>

  <!-- Frame IDs. These DO NOT match frame id's on the video streams, as the 
    RealSense and Kimera publish conflicting Tf's -->
  <arg name="world_frame_id"     value="world"/>
  <arg name="base_link_frame_id" value="map"/>
  <arg name="map_frame_id"       value="map"/>
  <arg name="left_cam_frame_id"  value="left_cam"/>
  <arg name="right_cam_frame_id" value="right_cam"/>

  <!-- Subscribed Topics -->
  <arg name="left_cam_topic"  value="/camera/infra1/image_rect_raw"/>
  <arg name="right_cam_topic" value="/camera/infra2/image_rect_raw"/>
  <arg name="imu_topic"       value="/camera/imu"/>

  <param name="robot_description" command="xacro '$(find tinker_description)/urdf/tinker.urdf.xacro'" />

  <include file="$(find tinker_navigation)/launch/rs_camera.launch"/>
      <remap from="/cam0/image_raw"         to="/camera/infra1/image_rect_raw"/>
      <remap from="/cam1/image_raw"         to="/camera/infra2/image_rect_raw"/>
      <remap from="/cam0/camera_info"       to="/camera/infra1/camera_info"/>
      <remap from="/cam1/camera_info"       to="/camera/infra2/camera_info"/>
      <remap from="/odom"                   to="/kimera_vio_ros/odometry"/>
  <include file="$(find tinker_navigation)/launch/nav.launch"/>

  <!-- Launch actual pipeline -->
  <include file="$(find kimera_vio_ros)/launch/kimera_vio_ros.launch"
           pass_all_args="true"/>

 <!-- Launch static TF node from base_link to velo_link -->
 <node pkg="tf" type="static_transform_publisher" name="velo_link_broadcaster"
   args="0 0 0 0 0 0 1 map velo_link 100"/>

  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find kimera_vio_ros)/rviz/kimera_vio_euroc.rviz" />

  <node pkg="tf" type="static_transform_publisher" name="world_trans"
    args="0 0 0 0 0 0 world map 10" />

  <node pkg="tf" type="static_transform_publisher" name="odom_trans"
    args="0 0 0 0 0 0 odom world 10" />

</launch>

Console output:

Console output as below:

