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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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imageProjection-died #203

Closed lwbdegit closed 3 years ago

lwbdegit commented 3 years ago

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)

auto-starting new master process[master]: started with pid [6364] ROS_MASTER_URI=http://localhost:11311

setting /run_id to ed781bf4-0c63-11eb-b7b7-d8cb8ad34973 WARNING: Metapackage "aerial_mapper" should not have other dependencies besides a buildtool_depend on catkin and exec_depends. process[rosout-1]: started with pid [6377] started core service [/rosout] process[rviz-2]: started with pid [6387] process[camera_init_to_map-3]: started with pid [6402] process[base_link_to_camera-4]: started with pid [6403] process[imageProjection-5]: started with pid [6410] process[featureAssociation-6]: started with pid [6430] process[mapOptmization-7]: started with pid [6433] process[transformFusion-8]: started with pid [6441] [ INFO] [1602490889.847810367]: ----> Transform Fusion Started. [ INFO] [1602490889.858379364]: ----> Feature Association Started. [ INFO] [1602490889.878720058]: ----> Image Projection Started. [ INFO] [1602490889.917040453]: ----> Map Optimization Started. terminate called after throwing an instance of 'std::length_error' what(): vector::_M_default_append [imageProjection-5] process has died [pid 6410, exit code -6, cmd /home/imcngx/legoloam/devel/lib/lego_loam/imageProjection name:=imageProjection log:=/home/imcngx/.ros/log/ed781bf4-0c63-11eb-b7b7-d8cb8ad34973/imageProjection-5.log]. log file: /home/imcngx/.ros/log/ed781bf4-0c63-11eb-b7b7-d8cb8ad34973/imageProjection-5*.log

stale[bot] commented 3 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.

zhangziz commented 3 years ago

@lwbdegit Sorry to bother, I have the same question, have you deal with?

ResearcherYan commented 2 years ago

Also met the same question. Solved by changing the version pcl from 1.10 to 1.9.

Environment

Instructions

  1. Refer to the pcl offical installation instructions to install pcl-1.9.
    1. If tar xvfj don't work out, then use tar -zxvf to untar the compressed file.
    2. You can use cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/home/user/pcl-1.9 .. to specify where to install your pcl-1.9 library in order to make a difference with the default pcl-1.10. /home/user/pcl-1.9 is your installed place.
    3. Make sure your machine have at least 8GB memories. When comes to the make -j2 procedure, just don't use all your cpu kernels here, which may be intriguing memery problems if your memory is not big enough.
  2. Modify the CMakeLists.txt (the path is somthing like ~/catkin_ws/src/LeGO-LOAM/LeGO-LOAM/CMakeLists.txt).
    1. Add set(PCL_DIR "/home/ubuntu/pcl-1.9/share/pcl-1.9") before find_package(catkin ......).
    2. Change find_package(PCL REQUIRED QUIET) to find_package(PCL 1.9 REQUIRED QUIET).
  3. Then use catkin_make to rebuild the source code.
ResearcherYan commented 2 years ago

Also met the same question. Solved by changing the version pcl from 1.10 to 1.9.

Environment

  • Hardware: Raspberry Pi 4B (arm architecture)
  • OS: Ubuntu 20.04 (arm64 version)
  • ROS: Noetic (Desktop-full version).

Instructions

  1. Refer to the pcl offical installation instructions to install pcl-1.9.

    1. If tar xvfj don't work out, then use tar -zxvf to untar the compressed file.
    2. You can use cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/home/user/pcl-1.9 .. to specify where to install your pcl-1.9 library in order to make a difference with the default pcl-1.10. /home/user/pcl-1.9 is your installed place.
    3. Make sure your machine have at least 8GB memories. When comes to the make -j2 procedure, just don't use all your cpu kernels here, which may be intriguing memery problems if your memory is not big enough.

  2. Modify the CMakeLists.txt (the path is somthing like _~/catkinws/src/LeGO-LOAM/LeGO-LOAM/CMakeLists.txt).

    1. Add set(PCL_DIR "/home/ubuntu/pcl-1.9/share/pcl-1.9") before find_package(catkin ......).
    2. Change find_package(PCL REQUIRED QUIET) to find_package(PCL 1.9 REQUIRED QUIET).
  3. Then use catkin_make to rebuild the source code.

