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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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test.rviz Fails, Even on Sample Data Sets #223

Closed jfenton888 closed 3 years ago

jfenton888 commented 3 years ago

I have spent the last couple of days trying to figure out why the out of the box repository, using newly downloaded gtsam and sample data sets, fails consistently when trying to run the provided launch file. I am using ROS Melodic 1.14.10 on Ubuntu 18.04.5 (running using VMWare Fusion on a MacBook Pro). After all appropriate dependencies are added and the repo compiled (and a dataset downloaded), I try to run roslaunch lego_loam run.launch, followed by rosbag play *.bag --clock --topic /velodyne_points /imu/data in another terminal window. [rviz-1] process has died [pid 29927, exit code -6, cmd /opt/ros/melodic/lib/rviz/rviz -d /home/mllax8/eece5554_fp/src/LeGO-LOAM/LeGO-LOAM/launch/test.rviz __name:=rviz __log:=/home/mllax8/.ros/log/c84cb23c-9682-11eb-adb4-000c29be7488/rviz-1.log]. log file: /home/mllax8/.ros/log/c84cb23c-9682-11eb-adb4-000c29be7488/rviz-1*.log This error can be achieved pretty consistently, either when immediately when running the launch or the subsequently when the rosbag is played. When this occurs it forces the rviz window to close, making it next to impossible to plot anything. Even when it does work, the only thing that can be seen in the plot is trajectory, the CloudPoint2 type sets are never visible. After tracing back to the master.log at the reported directory, I am able to find only this error [rosmaster.threadpool][ERROR] 2021-04-04 20:52:28,649: Traceback (most recent call last): File "/opt/ros/melodic/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run result = cmd(*args) File "/opt/ros/melodic/lib/python2.7/dist-packages/rosmaster/master_api.py", line 210, in publisher_update_task ret = xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris) File "/usr/lib/python2.7/xmlrpclib.py", line 1243, in __call__ return self.__send(self.__name, args) File "/usr/lib/python2.7/xmlrpclib.py", line 1602, in __request verbose=self.__verbose File "/usr/lib/python2.7/xmlrpclib.py", line 1283, in request return self.single_request(host, handler, request_body, verbose) File "/usr/lib/python2.7/xmlrpclib.py", line 1311, in single_request self.send_content(h, request_body) File "/usr/lib/python2.7/xmlrpclib.py", line 1459, in send_content connection.endheaders(request_body) File "/usr/lib/python2.7/httplib.py", line 1095, in endheaders self._send_output(message_body) File "/usr/lib/python2.7/httplib.py", line 898, in _send_output self.send(msg) File "/usr/lib/python2.7/httplib.py", line 860, in send self.connect() File "/usr/lib/python2.7/httplib.py", line 837, in connect self.timeout, self.source_address) File "/usr/lib/python2.7/socket.py", line 575, in create_connection raise err error: [Errno 111] Connection refused This issue seems to be related to #194 and #572, from which I understand this can be traced to a racing condition where publisher and subscriber node creations are happening out of order. I also tried to see if topics were being correctly published to by removing rviz from the launch and rostopic echoing, and ran into one of reasons the racing condition is an issue. There are 9 topics which cannot be simply subscribed to after MapOptimization is run in the launch file. This is because many of them only publish if topic.getNumSubscribers() is non-zero, and despite what the documentation on this method suggests, this value will never be updated during the execution of the program. If there are no nodes already subscribed to the topic when the topic is first advertised, no data can ever be published there. My current, very inelegant, debugging phase has all 9 of these problem topics subscribed to using rostopic echo before trying to run.launch (from which I have removed the rviz). I can then run my own rviz and add topics in and see their data exactly as I would expect. I have a feeling the provided run.launch relies on the fact that rviz will subscribe to the topics before they are advertised on MapOptimization, thus allowing them pass the check for subscribers when those topics are to be published, but this doesn't appear to be reliable in practice right now. Another thing I had to address was the issue I encountered when trying to open test.rviz as a configuration from within the rviz GUI. The full sequence consisted of opening all 9 topic subscribers (i.e. rostopic echo /registered_cloud --noarr), roslaunch lego_loam run.launch with the rviz node removed from the launch file, and rosbag play *.bag --clock --topic /velodyne_points /imu/data, and then rosrun rviz rviz. If I create my own configuration on the spot or open one I made previously it works just fine, but if I try to open the configuration provided in test.rviz the window will fail just like it did originally, but this time it gives some kind of error other than being told to check the logs. mllax8@ubuntu:~/catkin_ws$ rosrun rviz rviz [ INFO] [1617682054.307659938]: rviz version 1.13.16 [ INFO] [1617682054.307747887]: compiled against Qt version 5.9.5 [ INFO] [1617682054.307775153]: compiled against OGRE version 1.9.0 (Ghadamon) [ INFO] [1617682054.322769331]: Forcing OpenGl version 0. [ INFO] [1617682055.653558144, 1496951412.717736001]: Stereo is NOT SUPPORTED [ INFO] [1617682055.653701969, 1496951412.717736001]: OpenGL device: SVGA3D; build: RELEASE; LLVM; [ INFO] [1617682055.654440305, 1496951412.717736001]: OpenGl version: 3.3 (GLSL 3.3) limited to GLSL 1.4 on Mesa system. Gtk-Message: 00:07:39.384: GtkDialog mapped without a transient parent. This is discouraged. *** stack smashing detected ***: <unknown> terminated Aborted (core dumped) I am unsure what the critical error was in this, but believe this could also have been what was happening when trying to run the unchanged launch file in the first place. One thought is it could be some package conflict, as i had to download gtsim, libboost-all-dev, and vtk just to get things running as much as they do now, but I do not know how I would be able to track that down. Even in this configuration I still get some kind of warning every time I terminate the launch, though I think this could just have to do with the order in which things get shut down terminate called after throwing an instance of 'pcl::IOException' what(): : [pcl::PCDWriter::writeASCII] Input point cloud has no data! shutting down processing monitor... ... shutting down processing monitor complete done