PARAMETERS
 * /camera/realsense2_camera/accel_fps: -1
 * /camera/realsense2_camera/accel_frame_id: camera_accel_frame
 * /camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti...
 * /camera/realsense2_camera/align_depth: True
 * /camera/realsense2_camera/aligned_depth_to_color_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_fisheye1_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_fisheye2_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_fisheye_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_infra1_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/aligned_depth_to_infra2_frame_id: camera_aligned_de...
 * /camera/realsense2_camera/allow_no_texture_points: False
 * /camera/realsense2_camera/base_frame_id: camera_link
 * /camera/realsense2_camera/calib_odom_file: 
 * /camera/realsense2_camera/clip_distance: -2.0
 * /camera/realsense2_camera/color_fps: -1
 * /camera/realsense2_camera/color_frame_id: camera_color_frame
 * /camera/realsense2_camera/color_height: -1
 * /camera/realsense2_camera/color_optical_frame_id: camera_color_opti...
 * /camera/realsense2_camera/color_width: -1
 * /camera/realsense2_camera/confidence_fps: -1
 * /camera/realsense2_camera/confidence_height: -1
 * /camera/realsense2_camera/confidence_width: -1
 * /camera/realsense2_camera/depth_fps: -1
 * /camera/realsense2_camera/depth_frame_id: camera_depth_frame
 * /camera/realsense2_camera/depth_height: -1
 * /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti...
 * /camera/realsense2_camera/depth_width: -1
 * /camera/realsense2_camera/device_type: 
 * /camera/realsense2_camera/enable_accel: True
 * /camera/realsense2_camera/enable_color: True
 * /camera/realsense2_camera/enable_confidence: False
 * /camera/realsense2_camera/enable_depth: True
 * /camera/realsense2_camera/enable_fisheye1: False
 * /camera/realsense2_camera/enable_fisheye2: False
 * /camera/realsense2_camera/enable_fisheye: False
 * /camera/realsense2_camera/enable_gyro: True
 * /camera/realsense2_camera/enable_infra1: True
 * /camera/realsense2_camera/enable_infra2: True
 * /camera/realsense2_camera/enable_infra: False
 * /camera/realsense2_camera/enable_pointcloud: False
 * /camera/realsense2_camera/enable_pose: False
 * /camera/realsense2_camera/enable_sync: False
 * /camera/realsense2_camera/filters: 
 * /camera/realsense2_camera/fisheye1_frame_id: camera_fisheye1_f...
 * /camera/realsense2_camera/fisheye1_optical_frame_id: camera_fisheye1_o...
 * /camera/realsense2_camera/fisheye2_frame_id: camera_fisheye2_f...
 * /camera/realsense2_camera/fisheye2_optical_frame_id: camera_fisheye2_o...
 * /camera/realsense2_camera/fisheye_fps: -1
 * /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame
 * /camera/realsense2_camera/fisheye_height: -1
 * /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op...
 * /camera/realsense2_camera/fisheye_width: -1
 * /camera/realsense2_camera/gyro_fps: -1
 * /camera/realsense2_camera/gyro_frame_id: camera_gyro_frame
 * /camera/realsense2_camera/gyro_optical_frame_id: camera_gyro_optic...
 * /camera/realsense2_camera/imu_optical_frame_id: camera_imu_optica...
 * /camera/realsense2_camera/infra1_frame_id: camera_infra1_frame
 * /camera/realsense2_camera/infra1_optical_frame_id: camera_infra1_opt...
 * /camera/realsense2_camera/infra2_frame_id: camera_infra2_frame
 * /camera/realsense2_camera/infra2_optical_frame_id: camera_infra2_opt...
 * /camera/realsense2_camera/infra_fps: 30
 * /camera/realsense2_camera/infra_height: 480
 * /camera/realsense2_camera/infra_rgb: False
 * /camera/realsense2_camera/infra_width: 848
 * /camera/realsense2_camera/initial_reset: False
