klutzchen
commented
1 year ago hello,guys. how do you solve this problem?thanks
Open MingXuan-Xiong opened 1 year ago
klutzchen
commented
1 year ago hello,guys. how do you solve this problem?thanks
MingXuan-Xiong
commented
8 months ago hello,guys. how do you solve this problem?thanks It's a gtsam version issue ，requested gtsam's version>=4.02 and i download the latest one
mikolodz
commented
7 months ago I'm sitting on GTSAM 4.0.2 and I have exactly the same issue.
The data is coming from IsaacSim. Ouster lidar with a default 9DoF IMU. I had to solve the ring problem first in the imageProjection.cpp (i'm calculating the ring number as proposed). IMU calibration was not very complicated, as the IMU was rotated by 90 degrees in Y-axis by default and fixing that fixed the orientation.
LIO-SAM is publishing in the map topic from time to time. I can see the pointclouds in the rviz, global map and local map are appearing for a while from time to time, but they are not complete - they are more like 1/4 of the map which is strange.
I thought that it could be the GTSAM issue, so I compiled the 4.0.2 version, recompiled the LIO-SAM, but still I've got the same problem. Process has died.
[ WARN] [1713281915.576376555, 5.129999885]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame lidar_link (parent odom) at time 1294.749972 according to authority unknown_publisher
278 at line in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp278
in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame lidar_link (parent odom) at time 1294.749972 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
what():
Indeterminant linear system detected while working near variable
8646911284551352320 (Symbol: x0).
Thrown when a linear system is ill-posed. The most common cause for this
error is having underconstrained variables. Mathematically, the system is
underdetermined. See the GTSAM Doxygen documentation at
http://borg.cc.gatech.edu/ on gtsam::IndeterminantLinearSystemException for
more information.
[lio_sam_imuPreintegration-1] process has died [pid 23544, exit code -6, cmd /root/catkin_ws/devel/lib/lio_sam/lio_sam_imuPreintegration __name:=lio_sam_imuPreintegration __log:=/root/.ros/log/8b2bdfe4-fc01-11ee-a2b7-0242ac130002/lio_sam_imuPreintegration-1.log].
log file: /root/.ros/log/8b2bdfe4-fc01-11ee-a2b7-0242ac130002/lio_sam_imuPreintegration-1*.log
[lio_sam_imuPreintegration-1] restarting process
process[lio_sam_imuPreintegration-1]: started with pid [23576]
Saiteja-RoshAi
commented
4 months ago hello,guys. how do you solve this problem?thanks It's a gtsam version issue ，requested gtsam's version>=4.02 and i download the latest on my version is 4.03 and still facing the error
Saiteja-RoshAi
commented
4 months ago I'm sitting on GTSAM 4.0.2 and I have exactly the same issue.
The data is coming from IsaacSim. Ouster lidar with a default 9DoF IMU. I had to solve the ring problem first in the imageProjection.cpp (i'm calculating the ring number as proposed). IMU calibration was not very complicated, as the IMU was rotated by 90 degrees in Y-axis by default and fixing that fixed the orientation.
LIO-SAM is publishing in the map topic from time to time. I can see the pointclouds in the rviz, global map and local map are appearing for a while from time to time, but they are not complete - they are more like 1/4 of the map which is strange.
I thought that it could be the GTSAM issue, so I compiled the 4.0.2 version, recompiled the LIO-SAM, but still I've got the same problem. Process has died.
