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dfki-ric / ugv_nav4d

A 4D (X,Y,Z, Theta) Planner for unmaned ground vehicles (UGVs).
https://dfki-ric.github.io/ugv_nav4d/
BSD 3-Clause "New" or "Revised" License
7 stars 2 forks source link

GUI will not run after automatic build #10

Closed OlgerSiebinga closed 3 days ago

OlgerSiebinga commented 2 months ago

my installation finished without errors, however, the GUI will not run. Calling ugv_nav4d_bin-qt5 test_data/parking_deck.ply 0.3 returns

Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
Calling get/setColor() on SubTrajectoryVisualization is deprecated.
Calling get/setColor() on SubTrajectoryVisualization is deprecated.
terminate called after throwing an instance of 'std::runtime_error'
  what():  gridSize has to be > 0
Aborted (core dumped)

(part of https://github.com/openjournals/joss-reviews/issues/6983)

haider8645 commented 2 months ago

I tried a completely fresh install and the GUI worked. In your case, I guess the issue is with the parsing of the gridSize. Could you try ugv_nav4d_bin-qt5 test_data/parking_deck.ply and see if the GUI loads.

OlgerSiebinga commented 2 months ago

Yes, then it loads but with a whole bunch of errors:

  ugv_nav4d_bin-qt5 test_data/parking_deck.ply 
Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
Calling get/setColor() on SubTrajectoryVisualization is deprecated.
Calling get/setColor() on SubTrajectoryVisualization is deprecated.
[20240910-09:54:21:093] [ERROR] - ugv_nav4d::Point 0.978741        0  12.2618 is outside of the grid! Can't add to grid. (/home/localadmin/cpp_projects/ugv_nav4d/build/install/include/maps/grid/MLSMap.hpp:222 - void maps::grid::MLSMap<SurfaceType>::mergePointCloud(const PointCloud&, const Transform3d&, double) [with maps::grid::MLSConfig::update_model SurfaceType = maps::grid::MLSConfig::SLOPE; maps::grid::PointCloud = pcl::PointCloud<pcl::PointXYZ>; base::Transform3d = Eigen::Transform<double, 3, 2, 2>])
[20240910-09:54:21:093] [ERROR] - ugv_nav4d::Point 1.85393       0 12.2543 is outside of the grid! Can't add to grid. (/home/localadmin/cpp_projects/ugv_nav4d/build/install/include/maps/grid/MLSMap.hpp:222 - void maps::grid::MLSMap<SurfaceType>::mergePointCloud(const PointCloud&, const Transform3d&, double) [with maps::grid::MLSConfig::update_model SurfaceType = maps::grid::MLSConfig::SLOPE; maps::grid::PointCloud = pcl::PointCloud<pcl::PointXYZ>; base::Transform3d = Eigen::Transform<double, 3, 2, 2>])
[20240910-09:54:21:093] [ERROR] - ugv_nav4d::Point 1.75729       0 8.25864 is outside of the grid! Can't add to grid. (/home/localadmin/cpp_projects/ugv_nav4d/build/install/include/maps/grid/MLSMap.hpp:222 - void maps::grid::MLSMap<SurfaceType>::mergePointCloud(const PointCloud&, const Transform3d&, double) [with maps::grid::MLSConfig::update_model SurfaceType = maps::grid::MLSConfig::SLOPE; maps::grid::PointCloud = pcl::PointCloud<pcl::PointXYZ>; base::Transform3d = Eigen::Transform<double, 3, 2, 2>])