 * /camera/realsense2_camera/json_file_path: 
 * /camera/realsense2_camera/linear_accel_cov: 0.01
 * /camera/realsense2_camera/odom_frame_id: camera_odom_frame
 * /camera/realsense2_camera/ordered_pc: False
 * /camera/realsense2_camera/pointcloud_texture_index: 0
 * /camera/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
 * /camera/realsense2_camera/pose_frame_id: camera_pose_frame
 * /camera/realsense2_camera/pose_optical_frame_id: camera_pose_optic...
 * /camera/realsense2_camera/publish_odom_tf: True
 * /camera/realsense2_camera/publish_tf: True
 * /camera/realsense2_camera/rosbag_filename: 
 * /camera/realsense2_camera/serial_no: 
 * /camera/realsense2_camera/stereo_module/exposure/1: 7500
 * /camera/realsense2_camera/stereo_module/exposure/2: 1
 * /camera/realsense2_camera/stereo_module/gain/1: 16
 * /camera/realsense2_camera/stereo_module/gain/2: 16
 * /camera/realsense2_camera/tf_publish_rate: 0.0
 * /camera/realsense2_camera/topic_odom_in: odom_in
 * /camera/realsense2_camera/unite_imu_method: linear_interpolation
 * /camera/realsense2_camera/usb_port_id: 
 * /kimera_vio_ros/kimera_vio_ros_node/base_link_frame_id: map
 * /kimera_vio_ros/kimera_vio_ros_node/left_cam_frame_id: left_cam
 * /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/one/kimera_...
 * /kimera_vio_ros/kimera_vio_ros_node/position_det_threshold: 0.3
 * /kimera_vio_ros/kimera_vio_ros_node/right_cam_frame_id: right_cam
 * /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
 * /move_base/TebLocalPlannerROS/acc_lim_theta: 1.0
 * /move_base/TebLocalPlannerROS/acc_lim_x: 0.45
 * /move_base/TebLocalPlannerROS/acc_lim_y: 0.31
 * /move_base/TebLocalPlannerROS/footprint_model/type: polygon
 * /move_base/TebLocalPlannerROS/footprint_model/vertices: [[0.325, 0.3], [0...
 * /move_base/TebLocalPlannerROS/inflation_dist: 0.4
 * /move_base/TebLocalPlannerROS/map_frame: /map
 * /move_base/TebLocalPlannerROS/max_vel_theta: 1.0
 * /move_base/TebLocalPlannerROS/max_vel_x: 0.45
 * /move_base/TebLocalPlannerROS/max_vel_x_backwards: 0.225
 * /move_base/TebLocalPlannerROS/max_vel_y: 0.31
 * /move_base/TebLocalPlannerROS/min_obstacle_dist: 0.15
 * /move_base/TebLocalPlannerROS/min_turning_radius: 0.0
 * /move_base/TebLocalPlannerROS/odom_topic: odom
 * /move_base/TebLocalPlannerROS/weight_kinematics_forward_drive: 10.0
 * /move_base/TebLocalPlannerROS/weight_kinematics_nh: 10.0
 * /move_base/aggressive_reset/layer_names: ['obstacle_layer']
 * /move_base/aggressive_reset/reset_distance: 0.0
 * /move_base/base_local_planner: teb_local_planner...
 * /move_base/controller_frequency: 10.0
 * /move_base/controller_patience: 3.0
 * /move_base/global_costmap/footprint: [[0.325, 0.3], [0...
 * /move_base/global_costmap/global_frame: map
 * /move_base/global_costmap/inflation_layer/cost_scaling_factor: 10.0
 * /move_base/global_costmap/inflation_layer/enabled: True
 * /move_base/global_costmap/inflation_layer/inflation_radius: 0.35
 * /move_base/global_costmap/obstacle_layer/combination_method: 1
 * /move_base/global_costmap/obstacle_layer/enabled: True
 * /move_base/global_costmap/obstacle_layer/inflation_radius: 0.5
 * /move_base/global_costmap/obstacle_layer/laser_scan_sensor/clearing: True
 * /move_base/global_costmap/obstacle_layer/laser_scan_sensor/data_type: LaserScan
 * /move_base/global_costmap/obstacle_layer/laser_scan_sensor/marking: True
 * /move_base/global_costmap/obstacle_layer/laser_scan_sensor/topic: scan
 * /move_base/global_costmap/obstacle_layer/observation_sources: laser_scan_sensor...
 * /move_base/global_costmap/obstacle_layer/obstacle_range: 3.0