[ WARN] [1713281915.576376555, 5.129999885]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame lidar_link (parent odom) at time 1294.749972 according to authority unknown_publisher 278 at line in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame lidar_link (parent odom) at time 1294.749972 according to authority unknown_publisher at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp what(): Indeterminant linear system detected while working near variable 8646911284551352320 (Symbol: x0). Thrown when a linear system is ill-posed. The most common cause for this error is having underconstrained variables. Mathematically, the system is underdetermined. See the GTSAM Doxygen documentation at http://borg.cc.gatech.edu/ on gtsam::IndeterminantLinearSystemException for more information. [lio_sam_imuPreintegration-1] process has died [pid 23544, exit code -6, cmd /root/catkin_ws/devel/lib/lio_sam/lio_sam_imuPreintegration __name:=lio_sam_imuPreintegration __log:=/root/.ros/log/8b2bdfe4-fc01-11ee-a2b7-0242ac130002/lio_sam_imuPreintegration-1.log]. log file: /root/.ros/log/8b2bdfe4-fc01-11ee-a2b7-0242ac130002/lio_sam_imuPreintegration-1*.log [lio_sam_imuPreintegration-1] restarting process process[lio_sam_imuPreintegration-1]: started with pid [23576]How didi you solve the ring problem in imupreintegration?
wxyLuna2024
commented
4 months ago I'm sitting on GTSAM 4.0.2 and I have exactly the same issue. The data is coming from IsaacSim. Ouster lidar with a default 9DoF IMU. I had to solve the ring problem first in the imageProjection.cpp (i'm calculating the ring number as proposed). IMU calibration was not very complicated, as the IMU was rotated by 90 degrees in Y-axis by default and fixing that fixed the orientation. LIO-SAM is publishing in the map topic from time to time. I can see the pointclouds in the rviz, global map and local map are appearing for a while from time to time, but they are not complete - they are more like 1/4 of the map which is strange. I thought that it could be the GTSAM issue, so I compiled the 4.0.2 version, recompiled the LIO-SAM, but still I've got the same problem. Process has died.
[ WARN] [1713281915.576376555, 5.129999885]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame lidar_link (parent odom) at time 1294.749972 according to authority unknown_publisher 278 at line in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame lidar_link (parent odom) at time 1294.749972 according to authority unknown_publisher at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp what(): Indeterminant linear system detected while working near variable 8646911284551352320 (Symbol: x0). Thrown when a linear system is ill-posed. The most common cause for this error is having underconstrained variables. Mathematically, the system is underdetermined. See the GTSAM Doxygen documentation at http://borg.cc.gatech.edu/ on gtsam::IndeterminantLinearSystemException for more information. [lio_sam_imuPreintegration-1] process has died [pid 23544, exit code -6, cmd /root/catkin_ws/devel/lib/lio_sam/lio_sam_imuPreintegration __name:=lio_sam_imuPreintegration __log:=/root/.ros/log/8b2bdfe4-fc01-11ee-a2b7-0242ac130002/lio_sam_imuPreintegration-1.log]. log file: /root/.ros/log/8b2bdfe4-fc01-11ee-a2b7-0242ac130002/lio_sam_imuPreintegration-1*.log [lio_sam_imuPreintegration-1] restarting process process[lio_sam_imuPreintegration-1]: started with pid [23576]How didi you solve the ring problem in imupreintegration?
refer to #452
Hey,buddies,I encountered this issue while using LIO-SAM。Firstly，I run the launch file，then play the bag files which are provided by official website(like west.bag/casual_walk.bag) and reported an error ：
log file: /home/xmx/.ros/log/27c241f0-6976-11ee-a9fd-89b191b964e1/lio_sam_imuPreintegration-2*.log [lio_sam_imuPreintegration-2] restarting process process[lio_sam_imuPreintegration-2]: started with pid [34642] [ INFO] [1697166683.454453412]: ----> IMU Preintegration Started. terminate called after throwing an instance of 'gtsam::IndeterminantLinearSystemException' what(): Indeterminant linear system detected while working near variable 7061644215716937728 (Symbol: b0). Thrown when a linear system is ill-posed. The most common cause for this error is having underconstrained variables. Mathematically, the system is underdetermined. See the GTSAM Doxygen documentation at http://borg.cc.gatech.edu/ on gtsam::IndeterminantLinearSystemException for more information. Any comments will be much appreciated。