Assert pClosestScan != NULL fail when loading from file

JuliusSustarevas commented 2 years ago

Required Info:

Operating System: Host ubuntu 20. Docker with ubuntu 18 and ros melodic
Installation type: binaries
ROS Version ROS1 melodic
Version or commit hash: current melodic deb
Laser unit: 2x hokuyo urg-04lx-ug01 merged with iris merger into a single lidar

Steps to reproduce issue

use mapping yaml to map an environment -> works
save/serialse map to file
relaunch systems using localisation yaml. set file name / starting pose
get error

Expected behavior

that the map loads from file

Actual behavior

process[slam_toolbox-11]: started with pid [959] [ INFO] [1641574995.032614014]: Node using stack size 40000000 [ INFO] [1641574995.073004728]: Starting calibration. This will take a few seconds. [ WARN] [1641574995.073034597]: Time calibration is still experimental. [DEBUG] [1641574995.089224198]: Attempting to create managed instance for class solver_plugins::CeresSolver. [DEBUG] [1641574995.089299769]: Class solver_plugins::CeresSolver maps to library libceres_solver_plugin in classesavailable. [DEBUG] [1641574995.089539644]: Iterating through all possible paths where libceres_solver_plugin could be located... [DEBUG] [1641574995.089582943]: Checking path /home/armstone/ws/devel/lib/libceres_solver_plugin.so [DEBUG] [1641574995.089611872]: Checking path /home/armstone/ws/devel/lib/libceres_solver_plugin.so [DEBUG] [1641574995.089635548]: Checking path /opt/ros/melodic/lib/libceres_solver_plugin.so [DEBUG] [1641574995.089664880]: Library libceres_solver_plugin found at explicit path /opt/ros/melodic/lib/libceres_solver_plugin.so. [DEBUG] [1641574995.092260505]: solver_plugins::CeresSolver maps to real class type solver_plugins::CeresSolver [ INFO] [1641574995.094039167]: CeresSolver: Using SCHUR_JACOBI preconditioner. [DEBUG] [1641574995.094110035]: boost::shared_ptr to object of real type solver_plugins::CeresSolver created. [ INFO] [1641574995.094140768]: Using plugin solver_plugins::CeresSolver Load From File /home/armstone/jan7_2.posegraph Mapper <- Module Mapper <- m_pSequentialScanMatcher Mapper <- m_pGraph MapperGraph <- Graph; Graph <- m_Edges; Graph <- m_Vertices MapperGraph <- m_pMapper; MapperGraph <- m_pLoopScanMatcher; MapperGraph <- m_pTraversal Mapper <- m_pMapperSensorManager MapperSensorManager <- m_ScanManagers; MapperSensorManager <- m_Scans Mapper <- m_Listeners Finished serializing Mapper Load From File Serializing Dataset Dataset <- m_SensorNameLookup Dataset <- m_Data Dataset <- m_Lasers Dataset <- m_pDatasetInfo Finished serializing Dataset [DEBUG] [1641574995.244474255]: DeserializePoseGraph: Successfully read file. Registering sensor: [Custom Described Lidar] [ INFO] [1641574995.250753989]: Waiting for incoming scan to get metadata... [ INFO] [1641574995.451421642]: Starting calibration. This will take a few seconds. [ WARN] [1641574995.451602210]: Time calibration is still experimental. [ INFO] [1641574995.657105685]: Subscribing to topics 2 [ INFO] [1641574996.253442602]: Waiting for incoming scan to get metadata... [ INFO] [1641574996.298933723]: Odometry frame_id set to odom [ INFO] [1641574996.303446489]: Base frame_id : base_link_footprint [ INFO] [1641574997.260709250]: Waiting for incoming scan to get metadata... [ INFO] [1641574998.263332446]: Waiting for incoming scan to get metadata... [ INFO] [1641574999.172078549]: Calibration finished. Latency is: -0.0771. [ INFO] [1641574999.270033862]: Waiting for incoming scan to get metadata... [ INFO] [1641574999.372182464]: Streaming data. [ INFO] [1641574999.565655978]: Calibration finished. Latency is: -0.0804. [ INFO] [1641574999.766368138]: Streaming data. [ INFO] [1641574999.974763346]: Got scan! [DEBUG] [1641574999.975277522]: laser base_link_footprint's pose wrt base: 0.000 0.000 0.000 0.000 Info: clipped range threshold to be within minimum and maximum range! [ERROR] [1641574999.977614917]: CeresSolver: Ceres was called when there are no nodes. This shouldn't happen. [DEBUG] [1641575000.051204895]: Trying to publish message of type [nav_msgs/OccupancyGrid/3381f2d731d4076ec5c71b0759edbe4e] on a publisher with type [nav_msgs/OccupancyGrid/3381f2d731d4076ec5c71b0759edbe4e] [DEBUG] [1641575000.051392352]: Trying to publish message of type [nav_msgs/MapMetaData/10cfc8a2818024d3248802c00c95f11b] on a publisher with type [nav_msgs/MapMetaData/10cfc8a2818024d3248802c00c95f11b] [DEBUG] [1641575000.052451052]: MessageFilter [target=odom ]: Added message in frame base_link_footprint at time 1641574999.808, count now 0 AddEdge: At least one vertex is invalid. localization_slam_toolbox_node: /tmp/binarydeb/ros-melodic-slam-toolbox-1.1.6/lib/karto_sdk/src/Mapper.cpp:1644: void karto::MapperGraph::LinkChainToScan(const LocalizedRangeScanVector&, karto::LocalizedRangeScan, const karto::Pose2&, const karto::Matrix3&): Assertion `pClosestScan != NULL' failed. No handlers could be found for logger "roslaunch" [slam_toolbox-11] process has died [pid 959, exit code -6, cmd /opt/ros/melodic/lib/slam_toolbox/localization_slam_toolbox_node __name:=slam_toolbox __log:=/home/armstone/.ros/log/b0785ee4-6fdb-11ec-8e9a-54b20314f881/slam_toolbox-11.log]. log file: /home/armstone/.ros/log/b0785ee4-6fdb-11ec-8e9a-54b20314f881/slam_toolbox-11.log