 * /move_base/global_costmap/obstacle_layer/point_cloud2_sensor/clearing: True
 * /move_base/global_costmap/obstacle_layer/point_cloud2_sensor/data_type: PointCloud2
 * /move_base/global_costmap/obstacle_layer/point_cloud2_sensor/marking: True
 * /move_base/global_costmap/obstacle_layer/point_cloud2_sensor/topic: /kimera_vio_ros/t...
 * /move_base/global_costmap/obstacle_layer/raytrace_range: 4.0
 * /move_base/global_costmap/obstacle_layer/track_unknown_space: True
 * /move_base/global_costmap/plugins: [{'type': 'costma...
 * /move_base/global_costmap/publish_frequency: 0.5
 * /move_base/global_costmap/robot_base_frame: base_link
 * /move_base/global_costmap/rolling_window: True
 * /move_base/global_costmap/static_layer/enabled: True
 * /move_base/global_costmap/static_layer/lethal_cost_threshold: 90
 * /move_base/global_costmap/static_layer/map_topic: /map
 * /move_base/global_costmap/transform_tolerance: 0.5
 * /move_base/global_costmap/update_frequency: 1.0
 * /move_base/local_costmap/footprint: [[0.325, 0.3], [0...
 * /move_base/local_costmap/global_frame: odom
 * /move_base/local_costmap/height: 3.0
 * /move_base/local_costmap/inflation_layer/cost_scaling_factor: 10.0
 * /move_base/local_costmap/inflation_layer/enabled: True
 * /move_base/local_costmap/inflation_layer/inflation_radius: 0.35
 * /move_base/local_costmap/obstacle_layer/combination_method: 1
 * /move_base/local_costmap/obstacle_layer/enabled: True
 * /move_base/local_costmap/obstacle_layer/inflation_radius: 0.5
 * /move_base/local_costmap/obstacle_layer/laser_scan_sensor/clearing: True
 * /move_base/local_costmap/obstacle_layer/laser_scan_sensor/data_type: LaserScan
 * /move_base/local_costmap/obstacle_layer/laser_scan_sensor/marking: True
 * /move_base/local_costmap/obstacle_layer/laser_scan_sensor/topic: scan
 * /move_base/local_costmap/obstacle_layer/observation_sources: laser_scan_sensor...
 * /move_base/local_costmap/obstacle_layer/obstacle_range: 3.0
 * /move_base/local_costmap/obstacle_layer/point_cloud2_sensor/clearing: True
 * /move_base/local_costmap/obstacle_layer/point_cloud2_sensor/data_type: PointCloud2
 * /move_base/local_costmap/obstacle_layer/point_cloud2_sensor/marking: True
 * /move_base/local_costmap/obstacle_layer/point_cloud2_sensor/topic: /kimera_vio_ros/t...
 * /move_base/local_costmap/obstacle_layer/raytrace_range: 4.0
 * /move_base/local_costmap/obstacle_layer/track_unknown_space: True
 * /move_base/local_costmap/plugins: [{'type': 'costma...
 * /move_base/local_costmap/publish_frequency: 2.0
 * /move_base/local_costmap/resolution: 0.1
 * /move_base/local_costmap/robot_base_frame: base_link
 * /move_base/local_costmap/rolling_window: True
 * /move_base/local_costmap/static_layer/enabled: True
 * /move_base/local_costmap/static_layer/lethal_cost_threshold: 90
 * /move_base/local_costmap/static_layer/map_topic: /map
 * /move_base/local_costmap/transform_tolerance: 0.5
 * /move_base/local_costmap/update_frequency: 5.0
 * /move_base/local_costmap/width: 3.0
 * /move_base/oscillation_distance: 0.2
 * /move_base/oscillation_timeout: 10.0
 * /move_base/planner_frequency: 1.0
 * /move_base/planner_patience: 5.0
 * /move_base/recovery_behavior_enabled: True
 * /move_base/recovery_behaviors: [{'type': 'clear_...
 * /move_base/shutdown_costmaps: False
 * /robot_description: <?xml version="1....
 * /rosdistro: melodic
 * /rosversion: 1.14.11
 * /rplidarNode/angle_compensate: True
 * /rplidarNode/frame_id: laser
 * /rplidarNode/inverted: False
 * /rplidarNode/scan_mode: Sensitivity
 * /rplidarNode/serial_baudrate: 256000
 * /rplidarNode/serial_port: /dev/ttyUSB0
 * /use_sim_time: False