[20240910-09:54:21:093] [ERROR] - ugv_nav4d::Point 2.67342       0 8.25357 is outside of the grid! Can't add to grid. (/home/localadmin/cpp_projects/ugv_nav4d/build/install/include/maps/grid/MLSMap.hpp:222 - void maps::grid::MLSMap<SurfaceType>::mergePointCloud(const PointCloud&, const Transform3d&, double) [with maps::grid::MLSConfig::update_model SurfaceType = maps::grid::MLSConfig::SLOPE; maps::grid::PointCloud = pcl::PointCloud<pcl::PointXYZ>; base::Transform3d = Eigen::Transform<double, 3, 2, 2>])
[20240910-09:54:21:094] [ERROR] - ugv_nav4d::Point 1.62613       0 4.26153 is outside of the grid! Can't add to grid. (/home/localadmin/cpp_projects/ugv_nav4d/build/install/include/maps/grid/MLSMap.hpp:222 - void maps::grid::MLSMap<SurfaceType>::mergePointCloud(const PointCloud&, const Transform3d&, double) [with maps::grid::MLSConfig::update_model SurfaceType = maps::grid::MLSConfig::SLOPE; maps::grid::PointCloud = pcl::PointCloud<pcl::PointXYZ>; base::Transform3d = Eigen::Transform<double, 3, 2, 2>])
[20240910-09:54:21:094] [ERROR] - ugv_nav4d::Point 1.48058       0 4.25463 is outside of the grid! Can't add to grid. (/home/localadmin/cpp_projects/ugv_nav4d/build/install/include/maps/grid/MLSMap.hpp:222 - void maps::grid::MLSMap<SurfaceType>::mergePointCloud(const PointCloud&, const Transform3d&, double) [with maps::grid::MLSConfig::update_model SurfaceType = maps::grid::MLSConfig::SLOPE; maps::grid::PointCloud = pcl::PointCloud<pcl::PointXYZ>; base::Transform3d = Eigen::Transform<double, 3, 2, 2>])
[20240910-09:54:21:112] [ERROR] - ugv_nav4d::Point       0 30.2746 12.3272 is outside of the grid! Can't add to grid. (/home/localadmin/cpp_projects/ugv_nav4d/build/install/include/maps/grid/MLSMap.hpp:222 - void maps::grid::MLSMap<SurfaceType>::mergePointCloud(const PointCloud&, const Transform3d&, double) [with maps::grid::MLSConfig::update_model SurfaceType = maps::grid::MLSConfig::SLOPE; maps::grid::PointCloud = pcl::PointCloud<pcl::PointXYZ>; base::Transform3d = Eigen::Transform<double, 3, 2, 2>])
[20240910-09:54:21:112] [ERROR] - ugv_nav4d::Point       0 30.2727 13.9321 is outside of the grid! Can't add to grid. (/home/localadmin/cpp_projects/ugv_nav4d/build/install/include/maps/grid/MLSMap.hpp:222 - void maps::grid::MLSMap<SurfaceType>::mergePointCloud(const PointCloud&, const Transform3d&, double) [with maps::grid::MLSConfig::update_model SurfaceType = maps::grid::MLSConfig::SLOPE; maps::grid::PointCloud = pcl::PointCloud<pcl::PointXYZ>; base::Transform3d = Eigen::Transform<double, 3, 2, 2>])
[20240910-09:54:21:112] [ERROR] - ugv_nav4d::Point       0 30.2708 15.9005 is outside of the grid! Can't add to grid. (/home/localadmin/cpp_projects/ugv_nav4d/build/install/include/maps/grid/MLSMap.hpp:222 - void maps::grid::MLSMap<SurfaceType>::mergePointCloud(const PointCloud&, const Transform3d&, double) [with maps::grid::MLSConfig::update_model SurfaceType = maps::grid::MLSConfig::SLOPE; maps::grid::PointCloud = pcl::PointCloud<pcl::PointXYZ>; base::Transform3d = Eigen::Transform<double, 3, 2, 2>])
