process has died - Githubissues

dutWangDa commented 1 year ago

[a/dcl_lio_sam_mapOptmization-7] process has died [pid 65769, exit code -6, cmd /home/wangda/Downloads/cs/devel/lib/dcl_lio_sam/dcl_lio_sam_mapOptmization __name:=dcl_lio_sam_mapOptmization __log:=/home/wangda/.ros/log/2aa2e9f8-f9fd-11ed-b0d7-3182bc68a46f/a-dcl_lio_sam_mapOptmization-7.log]. log file: /home/wangda/.ros/log/2aa2e9f8-f9fd-11ed-b0d7-3182bc68a46f/a-dcl_lio_sam_mapOptmization-7*.log

dutWangDa commented 1 year ago

你好，我按照README.md 一步一步来的。数据包用的是 S3E_Library.bag。run.launch长这样

`

<arg name="set_respawn_value" default="false"/>  <!-- boolean: true, false -->

<!--- rviz -->
<node pkg="rviz" type="rviz" name="dcl_rviz" args="-d $(find dcl_slam)/config/dcl_rviz.rviz" />
<node pkg="dcl_slam" type="dcl_slam_loopVisualizationNode" name="dcl_slam_loopVisualizationNode" output="screen" />

<!-- Robot list -->
<include file="$(find dcl_slam)/launch/single_ugv.launch">
    <arg name="robotPrefix" value="a"/>
    <arg name="respawnValue" value="$(arg set_respawn_value)"/>
    <arg name="lioType" value="$(arg set_lio_type)"/>
</include>

<include file="$(find dcl_slam)/launch/single_ugv.launch">
    <arg name="robotPrefix" value="b"/>
    <arg name="respawnValue" value="$(arg set_respawn_value)"/>
    <arg name="lioType" value="$(arg set_lio_type)"/>
</include>

<include file="$(find dcl_slam)/launch/single_ugv.launch">
    <arg name="robotPrefix" value="c"/>
    <arg name="respawnValue" value="$(arg set_respawn_value)"/>
    <arg name="lioType" value="$(arg set_lio_type)"/>
</include>

<!-- rosbag player node ->> you need to change bag file here!!! -->
<!-- SYSU S3E bag file path -->
<!-- <arg name="SYSU_bag" value="$(env HOME)/SYSU_STATUE.bag"/> -->
<!-- <arg name="SYSU_bag" value="$(env HOME)/SYSU_FOOTBALL_FIELD_1.bag"/>  -->
<!-- <arg name="SYSU_bag" value="$(env HOME)/rosbag-data/S3E/SYSU_FOOTBALL_FIELD_2.bag"/>  -->
<!-- <arg name="SYSU_bag" value="$(env HOME)/rosbag-data/S3E/SYSU_LIVING_QUARTERS.bag"/> -->
<arg name="SYSU_bag" value="/home/wangda/Downloads/S3E_Library.bag"/>
<!-- <arg name="SYSU_bag" value="$(env HOME)/rosbag-data/S3E/SYSU_LABORATORY_BUILDING.bag"/> -->
<!-- <arg name="SYSU_bag" value="$(env HOME)/rosbag-data/S3E/SYSU_TEACHING_BUILDING.bag"/> -->
<!-- <arg name="SYSU_bag" value="$(env HOME)/rosbag-data/S3E/SYSU_ARCHWAY_2.bag"/> -->

<!-- <arg name="SYSU_bag" value="$(env HOME)/rosbag-data/S3E/SYSU_GEZHIYUAN_1.bag"/> -->
<!-- <arg name="SYSU_bag" value="$(env HOME)/rosbag-data/S3E/SYSU_GEZHIYUAN_2.bag"/> -->
<!-- <arg name="SYSU_bag" value="$(env HOME)/rosbag-data/S3E/SYSU_GEZHIYUAN_3.bag"/> -->
<!-- <arg name="SYSU_bag" value="$(env HOME)/rosbag-data/S3E/SYSU_GEZHIYUAN_4.bag"/> -->

<remap from="/Alpha/velodyne_points" to="/a/velodyne_points"/>
<remap from="/Bob/velodyne_points" to="/b/velodyne_points"/>
<remap from="/Carol/velodyne_points" to="/c/velodyne_points"/>
<remap from="/Alpha/imu/data" to="/a/imu/data"/>
<remap from="/Bob/imu/data" to="/b/imu/data"/>
<remap from="/Carol/imu/data" to="/c/imu/data"/>

<node name="player2" pkg="rosbag" type="play" output="screen" args="-r 1 -q -d 2 $(arg SYSU_bag)"/>

<!-- <arg name="bag_file3" value="$(env HOME)/2022_07_22_19_48_01_rect.bag"/>
<arg name="bag_file4" value="$(env HOME)/2022_07_22_19_54_37_rect.bag"/>
<arg name="bag_file5" value="$(env HOME)/2022_07_22_20_01_00_rect.bag"/>
<node name="player3" pkg="rosbag" type="play" output="screen" args="-r 1 -p a -q -d 2 $(arg bag_file3)"/>
<node name="player4" pkg="rosbag" type="play" output="screen" args="-r 1 -p b -q -d 2 $(arg bag_file4)"/>
<node name="player5" pkg="rosbag" type="play" output="screen" args="-r 1 -p c -q -d 2 $(arg bag_file5)"/> -->

`

前面都正常运行，运行不到一半的时候a和b就报这个错，然后只有c自己接着往前走