NODES
  /
    cartographer_node (cartographer_ros/cartographer_node)
    cartographer_occupancy_grid_node (cartographer_ros/cartographer_occupancy_grid_node)
    move_base (move_base/move_base)
    odom_trans (tf/static_transform_publisher)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rplidarNode (rplidar_ros/rplidarNode)
    rviz (rviz/rviz)
    velo_link_broadcaster (tf/static_transform_publisher)
    world_trans (tf/static_transform_publisher)
  /camera/
    realsense2_camera (nodelet/nodelet)
    realsense2_camera_manager (nodelet/nodelet)
  /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[camera/realsense2_camera_manager-1]: started with pid [24759]
process[camera/realsense2_camera-2]: started with pid [24760]
process[rplidarNode-3]: started with pid [24761]
process[cartographer_node-4]: started with pid [24770]
process[cartographer_occupancy_grid_node-5]: started with pid [24783]
process[robot_state_publisher-6]: started with pid [24794]
process[move_base-7]: started with pid [24809]
[ INFO] [1628870400.417525871]: Initializing nodelet with 8 worker threads.
process[kimera_vio_ros/kimera_vio_ros_node-8]: started with pid [24821]
process[kimera_vio_ros/posegraph_viewer-9]: started with pid [24843]
process[velo_link_broadcaster-10]: started with pid [24860]
process[rviz-11]: started with pid [24869]
process[world_trans-12]: started with pid [24888]
process[odom_trans-13]: started with pid [24895]
[ INFO] [1628870400.607012960]: Initializing pose graph visualizer
[ INFO] [1628870400.619609922]: RPLIDAR running on ROS package rplidar_ros. SDK Version:1.12.0
[ INFO] [1628870400.682839605]: I0814 00:00:00.000000 24770 configuration_file_resolver.cc:41] Found '/home/one/Tinker-Air/Workspace/src/tinker_navigation/config/slam/single_rplidar.lua' for 'single_rplidar.lua'.
[ INFO] [1628870400.711069894]: I0814 00:00:00.000000 24770 configuration_file_resolver.cc:41] Found '/home/one/cartographer_ws/install_isolated/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[ INFO] [1628870400.712243248]: I0814 00:00:00.000000 24770 configuration_file_resolver.cc:41] Found '/home/one/cartographer_ws/install_isolated/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[ INFO] [1628870400.712620957]: I0814 00:00:00.000000 24770 configuration_file_resolver.cc:41] Found '/home/one/cartographer_ws/install_isolated/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
[ INFO] [1628870400.712729569]: I0814 00:00:00.000000 24770 configuration_file_resolver.cc:41] Found '/home/one/cartographer_ws/install_isolated/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
[ INFO] [1628870400.713171985]: I0814 00:00:00.000000 24770 configuration_file_resolver.cc:41] Found '/home/one/cartographer_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[ INFO] [1628870400.713293589]: I0814 00:00:00.000000 24770 configuration_file_resolver.cc:41] Found '/home/one/cartographer_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[ INFO] [1628870400.713790951]: I0814 00:00:00.000000 24770 configuration_file_resolver.cc:41] Found '/home/one/cartographer_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[ INFO] [1628870400.714001998]: I0814 00:00:00.000000 24770 configuration_file_resolver.cc:41] Found '/home/one/cartographer_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[ INFO] [1628870400.714417341]: I0814 00:00:00.000000 24770 configuration_file_resolver.cc:41] Found '/home/one/cartographer_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[ INFO] [1628870400.714520225]: I0814 00:00:00.000000 24770 configuration_file_resolver.cc:41] Found '/home/one/cartographer_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[ INFO] [1628870400.817563554]: I0814 00:00:00.000000 24770 map_builder_bridge.cc:135] Added trajectory with ID '0'.
I0814 00:00:01.150063 24821 RegularVioBackend.cpp:114] Using Regular VIO Backend.
I0814 00:00:01.150377 24821 PipelineModule.h:449] MISO Pipeline Module: Display has no output queue registered.
I0814 00:00:01.151254 24821 Pipeline.cpp:296] Pipeline Modules launched (parallel_run set to 1).
I0814 00:00:01.151613 24821 KimeraVioRos.cpp:137] Statistics
-----------                                  #  Log Hz  {avg     +- std    }    [min,max]
Display [ms]                                    0   
Mesher [ms]                                     0   
VioBackend [ms]                                 0   
VioFrontend [ms]                                0   
Visualizer [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   
frontend_input_queue Size [#]                   0   
mesher_backend Size [#]                         0   
mesher_frontend Size [#]                        0   
visualizer_backend_queue Size [#]               0   
visualizer_frontend_queue Size [#]              0   
visualizer_mesher_queue Size [#]                0   
I0814 00:00:01.151731 25172 Pipeline.cpp:89] Spinning Kimera-VIO.
RPLIDAR S/N: 959D99F6C9E59AD4C5E59CF7694F3414
[ INFO] [1628870401.163936473]: Firmware Ver: 1.27
[ INFO] [1628870401.164077214]: Hardware Rev: 6
[ INFO] [1628870401.165302281]: RPLidar health status : 0
[ INFO] [1628870401.783494800]: current scan mode: Sensitivity, max_distance: 25.0 m, Point number: 15.9K , angle_compensate: 4
I0814 00:00:02.151721 24821 KimeraVioRos.cpp:137] Statistics
-----------                                  #  Log Hz  {avg     +- std    }    [min,max]
Display [ms]                                    0   
Mesher [ms]                                     0   
Stereo Data Provider [ms]                       0   
VioBackend [ms]                                 0   
VioFrontend [ms]                                0   
Visualizer [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   
frontend_input_queue Size [#]                   0   
mesher_backend Size [#]                         0   
mesher_frontend Size [#]                        0   
visualizer_backend_queue Size [#]               0   
visualizer_frontend_queue Size [#]              0   
visualizer_mesher_queue Size [#]                0   
[ INFO] [1628870402.530317709]: RealSense ROS v2.3.1
[ INFO] [1628870402.530424112]: Built with LibRealSense v2.48.0
[ INFO] [1628870402.530560341]: Running with LibRealSense v2.49.0
[ WARN] [1628870402.530785533]: ***************************************************
[ WARN] [1628870402.531033478]: ** running with a different librealsense version **
[ WARN] [1628870402.531087528]: ** than the one the wrapper was compiled with!   **
[ WARN] [1628870402.531130250]: ***************************************************
[ INFO] [1628870402.611250329]:  
[ INFO] [1628870402.629331071]: Device with serial number 046322250291 was found.

