dxdydz3dt
commented
1 year ago PARAMETERS
/common/gravity_acc: [0.0, 0.0, 9.80416] /common/imu_topic: /imu/data_raw /common/lidar_topic: /ns1/velodyne_points /common/point_filter_num: 4 /common/sweep_cut_num: 1 /common/time_sync_en: False /common/wheel_topic: /velocity /debug_output: False /extrinsic_parameter/extrinsic_R: [-0.515105, -0.70... /extrinsic_parameter/extrinsic_R_odom: [1.0, 0.0, 1.0, 0... /extrinsic_parameter/extrinsic_enable: False /extrinsic_parameter/extrinsic_t: [0.58743, -0.0292... /extrinsic_parameter/extrinsic_t_odom: [0.0, 0.0, 0.0] /icp_options/beta_constant_velocity: 1.0 /icp_options/beta_location_consistency: 1.0 /icp_options/beta_orientation_consistency: 1.0 /icp_options/beta_small_velocity: 0.0 /icp_options/beta_wheel_velocity: 1.0 /icp_options/debug_print: False /icp_options/distance: CT_POINT_TO_PLANE /icp_options/loss_function: HUBER /icp_options/ls_max_num_iters: 5 /icp_options/ls_num_threads: 16 /icp_options/ls_sigma: 0.5 /icp_options/ls_tolerant_min_threshold: 0.05 /icp_options/max_dist_to_plane_ct_icp: 0.3 /icp_options/max_num_residuals: 600 /icp_options/max_number_neighbors: 20 /icp_options/min_num_residuals: 200 /icp_options/min_number_neighbors: 20 /icp_options/num_closest_neighbors: 1 /icp_options/num_iters_icp: 15 /icp_options/point_to_plane_with_distortion: True /icp_options/size_voxel_map: 1.0 /icp_options/solver: LIW /icp_options/threshold_orientation_norm: 0.1 /icp_options/threshold_translation_norm: 0.01 /icp_options/voxel_neighborhood: 1 /imu_parameter/acc_cov: 0.1 /imu_parameter/b_acc_cov: 0.0001 /imu_parameter/b_gyr_cov: 0.0001 /imu_parameter/gyr_cov: 0.1 /imu_parameter/time_diff_enable: True /imu_parameter/vel_cov: 0.1 /lidar_parameter/N_SCANS: 16 /lidar_parameter/SCAN_RATE: 10 /lidar_parameter/blind: 2 /lidar_parameter/det_range: 100.0 /lidar_parameter/fov_degree: 180 /lidar_parameter/lidar_type: 2 /lidar_parameter/time_unit: 0 /odometry_options/distance_error_threshold: 100.0 /odometry_options/init_num_frames: 20 /odometry_options/initialization: INIT_IMU /odometry_options/max_distance: 2000.0 /odometry_options/max_num_points_in_voxel: 20 /odometry_options/method_system_init: STATIC_INIT /odometry_options/min_distance_points: 0.15 /odometry_options/motion_compensation: CONTINUOUS /odometry_options/robust_registration: False /odometry_options/sample_voxel_size: 1.5 /odometry_options/voxel_size: 0.5 /output_path: /home/malik/LIW-O... /rosdistro: noetic /rosversion: 1.16.0 NODES / lio_optimization (liw_oam/lio_optimization) rviz (rviz/rviz)
auto-starting new master process[master]: started with pid [76494] ROS_MASTER_URI=http://localhost:11311
setting /run_id to 1899eed2-1aa0-11ee-809d-c932c3084bcd process[rosout-1]: started with pid [76507] started core service [/rosout] process[lio_optimization-2]: started with pid [76510] process[rviz-3]: started with pid [76515]
odom_enble : true Failed to find match for field 'time'. Failed to find match for field 'ring'. Failed to find match for field 'time'. Failed to find match for field 'ring'. Failed to find match for field 'time'. Failed to find match for field 'ring'. Failed to find match for field 'time'. Failed to find match for field 'ring'. Failed to find match for field 'time'.
JasonWang9805
Hi I using the Kaist Dataset Urban 17. Topics are published properly but I am getting this error. How to solve it. Bag details are follows: path: merged.bag version: 2.0 duration: 20:05s (1205s) start: Apr 20 2018 09:53:20.67 (1524210800.67) end: Apr 20 2018 10:13:25.98 (1524212005.98) size: 12.6 GB messages: 2090771 compression: none [13066/13066 chunks] types: irp_sen_msgs/LaserScanArray [590075c3653e9b2cc1c75018fcbeedde] irp_sen_msgs/altimeter [e6c99c37e6f9fe98e071d524cc164e65] irp_sen_msgs/encoder [360abb290fcf41163977621351ecd430] irp_sen_msgs/fog_3axis [2f13bb2da647a41df38407a7a8adc90a] irp_sen_msgs/imu [97cd0887761aab329eff97e8b6aab17e] sensor_msgs/Imu [6a62c6daae103f4ff57a132d6f95cec2] sensor_msgs/JointState [3066dcd76a6cfaef579bd0f34173e9fd] sensor_msgs/MagneticField [2f3b0b43eed0c9501de0fa3ff89a45aa] sensor_msgs/NavSatFix [2d3a8cd499b9b4a0249fb98fd05cfa48] sensor_msgs/PointCloud2 [1158d486dd51d683ce2f1be655c3c181] topics: /altimeter_data 12054 msgs : irp_sen_msgs/altimeter /dsp1760_data 1205374 msgs : irp_sen_msgs/fog_3axis /encoder_count 120534 msgs : irp_sen_msgs/encoder /gps/fix 6055 msgs : sensor_msgs/NavSatFix /imu/data_raw 120540 msgs : sensor_msgs/Imu /imu/mag 120540 msgs : sensor_msgs/MagneticField /joint_states 120533 msgs : sensor_msgs/JointState /lms511_back/scan 120350 msgs : irp_sen_msgs/LaserScanArray /lms511_middle/scan 120350 msgs : irp_sen_msgs/LaserScanArray /ns1/velodyne_points 11951 msgs : sensor_msgs/PointCloud2 /ns2/velodyne_points 11950 msgs : sensor_msgs/PointCloud2 /xsens_imu_data 120540 msgs : irp_sen_msgs/imu Error while running. odom_enble : true Failed to find match for field 'time'. Failed to find match for field 'ring'.
Details Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://malik:33379/