[20240910-09:54:21:112] [ERROR] - ugv_nav4d::Point       0 30.2733 15.5897 is outside of the grid! Can't add to grid. (/home/localadmin/cpp_projects/ugv_nav4d/build/install/include/maps/grid/MLSMap.hpp:222 - void maps::grid::MLSMap<SurfaceType>::mergePointCloud(const PointCloud&, const Transform3d&, double) [with maps::grid::MLSConfig::update_model SurfaceType = maps::grid::MLSConfig::SLOPE; maps::grid::PointCloud = pcl::PointCloud<pcl::PointXYZ>; base::Transform3d = Eigen::Transform<double, 3, 2, 2>])
[20240910-09:54:21:112] [ERROR] - ugv_nav4d::Point       0  30.276 7.25286 is outside of the grid! Can't add to grid. (/home/localadmin/cpp_projects/ugv_nav4d/build/install/include/maps/grid/MLSMap.hpp:222 - void maps::grid::MLSMap<SurfaceType>::mergePointCloud(const PointCloud&, const Transform3d&, double) [with maps::grid::MLSConfig::update_model SurfaceType = maps::grid::MLSConfig::SLOPE; maps::grid::PointCloud = pcl::PointCloud<pcl::PointXYZ>; base::Transform3d = Eigen::Transform<double, 3, 2, 2>])
[20240910-09:54:21:112] [ERROR] - ugv_nav4d::Point       0 30.2772 14.9678 is outside of the grid! Can't add to grid. (/home/localadmin/cpp_projects/ugv_nav4d/build/install/include/maps/grid/MLSMap.hpp:222 - void maps::grid::MLSMap<SurfaceType>::mergePointCloud(const PointCloud&, const Transform3d&, double) [with maps::grid::MLSConfig::update_model SurfaceType = maps::grid::MLSConfig::SLOPE; maps::grid::PointCloud = pcl::PointCloud<pcl::PointXYZ>; base::Transform3d = Eigen::Transform<double, 3, 2, 2>])
[20240910-09:54:21:112] [ERROR] - ugv_nav4d::Point       0 30.2715 10.7747 is outside of the grid! Can't add to grid. (/home/localadmin/cpp_projects/ugv_nav4d/build/install/include/maps/grid/MLSMap.hpp:222 - void maps::grid::MLSMap<SurfaceType>::mergePointCloud(const PointCloud&, const Transform3d&, double) [with maps::grid::MLSConfig::update_model SurfaceType = maps::grid::MLSConfig::SLOPE; maps::grid::PointCloud = pcl::PointCloud<pcl::PointXYZ>; base::Transform3d = Eigen::Transform<double, 3, 2, 2>])
[20240910-09:54:21:112] [ERROR] - ugv_nav4d::Point       0 30.2687   14.23 is outside of the grid! Can't add to grid. (/home/localadmin/cpp_projects/ugv_nav4d/build/install/include/maps/grid/MLSMap.hpp:222 - void maps::grid::MLSMap<SurfaceType>::mergePointCloud(const PointCloud&, const Transform3d&, double) [with maps::grid::MLSConfig::update_model SurfaceType = maps::grid::MLSConfig::SLOPE; maps::grid::PointCloud = pcl::PointCloud<pcl::PointXYZ>; base::Transform3d = Eigen::Transform<double, 3, 2, 2>])
[20240910-09:54:21:112] [ERROR] - ugv_nav4d::Point       0 30.2685 6.91518 is outside of the grid! Can't add to grid. (/home/localadmin/cpp_projects/ugv_nav4d/build/install/include/maps/grid/MLSMap.hpp:222 - void maps::grid::MLSMap<SurfaceType>::mergePointCloud(const PointCloud&, const Transform3d&, double) [with maps::grid::MLSConfig::update_model SurfaceType = maps::grid::MLSConfig::SLOPE; maps::grid::PointCloud = pcl::PointCloud<pcl::PointXYZ>; base::Transform3d = Eigen::Transform<double, 3, 2, 2>])