[ INFO] [1628870402.629460707]: Device with physical ID /sys/devices/3610000.xhci/usb2/2-4/2-4.1/2-4.1.2/2-4.1.2:1.0/video4linux/video0 was found.
[ INFO] [1628870402.629619337]: Device with name Intel RealSense D455 was found.
[ INFO] [1628870402.630875542]: Device with port number 2-4.1.2 was found.
[ INFO] [1628870402.631068701]: Device USB type: 3.2
[ INFO] [1628870402.641506898]: getParameters...
[ INFO] [1628870402.990301345]: setupDevice...
[ INFO] [1628870402.990452614]: JSON file is not provided
[ INFO] [1628870402.990606092]: ROS Node Namespace: camera
[ INFO] [1628870402.990694191]: Device Name: Intel RealSense D455
[ INFO] [1628870402.990738288]: Device Serial No: 046322250291
[ INFO] [1628870402.990780818]: Device physical port: /sys/devices/3610000.xhci/usb2/2-4/2-4.1/2-4.1.2/2-4.1.2:1.0/video4linux/video0
[ INFO] [1628870402.990834324]: Device FW version: 05.12.14.50
[ INFO] [1628870402.990874517]: Device Product ID: 0x0B5C
[ INFO] [1628870402.990958040]: Enable PointCloud: Off
[ INFO] [1628870402.991029659]: Align Depth: On
[ INFO] [1628870402.991071644]: Sync Mode: On
[ INFO] [1628870402.991236546]: Device Sensors: 
[ INFO] [1628870403.007176252]: Stereo Module was found.
[ INFO] [1628870403.018882462]: RGB Camera was found.
[ INFO] [1628870403.019505844]: Motion Module was found.
[ INFO] [1628870403.020314769]: num_filters: 1
[ INFO] [1628870403.020397268]: Setting Dynamic reconfig parameters.
[ WARN] [1628870403.124552926]: Param '/camera/stereo_module/auto_exposure_limit' has value 0 that is not in range [1, 165000]. Removing this parameter from dynamic reconfigure options.
[ WARN] [1628870403.127523528]: Param '/camera/stereo_module/auto_gain_limit' has value 0 that is not in range [16, 248]. Removing this parameter from dynamic reconfigure options.
I0814 00:00:03.151700 24821 KimeraVioRos.cpp:137] Statistics
-----------                                  #  Log Hz  {avg     +- std    }    [min,max]
Display [ms]                                    0   
Mesher [ms]                                     0   
Stereo Data Provider [ms]                       0   
VioBackend [ms]                                 0   
VioFrontend [ms]                                0   
Visualizer [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   
frontend_input_queue Size [#]                   0   
mesher_backend Size [#]                         0   
mesher_frontend Size [#]                        0   
visualizer_backend_queue Size [#]               0   
visualizer_frontend_queue Size [#]              0   
visualizer_mesher_queue Size [#]                0   
[ WARN] [1628870403.180830425]: Param '/camera/rgb_camera/power_line_frequency' has value 3 that is not in the enum { {50Hz: 1} {60Hz: 2} {Disabled: 0} }. Removing this parameter from dynamic reconfigure options.
[ INFO] [1628870403.212925427]: Done Setting Dynamic reconfig parameters.
[ INFO] [1628870403.214268131]: depth stream is enabled - width: 848, height: 480, fps: 30, Format: Z16
[ INFO] [1628870403.215035455]: infra1 stream is enabled - width: 848, height: 480, fps: 30, Format: Y8
[ INFO] [1628870403.215630164]: infra2 stream is enabled - width: 848, height: 480, fps: 30, Format: Y8
[ INFO] [1628870403.216757596]: color stream is enabled - width: 1280, height: 720, fps: 30, Format: RGB8
[ INFO] [1628870403.221445668]: gyro stream is enabled - fps: 200
[ INFO] [1628870403.221559016]: accel stream is enabled - fps: 63
[ INFO] [1628870403.221618026]: setupPublishers...
[ INFO] [1628870403.231364742]: Expected frequency for depth = 30.00000
[ INFO] [1628870403.234682621]: I0814 00:00:03.000000 24770 ordered_multi_queue.cc:172] All sensor data for trajectory 0 is available starting at '637644672032330114'.
[ INFO] [1628870403.235099020]: I0814 00:00:03.000000 24770 local_trajectory_builder_2d.cc:135] Extrapolator is still initializing.
