SiyuanHuang95
commented
2 years ago Hi, thanks for your interest!
we are using: eigen：3.3.4 ceres：2.0.0.
However, I am fully recommending you just start from our provided docker, which will save you much time.
Bests,
roslaunch livox_odometry livox_odometry.launch save_path:="/home/qx263/livox_mapping/src/odom_path.txt" ... logging to /home/qx263/.ros/log/7909962c-93a2-11ec-9067-e4a7a0481322/roslaunch-qx263-28740.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://qx263:33043/
SUMMARY
PARAMETERS
NODES / PoseEstimation (livox_odometry/PoseEstimation) ScanRegistration (livox_odometry/ScanRegistration)
auto-starting new master process[master]: started with pid [28750] ROS_MASTER_URI=http://localhost:11311
setting /run_id to 7909962c-93a2-11ec-9067-e4a7a0481322 process[rosout-1]: started with pid [28763] started core service [/rosout] process[ScanRegistration-2]: started with pid [28774] process[PoseEstimation-3]: started with pid [28781] finished [ScanRegistration-2] process has died [pid 28774, exit code -11, cmd /home/qx263/livox_mapping/devel/lib/livox_odometry/ScanRegistration name:=ScanRegistration log:=/home/qx263/.ros/log/7909962c-93a2-11ec-9067-e4a7a0481322/ScanRegistration-2.log]. log file: /home/qx263/.ros/log/7909962c-93a2-11ec-9067-e4a7a0481322/ScanRegistration-2.log [PoseEstimation-3] process has died [pid 28781, exit code -11, cmd /home/qx263/livox_mapping/devel/lib/livox_odometry/PoseEstimation name:=PoseEstimation log:=/home/qx263/.ros/log/7909962c-93a2-11ec-9067-e4a7a0481322/PoseEstimation-3.log]. log file: /home/qx263/.ros/log/7909962c-93a2-11ec-9067-e4a7a0481322/PoseEstimation-3.log
When I play the rosbag, I meet error, I didn't know the reason. I think maybe I used the wrong version of Eigen. Which version of Eigen do you use? And how about the version of Ceres and GTSAM?
Waiting for you reply, thank you!