[20240910-09:54:21:112] [ERROR] - ugv_nav4d::Point       0  30.272 7.61544 is outside of the grid! Can't add to grid. (/home/localadmin/cpp_projects/ugv_nav4d/build/install/include/maps/grid/MLSMap.hpp:222 - void maps::grid::MLSMap<SurfaceType>::mergePointCloud(const PointCloud&, const Transform3d&, double) [with maps::grid::MLSConfig::update_model SurfaceType = maps::grid::MLSConfig::SLOPE; maps::grid::PointCloud = pcl::PointCloud<pcl::PointXYZ>; base::Transform3d = Eigen::Transform<double, 3, 2, 2>])
[20240910-09:54:21:112] [ERROR] - ugv_nav4d::Point       0 30.2695 12.0553 is outside of the grid! Can't add to grid. (/home/localadmin/cpp_projects/ugv_nav4d/build/install/include/maps/grid/MLSMap.hpp:222 - void maps::grid::MLSMap<SurfaceType>::mergePointCloud(const PointCloud&, const Transform3d&, double) [with maps::grid::MLSConfig::update_model SurfaceType = maps::grid::MLSConfig::SLOPE; maps::grid::PointCloud = pcl::PointCloud<pcl::PointXYZ>; base::Transform3d = Eigen::Transform<double, 3, 2, 2>])
[20240910-09:54:21:112] [ERROR] - ugv_nav4d::Point       0 30.2738 6.39793 is outside of the grid! Can't add to grid. (/home/localadmin/cpp_projects/ugv_nav4d/build/install/include/maps/grid/MLSMap.hpp:222 - void maps::grid::MLSMap<SurfaceType>::mergePointCloud(const PointCloud&, const Transform3d&, double) [with maps::grid::MLSConfig::update_model SurfaceType = maps::grid::MLSConfig::SLOPE; maps::grid::PointCloud = pcl::PointCloud<pcl::PointXYZ>; base::Transform3d = Eigen::Transform<double, 3, 2, 2>])
[20240910-09:54:21:112] [ERROR] - ugv_nav4d::Point       0 30.2698 12.6342 is outside of the grid! Can't add to grid. (/home/localadmin/cpp_projects/ugv_nav4d/build/install/include/maps/grid/MLSMap.hpp:222 - void maps::grid::MLSMap<SurfaceType>::mergePointCloud(const PointCloud&, const Transform3d&, double) [with maps::grid::MLSConfig::update_model SurfaceType = maps::grid::MLSConfig::SLOPE; maps::grid::PointCloud = pcl::PointCloud<pcl::PointXYZ>; base::Transform3d = Eigen::Transform<double, 3, 2, 2>])
[20240910-09:54:21:114] [ERROR] - ugv_nav4d::Point       0 30.2783 7.61382 is outside of the grid! Can't add to grid. (/home/localadmin/cpp_projects/ugv_nav4d/build/install/include/maps/grid/MLSMap.hpp:222 - void maps::grid::MLSMap<SurfaceType>::mergePointCloud(const PointCloud&, const Transform3d&, double) [with maps::grid::MLSConfig::update_model SurfaceType = maps::grid::MLSConfig::SLOPE; maps::grid::PointCloud = pcl::PointCloud<pcl::PointXYZ>; base::Transform3d = Eigen::Transform<double, 3, 2, 2>])
[20240910-09:54:21:116] [ERROR] - ugv_nav4d::Point       0 30.2774 7.28304 is outside of the grid! Can't add to grid. (/home/localadmin/cpp_projects/ugv_nav4d/build/install/include/maps/grid/MLSMap.hpp:222 - void maps::grid::MLSMap<SurfaceType>::mergePointCloud(const PointCloud&, const Transform3d&, double) [with maps::grid::MLSConfig::update_model SurfaceType = maps::grid::MLSConfig::SLOPE; maps::grid::PointCloud = pcl::PointCloud<pcl::PointXYZ>; base::Transform3d = Eigen::Transform<double, 3, 2, 2>])