jfenton888 commented 3 years ago

I am also including the output from making gtsam after uninstalling my original (which was not working for the same reasons, but I thought at the time the issue could be to boost being not found the first time around). I don't believe pthread or MKL issues would be the cause, but clearly there's something missing or conflicting. `~/Downloads/gtsam-4.0.0-alpha2/build$ cmake .. -- The CXX compiler identification is GNU 7.5.0 -- The C compiler identification is GNU 7.5.0 -- Check for working CXX compiler: /usr/bin/c++ -- Check for working CXX compiler: /usr/bin/c++ -- works -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Detecting CXX compile features -- Detecting CXX compile features - done -- Check for working C compiler: /usr/bin/cc -- Check for working C compiler: /usr/bin/cc -- works -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Detecting C compile features -- Detecting C compile features - done -- GTSAM_SOURCE_ROOT_DIR: [/home/mllax8/Downloads/gtsam-4.0.0-alpha2] -- Looking for pthread.h -- Looking for pthread.h - found -- Looking for pthread_create -- Looking for pthread_create - not found -- Looking for pthread_create in pthreads -- Looking for pthread_create in pthreads - not found -- Looking for pthread_create in pthread -- Looking for pthread_create in pthread - found -- Found Threads: TRUE
-- Boost version: 1.65.1 -- Found the following Boost libraries: -- serialization -- system -- filesystem -- thread -- program_options -- date_time -- timer -- chrono -- atomic Ignoring Boost restriction on optional lvalue assignment from rvalues -- Found Intel TBB -- Could NOT find MKL (missing: MKL_INCLUDE_DIR MKL_LIBRARIES) CMake Warning (dev) at /usr/share/cmake-3.10/Modules/FindOpenMP.cmake:310 (if): if given arguments:

"TRUE"

An argument named "TRUE" appears in a conditional statement. Policy CMP0012 is not set: if() recognizes numbers and boolean constants. Run "cmake --help-policy CMP0012" for policy details. Use the cmake_policy command to set the policy and suppress this warning. Call Stack (most recent call first): /usr/share/cmake-3.10/Modules/FindOpenMP.cmake:425 (_OPENMP_GET_SPEC_DATE) CMakeLists.txt:207 (find_package) This warning is for project developers. Use -Wno-dev to suppress it.