[ INFO] [1628870403.333583211]: I0814 00:00:03.000000 24770 pose_graph_2d.cc:148] Inserted submap (0, 0).
[ INFO] [1628870403.362165896]: Expected frequency for infra1 = 30.00000
[ INFO] [1628870403.368785301]: global_costmap: Using plugin "static_layer"
[ INFO] [1628870403.420843865]: Requesting the map...
[ INFO] [1628870403.490122212]: Expected frequency for infra2 = 30.00000
[ INFO] [1628870403.591635375]: Expected frequency for color = 30.00000
[ INFO] [1628870403.687007679]: Expected frequency for aligned_depth_to_color = 30.00000
[ INFO] [1628870403.778651722]: Start publisher IMU
[ INFO] [1628870403.787459140]: setupStreams...
[ INFO] [1628870403.791466228]: insert Depth to Stereo Module
[ INFO] [1628870403.791615097]: insert Color to RGB Camera
[ INFO] [1628870403.791751166]: insert Infrared to Stereo Module
[ INFO] [1628870403.791800576]: insert Infrared to Stereo Module
[ INFO] [1628870403.791845025]: insert Gyro to Motion Module
[ INFO] [1628870403.791887555]: insert Accel to Motion Module
 14/08 00:00:03,794 WARNING [547272782208] (ds5-motion.cpp:473) IMU Calibration is not available, default intrinsic and extrinsic will be used.
[ WARN] [1628870403.927808475]: 
[ INFO] [1628870403.966425951]: SELECTED BASE:Depth, 0
[ INFO] [1628870404.018621160]: RealSense Node Is Up!
 14/08 00:00:04,036 WARNING [546829005184] (ds5-timestamp.cpp:69) UVC metadata payloads not available. Please refer to the installation chapter for details.
I0814 00:00:04.151696 24821 KimeraVioRos.cpp:137] Statistics
-----------                                  #  Log Hz  {avg     +- std    }    [min,max]
Display [ms]                                    0   
Mesher [ms]                                     0   
Stereo Data Provider [ms]                       0   
VioBackend [ms]                                 0   
VioFrontend [ms]                                0   
Visualizer [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   
frontend_input_queue Size [#]                   0   
mesher_backend Size [#]                         0   
mesher_frontend Size [#]                        0   
visualizer_backend_queue Size [#]               0   
visualizer_frontend_queue Size [#]              0   
visualizer_mesher_queue Size [#]                0   
W0814 00:00:04.279316 25172 DataProviderModule.cpp:68] Waiting for IMU data...
W0814 00:00:04.309130 25172 DataProviderModule.cpp:68] Waiting for IMU data...
W0814 00:00:04.338973 25172 DataProviderModule.cpp:68] Waiting for IMU data...
 14/08 00:00:04,347 WARNING [546843103616] (ds5-timestamp.cpp:69) UVC metadata payloads not available. Please refer to the installation chapter for details.
F0814 00:00:04.370369 25166 UndistorterRectifier.cpp:112] Check failed: map_x_.size == img.size (480 x 640 vs. 480 x 848) 
*** Check failure stack trace: ***
    @       0x7f81b87cf0  google::LogMessage::Fail()
    @       0x7f81b89c28  google::LogMessage::SendToLog()
    @       0x7f81b87824  google::LogMessage::Flush()
    @       0x7f81b8a4ac  google::LogMessageFatal::~LogMessageFatal()
    @       0x7f80191c80  VIO::UndistorterRectifier::undistortRectifyImage()
    @       0x7f80189140  VIO::StereoCamera::undistortRectifyStereoFrame()
    @       0x7f8018fd40  VIO::StereoMatcher::sparseStereoReconstruction()
    @       0x7f801a1354  VIO::StereoVisionImuFrontend::processFirstStereoFrame()
    @       0x7f801a15d4  VIO::StereoVisionImuFrontend::bootstrapSpinStereo()
    @       0x7f801a859c  VIO::StereoVisionImuFrontend::bootstrapSpin()
    @       0x7f801b03bc  VIO::VisionImuFrontend::spinOnce()
    @       0x7f801b3398  VIO::PipelineModule<>::spin()
    @       0x7f8126fe94  (unknown)
    @       0x7f80ffd088  start_thread
[ INFO] [1628870404.639696187]: Resizing static layer to 590 X 355 at 0.020000 m/pix
[ INFO] [1628870404.739257633]: Received a 590 X 355 map at 0.020000 m/pix
