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SteveMacenski / slam_toolbox

Slam Toolbox for lifelong mapping and localization in potentially massive maps with ROS
GNU Lesser General Public License v2.1
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Ceres terminated on loop closure #690

Closed cblesing closed 5 months ago

cblesing commented 5 months ago

Required Info:

Steps to reproduce issue

Start online_sync or online_async launch file. As soon as a loop closure is detected the ceres solver is terminated with process[slam_toolbox-1]: started with pid [2628272] [ INFO] [1713860198.996655698]: Node using stack size 40000000 [ INFO] [1713860199.031781659]: CeresSolver: Using SCHUR_JACOBI preconditioner. [ INFO] [1713860199.031829711]: Using plugin solver_plugins::CeresSolver Registering sensor: [Custom Described Lidar] WARNING: Logging before InitGoogleLogging() is written to STDERR E0423 10:17:47.272751 2628291 solver.cc:507] Terminating: Invalid configuration. Solver::Options::num_linear_solver_threads = -1. Violated constraint: Solver::Options::num_linear_solver_threads > 0 [ WARN] [1713860267.272794065]: CeresSolver: Ceres could not find a usable solution to optimize. [slam_toolbox-1] process has died [pid 2628272, exit code -11, cmd /opt/obelix/extended_ws/devel/lib/slam_toolbox/sync_slam_toolbox_node __name:=slam_toolbox __log:=/home/obelix/.ros/log/866fe4ca-0145-11ef-ba1f-f5ad4588eca1/slam_toolbox-1.log]. log file: /home/obelix/.ros/log/866fe4ca-0145-11ef-ba1f-f5ad4588eca1/slam_toolbox-1*.log I am using the latest version of ceres. Any idea what causes this error? I used slam_toolbox for a long time and have never seen this.

Regards Christian

SteveMacenski commented 5 months ago

Use Ceres from the ROS distribution you're using - its versioned to the distribution's released versions of all dependencies (i.e. what ships with Ubuntu 20)