-- Found OpenMP_C: -fopenmp
CMake Warning (dev) at /usr/share/cmake-3.10/Modules/FindOpenMP.cmake:310 (if): if given arguments:

"TRUE"

An argument named "TRUE" appears in a conditional statement. Policy CMP0012 is not set: if() recognizes numbers and boolean constants. Run "cmake --help-policy CMP0012" for policy details. Use the cmake_policy command to set the policy and suppress this warning. Call Stack (most recent call first): /usr/share/cmake-3.10/Modules/FindOpenMP.cmake:425 (_OPENMP_GET_SPEC_DATE) CMakeLists.txt:207 (find_package) This warning is for project developers. Use -Wno-dev to suppress it.

-- Found OpenMP_CXX: -fopenmp
-- Found OpenMP: TRUE
-- Building 3rdparty -- Looking for execinfo.h -- Looking for execinfo.h - found -- Looking for getline -- Looking for getline - found -- checking for thread-local storage - found -- Could NOT find GeographicLib (missing: GeographicLib_LIBRARY_DIRS GeographicLib_LIBRARIES GeographicLib_INCLUDE_DIRS) -- Building base -- Building geometry -- Building inference -- Building symbolic -- Building discrete -- Building linear -- Building nonlinear -- Building sam -- Building sfm -- Building slam -- Building smart -- Building navigation -- GTSAM Version: 4.0.0 -- Install prefix: /usr/local -- Building GTSAM - shared -- Building base_unstable -- Building geometry_unstable -- Building linear_unstable -- Building discrete_unstable -- Building dynamics_unstable -- Building nonlinear_unstable -- Building slam_unstable -- GTSAM_UNSTABLE Version: 4.0.0 -- Install prefix: /usr/local -- Building GTSAM_UNSTABLE - shared -- Wrote /home/mllax8/Downloads/gtsam-4.0.0-alpha2/build/GTSAMConfig.cmake -- Could NOT find Doxygen (missing: DOXYGEN_EXECUTABLE) -- =============================================================== -- ================ Configuration Options ====================== -- CMAKE_CXX_COMPILER_ID type : GNU -- CMAKE_CXX_COMPILER_VERSION : 7.5.0 -- Build flags
-- Build Tests : Enabled -- Build examples with 'make all' : Enabled -- Build timing scripts with 'make all': Disabled -- Build static GTSAM library instead of shared: Disabled -- Put build type in library name : Enabled -- Build libgtsam_unstable : Enabled -- Build type : Release -- C compilation flags : -std=c11 -Wall -O3 -DNDEBUG -O3 -DNDEBUG -- C++ compilation flags : -std=c++11 -Wall -O3 -DNDEBUG -O3 -DNDEBUG -- Use System Eigen : No -- Use Intel TBB : Yes -- Eigen will use MKL : MKL not found -- Eigen will use MKL and OpenMP : OpenMP found but MKL not found -- Default allocator : TBB -- Packaging flags
-- CPack Source Generator : TGZ -- CPack Generator : TGZ -- GTSAM flags
-- Quaternions as default Rot3 : Disabled -- Runtime consistency checking : Disabled -- Rot3 retract is full ExpMap : Disabled -- Pose3 retract is full ExpMap : Disabled -- Deprecated in GTSAM 4 allowed : Enabled -- Point3 is typedef to Vector3 : Disabled -- Metis-based Nested Dissection : Enabled -- Use tangent-space preintegration: Enabled -- MATLAB toolbox flags
-- Install matlab toolbox : Disabled -- Build Wrap : Enabled -- Python module flags
-- Build python module : Disabled -- =============================================================== CMake Warning at CMakeLists.txt:519 (message): MKL was not found - this is ok, but note that MKL yields better performance. Set GTSAM_WITH_EIGEN_MKL to 'Off' to disable this warning.

-- Configuring done -- Generating done`

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.

yupeng126 commented 11 months ago

How to slove this problem?