search

MarvinStuede / cmr_lidarloop

Method to add Lidar based loop detections to Graph based SLAM
BSD 3-Clause "New" or "Revised" License
17 stars 4 forks source link

[FATAL] Optimizer.cpp:197::getConnectedGraph() Condition (uContains(posesIn, fromId)) not met! #2

Closed Mikor-mkr closed 3 years ago

Mikor-mkr commented 3 years ago

Hi and thank you for taking the time to check my post.

Here is the error I am getting and I do not know how to fix it:


[FATAL] (2021-05-26 12:57:50.621) Optimizer.cpp:197::getConnectedGraph() Condition (uContains(posesIn, fromId)) not met!
[ERROR] [1622023070.621489705, 1620737216.505812163]: Exception thrown while processing service call: [FATAL] (2021-05-26 12:57:50.621) Optimizer.cpp:197::getConnectedGraph() Condition (uContains(posesIn, fromId)) not met!
[ERROR] [1622023070.621600629, 1620737216.505812163]: Service call failed: service [/rtabmap/add_link] responded with an error: [FATAL] (2021-05-26 12:57:50.621) Optimizer.cpp:197::getConnectedGraph() Condition (uContains(posesIn, fromId)) not met!
[ERROR] [1622023070.621651184, 1620737216.505812163]: Failed to call /rtabmap/add_link service

Also it is not clear to me how this affect the workflow, any ideas?

MarvinStuede commented 3 years ago

Is your PointCloud stamped with a valid tf frame and is your tf tree correct? This is actually an error from rtabmap that can occur if there is an error in the links "frame_id"

Mikor-mkr commented 3 years ago

Hmmm something could be wrong with the data I was working on because I do not get this error on other data sequences. Thank you.