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alualu628628 / Gaussian-Process-Incremental-Sample-Consensus-GP-INASC

an implementation of GP-INSAC algorithm to achieve the driving region on 3D point clouds
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it crashd when received the topic of cloudpoints and odometry ? #1

Open jinxiao1231 opened 5 years ago

jinxiao1231 commented 5 years ago 
ivlab@ivlab-RESCUER-Y720-15IKB:~$ roslaunch travelable_region gpinsac.launch 
... logging to /home/ivlab/.ros/log/6333c2be-1cae-11e9-a863-646e69fdffdb/roslaunch-ivlab-RESCUER-Y720-15IKB-22643.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
WARNING: disk usage in log directory [/home/ivlab/.ros/log] is over 1GB.
It's recommended that you use the 'rosclean' command.

started roslaunch server http://ivlab-RESCUER-Y720-15IKB:42247/

SUMMARY
========

PARAMETERS
 * /path_finder/Output_path: /home/pengdi/
 * /path_finder/gp_lscale: 28.01
 * /path_finder/gp_sigmaF: 1.76
 * /path_finder/gp_sigmaN: 0.12
 * /path_finder/insac_data: 0.8
 * /path_finder/insac_model: 0.2
 * /path_finder/lidar_topic: /apollo/sensor/ve...
 * /path_finder/sampling_number: 5
 * /path_finder/sector_num: 360
 * /path_finder/seed_lower: -1.5
 * /path_finder/seed_radius: 4.9
 * /path_finder/seed_upper: -0.8
 * /path_finder/traj_topic: /integrated_to_init
 * /rosdistro: kinetic
 * /rosversion: 1.12.14

NODES
  /
    path_finder (travelable_region/gp_insac)

ROS_MASTER_URI=http://localhost:11311

process[path_finder-1]: started with pid [22660]
[path_finder-1] process has died [pid 22660, exit code -11, cmd /home/ivlab/Algorithms/devel/lib/travelable_region/gp_insac __name:=path_finder __log:=/home/ivlab/.ros/log/6333c2be-1cae-11e9-a863-646e69fdffdb/path_finder-1.log].
log file: /home/ivlab/.ros/log/6333c2be-1cae-11e9-a863-646e69fdffdb/path_finder-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done

Do you have any idea, please help me !!!

alualu628628 commented 5 years ago

Can you detail this issue of program crash with giving some ROS/GLOG/STD logs? The topic of input point clouds are 3d points in global coordinate value (registrated points), which should be in pointcloud2 type. In fact, the point cloud output and trajectory output of LOAM code can be directly input in this code. In your own configuration (I mean if you don't rely on LOAM approach), you only need to rename the topic name in ros launch file to consistent with your slam ouput. I have not tested these codes in ros kinetic version. But I believe it can be also work well. If you want to know more about how this code works, you can see more information in project below: git@github.com:alualu628628/Husky_Simulation.git where it has more detailed tutorials. I think this would be a typical usage.