[20240910-09:54:21:116] [ERROR] - ugv_nav4d::Point       0 30.2741 15.2059 is outside of the grid! Can't add to grid. (/home/localadmin/cpp_projects/ugv_nav4d/build/install/include/maps/grid/MLSMap.hpp:222 - void maps::grid::MLSMap<SurfaceType>::mergePointCloud(const PointCloud&, const Transform3d&, double) [with maps::grid::MLSConfig::update_model SurfaceType = maps::grid::MLSConfig::SLOPE; maps::grid::PointCloud = pcl::PointCloud<pcl::PointXYZ>; base::Transform3d = Eigen::Transform<double, 3, 2, 2>])
[20240910-09:54:21:116] [ERROR] - ugv_nav4d::Point       0 30.2698 14.1817 is outside of the grid! Can't add to grid. (/home/localadmin/cpp_projects/ugv_nav4d/build/install/include/maps/grid/MLSMap.hpp:222 - void maps::grid::MLSMap<SurfaceType>::mergePointCloud(const PointCloud&, const Transform3d&, double) [with maps::grid::MLSConfig::update_model SurfaceType = maps::grid::MLSConfig::SLOPE; maps::grid::PointCloud = pcl::PointCloud<pcl::PointXYZ>; base::Transform3d = Eigen::Transform<double, 3, 2, 2>])
[20240910-09:54:21:116] [ERROR] - ugv_nav4d::Point       0 30.2751 14.4689 is outside of the grid! Can't add to grid. (/home/localadmin/cpp_projects/ugv_nav4d/build/install/include/maps/grid/MLSMap.hpp:222 - void maps::grid::MLSMap<SurfaceType>::mergePointCloud(const PointCloud&, const Transform3d&, double) [with maps::grid::MLSConfig::update_model SurfaceType = maps::grid::MLSConfig::SLOPE; maps::grid::PointCloud = pcl::PointCloud<pcl::PointXYZ>; base::Transform3d = Eigen::Transform<double, 3, 2, 2>])
[20240910-09:54:21:116] [ERROR] - ugv_nav4d::Point       0  30.277 5.15889 is outside of the grid! Can't add to grid. (/home/localadmin/cpp_projects/ugv_nav4d/build/install/include/maps/grid/MLSMap.hpp:222 - void maps::grid::MLSMap<SurfaceType>::mergePointCloud(const PointCloud&, const Transform3d&, double) [with maps::grid::MLSConfig::update_model SurfaceType = maps::grid::MLSConfig::SLOPE; maps::grid::PointCloud = pcl::PointCloud<pcl::PointXYZ>; base::Transform3d = Eigen::Transform<double, 3, 2, 2>])
[20240910-09:54:21:116] [ERROR] - ugv_nav4d::Point       0  30.276 5.12658 is outside of the grid! Can't add to grid. (/home/localadmin/cpp_projects/ugv_nav4d/build/install/include/maps/grid/MLSMap.hpp:222 - void maps::grid::MLSMap<SurfaceType>::mergePointCloud(const PointCloud&, const Transform3d&, double) [with maps::grid::MLSConfig::update_model SurfaceType = maps::grid::MLSConfig::SLOPE; maps::grid::PointCloud = pcl::PointCloud<pcl::PointXYZ>; base::Transform3d = Eigen::Transform<double, 3, 2, 2>])
[20240910-09:54:21:116] [ERROR] - ugv_nav4d::Point       0 30.2741 15.5169 is outside of the grid! Can't add to grid. (/home/localadmin/cpp_projects/ugv_nav4d/build/install/include/maps/grid/MLSMap.hpp:222 - void maps::grid::MLSMap<SurfaceType>::mergePointCloud(const PointCloud&, const Transform3d&, double) [with maps::grid::MLSConfig::update_model SurfaceType = maps::grid::MLSConfig::SLOPE; maps::grid::PointCloud = pcl::PointCloud<pcl::PointXYZ>; base::Transform3d = Eigen::Transform<double, 3, 2, 2>])
