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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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mapOptmization has died #190

Closed JokerJohn closed 4 years ago

JokerJohn commented 4 years ago

hello ,thanks for your work!!! when i run lego loam, the mapOptmization process has died and error shows blow.

... logging to /home/xchu/.ros/log/a70e37ea-b9d2-11ea-81c4-309c23ea2da4/roslaunch-xchu-HP-ZHAN-99-Pro-G1-MT-12952.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://xchu-HP-ZHAN-99-Pro-G1-MT:43123/

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 [12978] process[camera_init_to_map-2]: started with pid [12979] process[base_link_to_camera-3]: started with pid [12980] process[imageProjection-4]: started with pid [12987] process[featureAssociation-5]: started with pid [13001] process[mapOptmization-6]: started with pid [13005] process[transformFusion-7]: started with pid [13006] [ INFO] [1593412700.681740622]: ----> Feature Association Started. [ INFO] [1593412700.692743490]: ----> Transform Fusion Started. [ INFO] [1593412700.711314196]: ----> Image Projection Started. [mapOptmization-6] process has died [pid 13005, exit code -11, cmd /home/xchu/workspace/lego_ws/devel/lib/lego_loam/mapOptmization name:=mapOptmization log:=/home/xchu/.ros/log/a70e37ea-b9d2-11ea-81c4-309c23ea2da4/mapOptmization-6.log]. log file: /home/xchu/.ros/log/a70e37ea-b9d2-11ea-81c4-309c23ea2da4/mapOptmization-6*.log

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.

JokerJohn commented 4 years ago

the reason is the GTSAM version

Ice-SleepingWater commented 4 years ago

@JokerJohn , Would you mind to share how to fix the gtsam version problem? Thx

JokerJohn commented 4 years ago

@JokerJohn , Would you mind to share how to fix the gtsam version problem? Thx

hi, you can change your gtsam version to 4.0.0-alpha2 and have a try

Ice-SleepingWater commented 4 years ago

@JokerJohn , Would you mind to share how to fix the gtsam version problem? Thx

hi, you can change your gtsam version to 4.0.0-alpha2 and have a try

Thank you for your reply. Actually this is the one I am using right now. I just follow the command of the readme.

thisisjaskaran commented 4 years ago

Possible duplicate of https://github.com/RobustFieldAutonomyLab/LeGO-LOAM/issues/160 Try replacing 4.0.0-alpha2 by the latest version, for example, 4.0.3