search

PJLab-ADG / Livox-Mapping

An all-in-one and ready-to-use LiDAR-inertial odometry system for Livox LiDAR
BSD 3-Clause "New" or "Revised" License
433 stars 102 forks source link

PoseEstimation node crash #30

Closed lacie-life closed 1 year ago

lacie-life commented 1 year ago

Thanks for your great work. When I try your code with the bag file from my Lidar (Mid 40). I met this problem: `ground_cloud size: 6992

pointNum = 10000 gcnt = 456 gnum = 456 pointNum = 10000 gcnt = 461 gnum = 461 [PoseEstimation-3] process has died [pid 15982, exit code -11, cmd /home/lacie/workspace/fusion_ws/devel/lib/livox_odometry/PoseEstimation name:=PoseEstimation log:=/home/lacie/.ros/log/38ce41e8-0ebc-11ee-914f-b79cd7953d6e/PoseEstimation-3.log]. log file: /home/lacie/.ros/log/38ce41e8-0ebc-11ee-914f-b79cd7953d6e/PoseEstimation-3*.log pointNum = 10000 gcnt = 414 gnum = 414 pointNum = 10000 gcnt = 451 gnum = 451 pointNum = 10000 gcnt = 437 gnum = 437 pointNum = 10000 gcnt = 426 gnum = 426 pointNum = 10000 gcnt = 467 gnum = 467 pointNum = 10000 gcnt = 412 gnum = 412 pointNum = 10000 gcnt = 457 gnum = 457 pointNum = 10000 gcnt = 426 gnum = 426 pointNum = 10000 gcnt = 413 gnum = 413`

The terminal of livox_mapping is fine but nothing in rviz.

Are you have any suggestions for me?

Moreover, I have confused about which version of ceres, because I built successful your source code with ceres 1.14 but cannot build with ceres 2.0.0 like this

Thanks!

SiyuanHuang95 commented 1 year ago

thanks for your interest!

we did not test it with other lidar types. can you check your log file for more information?

The environment is slightly complex, so a docker would be suggested.