cannot run cartographer ROS on my own bag

[6yhnujm]

Hello n I run these two commands, I got an error: roslaunch cartographer_ros offline_my_robot.launch bag_filenames:=/home/nexteer/2019-03-22-15-22-32.bag

roslaunch cartographer_ros demo_my_robot_localization.launch load_state_filename:=/home/nexteer/2019-03-22-15-22-32.bag.pbstream bag_filename:=/home/nexteer/2019-03-22-15-22-32.bag

F0327 14:00:50.765429 16950 proto_stream_deserializer.cc:69] Check failed: posegraph.pose_graph().trajectory_size() == all_trajectory_builderoptions.all_trajectory_builder_options() .options_with_sensor_ids_size() (0 vs. 1) [FATAL] [1553709650.765687476]: F0327 14:00:50.000000 16950 proto_stream_deserializer.cc:69] Check failed: posegraph.pose_graph().trajectory_size() == all_trajectory_builderoptions.all_trajectory_builder_options() .options_with_sensor_ids_size() (0 vs. 1) Check failure stack trace: @ 0x7fe3cfd095cd google::LogMessage::Fail() @ 0x7fe3cfd0b433 google::LogMessage::SendToLog() @ 0x7fe3cfd0915b google::LogMessage::Flush() @ 0x7fe3cfd0be1e google::LogMessageFatal::~LogMessageFatal() @ 0x64d198 cartographer::io::ProtoStreamDeserializer::ProtoStreamDeserializer() @ 0x5f3b59 cartographer::mapping::MapBuilder::LoadState() @ 0x5cf0d3 cartographer_ros::MapBuilderBridge::LoadState() @ 0x5a0daf cartographer_ros::Node::LoadState() @ 0x59757a cartographer_ros::(anonymous namespace)::Run() @ 0x5944f4 main @ 0x7fe3cbd44830 __libc_start_main @ 0x596fe9 _start @ (nil) (unknown) [cartographer_node-2] process has died [pid 16950, exit code -6,

offline_my_robot.launch, and demo_my_robot_localization.launch are similar as the demo launch files. I follow the google tutorial to create these files. I have a velodyne and a IMU when I recorded the bag. I made the changes in the lua, and launch files.

I set num_point_clouds = 1, (I only use 1 velodyne). In launch file, I made change,

Could anyone help me solve this problem? Thanks.

//-------offline_my_robot.launch----------------------------------------

//---------demo_my_robot_localization.launch-----------------

[aunsid]

Hey,

I received the same error message were you able to resolve this?

Loading saved state '/home/csm/slam_ws/install_isolated/share/cartographer_ros/bags/new_mag.bag.pbstream'... F0729 17:24:26.216395 23063 proto_stream_deserializer.cc:69] Check failed: pose_graph_.pose_graph().trajectory_size() == all_trajectory_builder_options_.all_trajectory_builder_options() .options_with_sensor_ids_size() (0 vs. 1) [FATAL] [1564442666.216625153]: F0729 17:24:26.000000 23063 proto_stream_deserializer.cc:69] Check failed: pose_graph_.pose_graph().trajectory_size() == all_trajectory_builder_options_.all_trajectory_builder_options() .options_with_sensor_ids_size() (0 vs. 1) *** Check failure stack trace: *** @ 0x7efedec5e5cd google::LogMessage::Fail() @ 0x7efedec60433 google::LogMessage::SendToLog() @ 0x7efedec5e15b google::LogMessage::Flush() @ 0x7efedec60e1e google::LogMessageFatal::~LogMessageFatal() @ 0x6f68f8 cartographer::io::ProtoStreamDeserializer::ProtoStreamDeserializer() @ 0x5f04b9 cartographer::mapping::MapBuilder::LoadState() @ 0x5d1553 cartographer_ros::MapBuilderBridge::LoadState() @ 0x59e35f cartographer_ros::Node::LoadState() @ 0x59756a cartographer_ros::(anonymous namespace)::Run() @ 0x5944e4 main @ 0x7efedafac830 __libc_start_main @ 0x596fd9 _start @ (nil) (unknown) [cartographer_node-2] process has died [pid 23063, exit code -6, cmd /home/csm/slam_ws/install_isolated/lib/cartographer_ros/cartographer_node -configuration_directory /home/csm/slam_ws/install_isolated/share/cartographer_ros/configuration_files -configuration_basename my_robot_localization_aun.lua -load_state_filename /home/csm/slam_ws/install_isolated/share/cartographer_ros/bags/new_mag.bag.pbstream points2:=/os1_node/points imu:=/os1_node/imu __name:=cartographer_node __log:=/home/csm/.ros/log/00f102d4-b258-11e9-a7f7-54bef7245d59/cartographer_node-2.log]. log file: /home/csm/.ros/log/00f102d4-b258-11e9-a7f7-54bef7245d59/cartographer_node-2*.log

My Launch file:

'

<node name="cartographer_node" pkg="cartographer_ros" type="cartographer_node" args=" -configuration_directory $(find cartographer_ros)/configuration_files -configuration_basename my_robot_localization_aun.lua -load_state_filename $(arg load_state_filename)" output="screen">

<remap from="points2" to="/os1_node/points" />
<remap from="imu" to="/os1_node/imu" />

<node name="cartographer_occupancy_grid_node" pkg="cartographer_ros" type="cartographer_occupancy_grid_node" args="-resolution 0.05" />

'