Additional information

SteveMacenski commented 2 years ago

[ERROR] [1641574999.977614917]: CeresSolver: Ceres was called when there are no nodes. This shouldn't happen.

That error message says it all - you tried to serialize with no information in the SLAM session

JuliusSustarevas commented 2 years ago

So this happens on launch with localisation/mapping mode set to localization. I'm probably missing something here. But shouldn't the slam session have no nodes upon launch? The description says "The localization mode will automatically load your pose graph, take the first scan and match it against the local area to further refine your estimated position, and start localizing." Further, again, since its happening on load - what is being serialized? I would expect the posegraph to be de-seriealised. Again- perhaps I'm missing something here. Apologies if I'm being a dum dums here, perhaps I misunderstood the expected workflow.

On Mon, Jan 10, 2022 at 9:03 PM Steve Macenski @.***> wrote:

[ERROR] [1641574999.977614917]: CeresSolver: Ceres was called when there are no nodes. This shouldn't happen.

That error message says it all - you tried to serialize with no information in the SLAM session

— Reply to this email directly, view it on GitHub https://github.com/SteveMacenski/slam_toolbox/issues/466#issuecomment-1009339688, or unsubscribe https://github.com/notifications/unsubscribe-auth/AH7P7DCC7GRAZMKSZGVLLFDUVNCSDANCNFSM5LPHHTHQ . Triage notifications on the go with GitHub Mobile for iOS https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675 or Android https://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub.

You are receiving this because you authored the thread.Message ID: @.***>

SteveMacenski commented 2 years ago

Did your deserialized graph your loaded contain any information? That error appears after you deserialize, not before.

JuliusSustarevas commented 2 years ago

The pose graph files are that I'm trying are 4.2mb and 11mb. 4.2 one was created with real hardware. 11mb with sim. The 11mb actually loads so maybe its the lidar merger than I'm using having some weird interaction. The .pgm saves perfectly in both. I'll close and add comment later if i resolve it.

SteveMacenski commented 2 years ago

OK

SteveMacenski / slam_toolbox