[20240910-09:54:21:116] [ERROR] - ugv_nav4d::Point       0 30.2691 10.8507 is outside of the grid! Can't add to grid. (/home/localadmin/cpp_projects/ugv_nav4d/build/install/include/maps/grid/MLSMap.hpp:222 - void maps::grid::MLSMap<SurfaceType>::mergePointCloud(const PointCloud&, const Transform3d&, double) [with maps::grid::MLSConfig::update_model SurfaceType = maps::grid::MLSConfig::SLOPE; maps::grid::PointCloud = pcl::PointCloud<pcl::PointXYZ>; base::Transform3d = Eigen::Transform<double, 3, 2, 2>])
[20240910-09:54:21:116] [ERROR] - ugv_nav4d::Point       0 30.2701 6.92212 is outside of the grid! Can't add to grid. (/home/localadmin/cpp_projects/ugv_nav4d/build/install/include/maps/grid/MLSMap.hpp:222 - void maps::grid::MLSMap<SurfaceType>::mergePointCloud(const PointCloud&, const Transform3d&, double) [with maps::grid::MLSConfig::update_model SurfaceType = maps::grid::MLSConfig::SLOPE; maps::grid::PointCloud = pcl::PointCloud<pcl::PointXYZ>; base::Transform3d = Eigen::Transform<double, 3, 2, 2>])
[20240910-09:54:21:116] [ERROR] - ugv_nav4d::Point       0 30.2691 2.50401 is outside of the grid! Can't add to grid. (/home/localadmin/cpp_projects/ugv_nav4d/build/install/include/maps/grid/MLSMap.hpp:222 - void maps::grid::MLSMap<SurfaceType>::mergePointCloud(const PointCloud&, const Transform3d&, double) [with maps::grid::MLSConfig::update_model SurfaceType = maps::grid::MLSConfig::SLOPE; maps::grid::PointCloud = pcl::PointCloud<pcl::PointXYZ>; base::Transform3d = Eigen::Transform<double, 3, 2, 2>])
[20240910-09:54:21:116] [ERROR] - ugv_nav4d::Point        0  30.2716 0.506143 is outside of the grid! Can't add to grid. (/home/localadmin/cpp_projects/ugv_nav4d/build/install/include/maps/grid/MLSMap.hpp:222 - void maps::grid::MLSMap<SurfaceType>::mergePointCloud(const PointCloud&, const Transform3d&, double) [with maps::grid::MLSConfig::update_model SurfaceType = maps::grid::MLSConfig::SLOPE; maps::grid::PointCloud = pcl::PointCloud<pcl::PointXYZ>; base::Transform3d = Eigen::Transform<double, 3, 2, 2>])
[20240910-09:54:21:116] [ERROR] - ugv_nav4d::Point       0 30.2741 5.54068 is outside of the grid! Can't add to grid. (/home/localadmin/cpp_projects/ugv_nav4d/build/install/include/maps/grid/MLSMap.hpp:222 - void maps::grid::MLSMap<SurfaceType>::mergePointCloud(const PointCloud&, const Transform3d&, double) [with maps::grid::MLSConfig::update_model SurfaceType = maps::grid::MLSConfig::SLOPE; maps::grid::PointCloud = pcl::PointCloud<pcl::PointXYZ>; base::Transform3d = Eigen::Transform<double, 3, 2, 2>])
[20240910-09:54:21:116] [ERROR] - ugv_nav4d::Point       0 30.2683 7.86908 is outside of the grid! Can't add to grid. (/home/localadmin/cpp_projects/ugv_nav4d/build/install/include/maps/grid/MLSMap.hpp:222 - void maps::grid::MLSMap<SurfaceType>::mergePointCloud(const PointCloud&, const Transform3d&, double) [with maps::grid::MLSConfig::update_model SurfaceType = maps::grid::MLSConfig::SLOPE; maps::grid::PointCloud = pcl::PointCloud<pcl::PointXYZ>; base::Transform3d = Eigen::Transform<double, 3, 2, 2>])
