chichengcn
commented
2 months ago This issue is similar to issue https://github.com/chichengcn/gici-open/issues/27.
Due to our use of simulated real-time playback, if the performance of your computer is insufficient, the workflow will be blocked, and the program will automatically downsample the data, resulting in degraded performance. If the blocking is severe, the program may diverge, reset, and even crash. You can reduce the playback rate to ensure that there are no references to "pending" in the log.
ZhiweiHuang5520
wwwdssy
Hi, when I run RTK-LC, I met this:
W20240417 15:59:51.344967 140736750155328 multisensor_estimating.cpp:764] Large backend pending: 177 measurements are waiting! I20240417 15:59:51.514225 140736750155328 rtk_estimator.cpp:267] RTK: Iterations: 2, Initial cost: 4.261e+01, Final cost: 3.985e+01, Sat number: 28, GDOP: 1.5, Dif distance: 1 km, Fix status: 4 I20240417 15:59:51.953251 140736750155328 gnss_imu_initializer.cpp:139] Full filling dynamic window! W20240417 15:59:51.953328 140736750155328 multisensor_estimating.cpp:764] Large backend pending: 182 measurements are waiting! W20240417 15:59:51.953473 140736750155328 multisensor_estimating.cpp:764] Large backend pending: 181 measurements are waiting! I20240417 15:59:52.053224 140736750155328 gnss_estimator_base.cpp:1620] Rejected pseudorange outlier with ambiguities at C38|2I&2I-C43|2I&2I: residual = 4.508661 I20240417 15:59:52.111382 140736750155328 rtk_estimator.cpp:267] RTK: Iterations: 2, Initial cost: 3.675e+01, Final cost: 3.622e+01, Sat number: 29, GDOP: 1.4, Dif distance: 1 km, Fix status: 4 I20240417 15:59:52.508863 140736750155328 gnss_imu_initializer.cpp:139] Full filling dynamic window! W20240417 15:59:52.508963 140736750155328 multisensor_estimating.cpp:764] Large backend pending: 186 measurements are waiting! I20240417 15:59:52.674533 140736750155328 rtk_estimator.cpp:267] RTK: Iterations: 2, Initial cost: 3.205e+01, Final cost: 3.198e+01, Sat number: 28, GDOP: 1.5, Dif distance: 1 km, Fix status: 4 I20240417 15:59:53.125164 140736750155328 gnss_imu_initializer.cpp:139] Full filling dynamic window! W20240417 15:59:53.125275 140736750155328 multisensor_estimating.cpp:764] Large backend pending: 192 measurements are waiting! I20240417 15:59:53.306525 140736750155328 rtk_estimator.cpp:267] RTK: Iterations: 2, Initial cost: 2.491e+01, Final cost: 2.468e+01, Sat number: 28, GDOP: 1.5, Dif distance: 1 km, Fix status: 4 I20240417 15:59:53.721874 140736750155328 gnss_imu_initializer.cpp:139] Full filling dynamic window! W20240417 15:59:53.721939 140736750155328 multisensor_estimating.cpp:764] Large backend pending: 198 measurements are waiting! I20240417 15:59:53.874707 140736750155328 rtk_estimator.cpp:267] RTK: Iterations: 2, Initial cost: 2.596e+01, Final cost: 2.587e+01, Sat number: 27, GDOP: 1.5, Dif distance: 1 km, Fix status: 4 F20240417 15:59:54.323800 140736699799104 rotation-quaternion-inl.h:82] Check failed: (squaredNorm()) <= (static_cast(1.0)) + (EPS::normalization_value()) (1.05698 vs. 1.0001)
F20240417 15:59:54.323815 140736750155328 rotation-quaternion-inl.h:82] Check failed: (squaredNorm()) <= (static_cast(1.0)) + (EPS::normalization_value()) (1.0569 vs. 1.0001) F20240417 15:59:54.00000F323801 140736070673984 2024 rotation-quaternion-inl.h417 8215:59:54.323841 Check failed: 140736070673984(rotation-quaternion-inl.h:82] Check failed: (squaredNorm()) <= (static_cast(1.0)) + (EPS::normalizationvalue()) (1.0569 vs. 1.0001)
F00000000 00:00:00.000000 140736079066688 logging.cc:1841] RAW: Check data->num_chars_tolog > 0 && data_->messagetext[data_->num_chars_tolog - 1] == '\n' failed:
@ 0x7ffff55d2f85 google::LogMessage::Fail()
@ 0x7ffff55d2f85 google::LogMessage::Fail()
@ 0x7ffff55d2f85 google::LogMessage::Fail()
@ 0x7ffff55d6bf6 google::LogMessageFatal::~LogMessageFatal()
@ 0x7ffff55d6bf6 google::LogMessageFatal::~LogMessageFatal()
@ 0x7ffff560d678 google::RawLog__(google::LogSeverity, char const, int, char const, ...)
@ 0x7ffff55d2615 google::LogMessage::SendToLog()
@ 0x7ffff6ff3edd kindr::minimal::RotationQuaternionTemplate::RotationQuaternionTemplate(Eigen::Quaternion<double, 0> const&)
@ 0x7ffff55d241e google::LogMessage::Flush()
@ 0x7ffff6ff3edd kindr::minimal::RotationQuaternionTemplate::RotationQuaternionTemplate(Eigen::Quaternion<double, 0> const&)
@ 0x7ffff6ff4446 kindr::minimal::QuatTransformationTemplate::QuatTransformationTemplate(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Quaternion<double, 0> const&)
@ 0x7ffff55d6bf1 google::LogMessageFatal::~LogMessageFatal()
@ 0x7ffff6ff29fb gici::HMCError::EvaluateWithMinimalJacobians(double const const, double, double, double) const
@ 0x7ffff6ff4446 kindr::minimal::QuatTransformationTemplate::QuatTransformationTemplate(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Quaternion<double, 0> const&)
@ 0x7ffff6ff2918 gici::HMCError::Evaluate(double const const, double, double) const
@ 0x7ffff70ba265 gici::NHCError::EvaluateWithMinimalJacobians(double const const, double, double, double) const
@ 0x7ffff6ff3edd kindr::minimal::RotationQuaternionTemplate::RotationQuaternionTemplate(Eigen::Quaternion<double, 0> const&)
@ 0x7ffff73ad161 ceres::internal::ResidualBlock::Evaluate(bool, double , double*, double, double) const
@ 0x7ffff6ff4446 kindr::minimal::QuatTransformationTemplate::QuatTransformationTemplate(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Quaternion<double, 0> const&)
@ 0x7ffff70ba182 gici::NHCError::Evaluate(double const const, double, double) const
@ 0x7ffff729a5b3 gici::PoseError::EvaluateWithMinimalJacobians(double const const, double*, double, double) const
@ 0x7ffff73ad161 ceres::internal::ResidualBlock::Evaluate(bool, double, double, double, double) const
@ 0x7ffff729a4d0 gici::PoseError::Evaluate(double const const, double, double) const
@ 0x7ffff73ad161 ceres::internal::ResidualBlock::Evaluate(bool, double, double, double, double*) const
Signal: SIGABRT (Aborted)