[ INFO] [1628870404.759262156]: global_costmap: Using plugin "obstacle_layer"
[ INFO] [1628870404.791139071]:     Subscribed to Topics: laser_scan_sensor point_cloud2_sensor
[kimera_vio_ros/kimera_vio_ros_node-8] process has died [pid 24821, exit code -6, cmd /home/one/kimera_ws/devel/lib/kimera_vio_ros/kimera_vio_ros_node --use_lcd=false --vocabulary_path=/home/one/kimera_ws/src/Kimera-VIO/vocabulary/ORBvoc.yml --flagfile=/home/one/kimera_ws/src/Kimera-VIO/params/RealSenseIR/flags/Mesher.flags --flagfile=/home/one/kimera_ws/src/Kimera-VIO/params/RealSenseIR/flags/VioBackend.flags --flagfile=/home/one/kimera_ws/src/Kimera-VIO/params/RealSenseIR/flags/RegularVioBackend.flags --flagfile=/home/one/kimera_ws/src/Kimera-VIO/params/RealSenseIR/flags/Visualizer3D.flags --logtostderr=1 --colorlogtostderr=1 --log_prefix=1 --v=0 --log_output=false --log_euroc_gt_data=false --output_path=/home/one/kimera_ws/src/Kimera-VIO-ROS/output_logs/ --viz_type=0 --visualize=true /cam0/image_raw:=/camera/infra1/image_rect_raw /cam1/image_raw:=/camera/infra2/image_rect_raw /cam0/camera_info:=/camera/infra1/camera_info /cam1/camera_info:=/camera/infra2/camera_info /odom:=/kimera_vio_ros/odometry left_cam/image_raw:=/camera/infra1/image_rect_raw right_cam/image_raw:=/camera/infra2/image_rect_raw imu:=/camera/imu left_cam/camera_info:=/cam0/camera_info right_cam/camera_info:=/cam1/camera_info 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/one/.ros/log/32d5f876-fc49-11eb-9c40-00044bcc20a6/kimera_vio_ros-kimera_vio_ros_node-8.log].
log file: /home/one/.ros/log/32d5f876-fc49-11eb-9c40-00044bcc20a6/kimera_vio_ros-kimera_vio_ros_node-8*.log
[ INFO] [1628870404.981856126]: global_costmap: Using plugin "inflation_layer"
[ INFO] [1628870405.204819454]: local_costmap: Using plugin "static_layer"
[ INFO] [1628870405.236222529]: Requesting the map...
[ INFO] [1628870405.253198367]: Resizing static layer to 590 X 355 at 0.020000 m/pix
[ INFO] [1628870405.352780230]: Received a 590 X 355 map at 0.020000 m/pix
[ INFO] [1628870405.374314856]: local_costmap: Using plugin "obstacle_layer"
[ INFO] [1628870405.405069715]:     Subscribed to Topics: laser_scan_sensor point_cloud2_sensor
[ INFO] [1628870405.751810235]: Created local_planner teb_local_planner/TebLocalPlannerROS
[ INFO] [1628870406.277296121]: Footprint model 'polygon' loaded for trajectory optimization.
[ INFO] [1628870406.277751657]: Parallel planning in distinctive topologies enabled.
[ INFO] [1628870406.278011346]: No costmap conversion plugin specified. All occupied costmap cells are treaten as point obstacles.
[ INFO] [1628870407.336976238]: Recovery behavior will clear layer 'obstacle_layer'
[ INFO] [1628870409.621475027]: Resizing static layer to 590 X 360 at 0.020000 m/pix
[ INFO] [1628870409.622919367]: Resizing static layer to 590 X 360 at 0.020000 m/pix
[ INFO] [1628870415.884488605]: I0814 00:00:15.000000 24770 collated_trajectory_builder.cc:81] scan rate: 13.36 Hz 7.49e-02 s +/- 3.86e-03 s (pulsed at 100.01% real time)
[ INFO] [1628870429.621057489]: Resizing static layer to 593 X 360 at 0.020000 m/pix
[ INFO] [1628870429.623349123]: Resizing static layer to 593 X 360 at 0.020000 m/pix
[ INFO] [1628870430.936335893]: I0814 00:00:30.000000 24770 collated_trajectory_builder.cc:81] scan rate: 13.69 Hz 7.31e-02 s +/- 1.93e-03 s (pulsed at 100.00% real time)
[ INFO] [1628870434.621021967]: Resizing static layer to 593 X 363 at 0.020000 m/pix
[ INFO] [1628870434.622614856]: Resizing static layer to 593 X 363 at 0.020000 m/pix
[ INFO] [1628870440.131509876]: I0814 00:00:40.000000 24770 motion_filter.cc:42] Motion filter reduced the number of nodes to 1.6%.

Additional files: Please attach all the files needed to reproduce the error.

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jeaninevbrr commented 3 years ago

Hey, I got the exact same issue, were you able to solve it?