Issues with PCL 1.9

It turns out that although PCL 1.9 can help avoid "imageProjection-died" ERROR, another ERROR just appears instead:

[pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud!

At the same time with lots of warnings:

[pcl::VoxelGrid::applyFilter] Invalid filter field name. Index is -1.

With the new error, one can't get the map cloud points in the /tmp directory after use ctrl + c to terminate run.launch (In order to output the map cloud points file, you need to turn on the Map Cloud in the rviz windows before terminate run.launch).

Debug with PCL 1.10 on Raspberry Pi

So I just go back to PCL 1.10 and try to debug why "imageProjection-died" happened. When I try to use cout and set breakpoints to debug the code, I realize that the error comes from line 175 in imageProjection.cpp:

pcl::removeNaNFromPointCloud(*laserCloudIn, *laserCloudIn, indices);

Specifically, VSCode DEBUG CONSOLE shows that the error is:

Thread 1 "imageProjection" received signal SIGBUS, Bus error.

After searching the error type SIGBUS for a while, I got the feeling that maybe ARM architecture is the problem.

Successfully compilation on x86 architecture

However, with exactly the same OS version, ROS version, and PCL version(1.10) on my PC which is x86 architecture, I easily compile LeGO-LOAM successfully (all the problems is list in the blog).

Conclusions

So it turns out that ARM architecture with Ubuntu 20.04 and ROS Noetic just don't work out with LeGO-LOAM.

Leeable commented 2 years ago

Hey there , the issue is done by rebuild the pcl 1.11 version, thanks ResearcherYan and it works on my Raspberry Pi 4B (8GB version)

Leeable commented 2 years ago

hey bro , you can rebuild the pcl 1.11 version, and it works on my Raspberry Pi 4B (8GB version) !

ResearcherYan commented 2 years ago

hey bro , you can rebuild the pcl 1.11 version, and it works on my Raspberry Pi 4B (8GB version) !

Thanks for your advice. Will try that when Raspberry Pi 4B is needed in the future. Now I just use my PC as the computing device.

yuantianyuan01 commented 2 years ago

@ResearcherYan Thanks for your detailed instruction but I've encountered the same error on ARM platform. I tried to follow your instruction to install pcl 1.11 and modified the CMakeLists.txt. However, it seems that the catkin_make is still using the old version (pcl 1.10) and set(PCL_DIR ...) is not working. Have you ever met this problem?

ResearcherYan commented 2 years ago

@yuantianyuan01 Weird. First, make sure you've got cmake to find the right version by find_package(PCL 1.11 REQUIRED QUIET). If that doesn't help, maybe try -DCMAKE_PREFIX_PATH=<your-path-to-pcl-1.11> with catkin_make command, which tells cmake to search within that path firstly. Don't guarantee it works since I haven't try pcl 1.11 myself.

yuantianyuan01 commented 2 years ago

In fact the cmakecache shows that all paths about pcl are pointing to pcl 1.11 (no matter whether I add set(PCL_DIR ...) find_package(PCL 1.11 ...) or not) but somehow the compiler still uses 1.10 version. It gives some warnings like `Cannot generate a safe linker search path for target transformFusion because files in some directories may conflict with libraries in implicit directories:

link library [libpcl_kdtree.so] in /usr/lib/aarch64-linux-gnu may be hidden by files in:
  /home/yuanty/pcl-1.11/lib`

and errors like /usr/bin/ld: warning: libpcl_octree.so.1.11, needed by /home/yuanty/pcl-1.11/lib/libpcl_filters.so, may conflict with libpcl_octree.so.1.10 /usr/bin/ld: CMakeFiles/mapOptmization.dir/src/mapOptmization.cpp.o:(.data.rel.ro._ZTVN3pcl11KdTreeFLANNINS_9PointXYZIEN5flann9L2_SimpleIfEEEE[_ZTVN3pcl11KdTreeFLANNINS_9PointXYZIEN5flann9L2_SimpleIfEEEE]+0x10): undefined reference topcl::KdTreeFLANN<pcl::PointXYZI, flann::L2_Simple >::setInputCloud(boost::shared_ptr<pcl::PointCloud const> const&, boost::shared_ptr<std::vector<int, std::allocator > const> const&)'`

After I uninstalled pcl-1.11 it builds successfully. Also I tried the same code on my x86 PC and got everything OK.