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RobustFieldAutonomyLab / LeGO-LOAM

LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain
BSD 3-Clause "New" or "Revised" License
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The roslaunch will crash while the N_SCAN*Horizon_SCAN is bigger than 204800 #126

Closed kkilove closed 4 years ago

kkilove commented 5 years ago

Hello! I tried to use LeGo-loam to drive a different Lidar，and i found the roslaunch will crash while the N_SCAN*Horizon_SCAN is bigger than 204800，even without data input.

For example: // VLP-16 extern const int N_SCAN = 64; extern const int Horizon_SCAN = 3600; //3600 64=230400, 64 3200=204800 extern const float ang_res_x = 0.2; extern const float ang_res_y = 2.0; extern const float ang_bottom = 15.0+0.1; extern const int groundScanInd = 7;

The featureAssociation will crash everytime.

boyen@boyen-ubu:~$ roslaunch lego_loam run.launch ... logging to /home/boyen/.ros/log/0add3736-d0bc-11e9-af83-78929c7e9f76/roslaunch-boyen-ubu-11222.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://boyen-ubu:45373/

SUMMARY

PARAMETERS

NODES / base_link_to_camera (tf/static_transform_publisher) camera_init_to_map (tf/static_transform_publisher) featureAssociation (lego_loam/featureAssociation) imageProjection (lego_loam/imageProjection) mapOptmization (lego_loam/mapOptmization) rviz (rviz/rviz) transformFusion (lego_loam/transformFusion)

ROS_MASTER_URI=http://localhost:11311

process[rviz-1]: started with pid [11239] process[camera_init_to_map-2]: started with pid [11240] process[base_link_to_camera-3]: started with pid [11241] process[imageProjection-4]: started with pid [11252] process[featureAssociation-5]: started with pid [11259] process[mapOptmization-6]: started with pid [11266] process[transformFusion-7]: started with pid [11267] [ INFO] [1567784222.937095151]: ----> Transform Fusion Started. [ INFO] [1567784223.150175568]: ----> Image Projection Started. [ INFO] [1567784223.172834153]: ----> Map Optimization Started. [featureAssociation-5] process has died [pid 11259, exit code -11, cmd /home/boyen/catkin_ws/devel/lib/lego_loam/featureAssociation name:=featureAssociation log:=/home/boyen/.ros/log/0add3736-d0bc-11e9-af83-78929c7e9f76/featureAssociation-5.log]. log file: /home/boyen/.ros/log/0add3736-d0bc-11e9-af83-78929c7e9f76/featureAssociation-5*.log

kkilove commented 5 years ago

Then i tried the featureAssociation alone. But have no idea,even no the "----> Feature Association Started."

boyen@boyen-ubu:~$ rosrun lego_loam featureAssociation Segmentation fault (core dumped)

stale[bot] commented 4 years ago

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.