Strange issue when using my own data.

[ShiLong0526]

Hi, thanks for your work. I meet some error when I calibrate with my won data. The error occurs when I begin to play the ros bag. The detail is as follow:

fsl@fsl-All-Series:~/catkin_ws$ roslaunch cam_lidar_calibration run_optimiser.launch import_samples:=false ... logging to /home/fsl/.ros/log/c6b51808-249e-11ef-8877-5f14ede982f9/roslaunch-fsl-All-Series-33406.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://fsl-All-Series:40139/

SUMMARY

PARAMETERS

• /camera_info: /galaxy_camera/ga...
• /camera_topic: /galaxy_camera/ga...
• /chessboard/board_dimension/height: 910
• /chessboard/board_dimension/width: 460
• /chessboard/pattern_size/height: 8
• /chessboard/pattern_size/width: 6
• /chessboard/square_length: 35
• /chessboard/translation_error/x: 5
• /chessboard/translation_error/y: 5
• /feature_extraction/distance_offset_mm: 0
• /feature_extraction/importpath: /home/fsl/catkin...
• /feature_extraction/import_samples: False
• /feature_extraction/num_lowestvoq: 50
• /feature_extraction/x_max: 10.0
• /feature_extraction/x_min: -10.0
• /feature_extraction/y_max: 8.0
• /feature_extraction/y_min: -8.0
• /feature_extraction/z_max: 5.0
• /feature_extraction/z_min: -5.0
• /lidar_topic: /rslidar_points
• /rosdistro: noetic
• /rosversion: 1.16.0

NODES / feature_extraction (cam_lidar_calibration/feature_extraction_node) rqt_reconfigure (rqt_reconfigure/rqt_reconfigure) rviz (rviz/rviz)

auto-starting new master process[master]: started with pid [33433] ROS_MASTER_URI=http://localhost:11311

setting /run_id to c6b51808-249e-11ef-8877-5f14ede982f9 process[rosout-1]: started with pid [33462] started core service [/rosout] process[feature_extraction-2]: started with pid [33469] process[rviz-3]: started with pid [33470] process[rqt_reconfigure-4]: started with pid [33471] [ INFO] [1717744983.691498308]: Input parameters loaded [ INFO] [1717744983.721899562]: Reconfigure Request: -10.000000 10.000000 -8.000000 8.000000 -5.000000 5.000000 [ INFO] [1717744983.767626615]: Finished init cam_lidarcalibration [feature_extraction-2] process has died [pid 33469, exit code -11, cmd /home/fsl/catkin_ws/devel/lib/cam_lidar_calibration/feature_extraction_node __name:=feature_extraction __log:=/home/fsl/.ros/log/c6b51808-249e-11ef-8877-5f14ede982f9/feature_extraction-2.log]._ log file: /home/fsl/.ros/log/c6b51808-249e-11ef-8877-5f14ede982f9/feature_extraction-2*.log Exception in thread Thread-8: Traceback (most recent call last): File "/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_base.py", line 567, in connect self.socket.connect((dest_addr, dest_port)) ConnectionRefusedError: [Errno 111] Connection Refused

During handling of the above exception, another exception occurred:

Traceback (most recent call last): File "/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_service.py", line 509, in call transport.connect(dest_addr, dest_port, service_uri) File "/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_base.py", line 596, in connect raise TransportInitError(str(e)) #re-raise i/o error rospy.exceptions.TransportInitError: [Errno 111] Connection Refused

During handling of the above exception, another exception occurred:

Traceback (most recent call last): File "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/client.py", line 222, in update_configuration msg = self._set_service(config).config File "/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_service.py", line 442, in call return self.call(*args, **kwds) File "/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_service.py", line 512, in call raise ServiceException("unable to connect to service: %s"%e) rospy.service.ServiceException: unable to connect to service: [Errno 111] Connection Refused

During handling of the above exception, another exception occurred:

Traceback (most recent call last): File "/usr/lib/python3.8/threading.py", line 932, in _bootstrap_inner self.run() File "/opt/ros/noetic/lib/python3/dist-packages/rqt_reconfigure/param_updater.py", line 95, in run raise exc File "/opt/ros/noetic/lib/python3/dist-packages/rqt_reconfigure/param_updater.py", line 90, in run self._reconf.update_configuration(configs_tobe_updated) File "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/client.py", line 224, in update_configuration raise DynamicReconfigureCallbackException('service call failed') dynamic_reconfigure.DynamicReconfigureCallbackException: service call failed

I tried to calibrate on virtual computer and real computer, but all of them have this issue. Thank you!

[ShiLong0526]

[jclinton830]

@ShiLong0526 Can you please check which branch of the repo are you currently using? Since you are on ROS Noetic, you need to checkout noetic_v2, if you have already got noetic_v2, please make sure to update it by doing a git pull. See if that fixes your issue.