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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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mapOptimization shutdown unexpectedly with errors and warnings #72

Closed HappySamuel closed 5 years ago

HappySamuel commented 5 years ago

Hi

I tried with Ouster 1-16 Lidar, I record a rosbag and used it. I comment the vlp-16 configuration and uncomment the os1-16 configuration in utility.h

However when i run both the run.launch and bagfile. I got the following errors.

Screenshot from 2019-05-31 16-47-02

And this error eventually lead to the shutdown of mapOptimization node.

Screenshot from 2019-05-31 16-47-30

I have no idea where the errors and warnings come from. Can you please help me out?

Here i attached the link to the bag file: https://drive.google.com/open?id=1ysiFH0WhU6JqU-xnwHeLL13Tipy9G0JH

Best Regards, Samuel

TixiaoShan commented 5 years ago

Hi @HappySamuel

Are you able to run it at all? I have no problem running your bag. 1 4

HappySamuel commented 5 years ago

Hi @TixiaoShan

I tried again, but still the same error. Can you share your configuration for running it? Maybe i missed something? Like launch file, utility.h, or command run on terminal?

Best, Samuel

TixiaoShan commented 5 years ago

@HappySamuel I just made a few changes. Take a look at the commits made today. My command: roslaunch lego_loam run.launch rosbag play 2019-05-27-18-38-00.bag --clock --topic /os1_cloud_node/points

TixiaoShan commented 5 years ago

@HappySamuel Ah, I think the imu data from Ouster lidar is different from the data from some other mainstream IMUs. I had that problem before. I will take a look at the imu data in detail once I have more time. You can just publish point cloud data for now to use LeGO-LOAM.

HappySamuel commented 5 years ago

Hi @TixiaoShan

I did as what you said, but how come the map i generated is different from yours? Here i attached the map below: Screenshot from 2019-06-03 17-08-58

Detailed look on the trajectory. Screenshot from 2019-06-03 17-10-46

Best, Samuel

TixiaoShan commented 5 years ago

@HappySamuel That looks weird. The point cloud map looks ok. The trajectory is completely wrong.

HappySamuel commented 5 years ago

Hi @TixiaoShan

Could it possibly be the mapping parameters that give different result? Maybe mine and yours are different? But i am using your latest update package, however no matter how many times i tried, i always got the same result.

I found that the map you attached is aligned properly. However, mine there is somehow misaligned.

Best, Samuel

HappySamuel commented 5 years ago

Hi @TixiaoShan

I manage to get the same result as yours. It's due to i comment out the VLP-16 parameters in utility.h, but i forgot to uncomment the OS1-16 parameters. After i uncomment them, the result is correct now.

Screenshot from 2019-06-04 10-54-03

Appreciate for your help and patient that you gave. Thank you very much.

Best, Samuel