[20240910-09:54:21:116] [ERROR] - ugv_nav4d::Point       0 30.2731  7.3687 is outside of the grid! Can't add to grid. (/home/localadmin/cpp_projects/ugv_nav4d/build/install/include/maps/grid/MLSMap.hpp:222 - void maps::grid::MLSMap<SurfaceType>::mergePointCloud(const PointCloud&, const Transform3d&, double) [with maps::grid::MLSConfig::update_model SurfaceType = maps::grid::MLSConfig::SLOPE; maps::grid::PointCloud = pcl::PointCloud<pcl::PointXYZ>; base::Transform3d = Eigen::Transform<double, 3, 2, 2>])
[20240910-09:54:21:124] [ERROR] - ugv_nav4d::Point   1.463       0 4.25841 is outside of the grid! Can't add to grid. (/home/localadmin/cpp_projects/ugv_nav4d/build/install/include/maps/grid/MLSMap.hpp:222 - void maps::grid::MLSMap<SurfaceType>::mergePointCloud(const PointCloud&, const Transform3d&, double) [with maps::grid::MLSConfig::update_model SurfaceType = maps::grid::MLSConfig::SLOPE; maps::grid::PointCloud = pcl::PointCloud<pcl::PointXYZ>; base::Transform3d = Eigen::Transform<double, 3, 2, 2>])
[20240910-09:54:21:124] [ERROR] - ugv_nav4d::Point  2.3104       0 4.25949 is outside of the grid! Can't add to grid. (/home/localadmin/cpp_projects/ugv_nav4d/build/install/include/maps/grid/MLSMap.hpp:222 - void maps::grid::MLSMap<SurfaceType>::mergePointCloud(const PointCloud&, const Transform3d&, double) [with maps::grid::MLSConfig::update_model SurfaceType = maps::grid::MLSConfig::SLOPE; maps::grid::PointCloud = pcl::PointCloud<pcl::PointXYZ>; base::Transform3d = Eigen::Transform<double, 3, 2, 2>])
[20240910-09:54:21:125] [ERROR] - ugv_nav4d::Point 2.01916       0  8.2603 is outside of the grid! Can't add to grid. (/home/localadmin/cpp_projects/ugv_nav4d/build/install/include/maps/grid/MLSMap.hpp:222 - void maps::grid::MLSMap<SurfaceType>::mergePointCloud(const PointCloud&, const Transform3d&, double) [with maps::grid::MLSConfig::update_model SurfaceType = maps::grid::MLSConfig::SLOPE; maps::grid::PointCloud = pcl::PointCloud<pcl::PointXYZ>; base::Transform3d = Eigen::Transform<double, 3, 2, 2>])
[20240910-09:54:21:125] [ERROR] - ugv_nav4d::Point 2.17689       0 8.25696 is outside of the grid! Can't add to grid. (/home/localadmin/cpp_projects/ugv_nav4d/build/install/include/maps/grid/MLSMap.hpp:222 - void maps::grid::MLSMap<SurfaceType>::mergePointCloud(const PointCloud&, const Transform3d&, double) [with maps::grid::MLSConfig::update_model SurfaceType = maps::grid::MLSConfig::SLOPE; maps::grid::PointCloud = pcl::PointCloud<pcl::PointXYZ>; base::Transform3d = Eigen::Transform<double, 3, 2, 2>])
[20240910-09:54:21:126] [ERROR] - ugv_nav4d::Point 0.88134       0 12.2598 is outside of the grid! Can't add to grid. (/home/localadmin/cpp_projects/ugv_nav4d/build/install/include/maps/grid/MLSMap.hpp:222 - void maps::grid::MLSMap<SurfaceType>::mergePointCloud(const PointCloud&, const Transform3d&, double) [with maps::grid::MLSConfig::update_model SurfaceType = maps::grid::MLSConfig::SLOPE; maps::grid::PointCloud = pcl::PointCloud<pcl::PointXYZ>; base::Transform3d = Eigen::Transform<double, 3, 2, 2>])
[20240910-09:54:21:126] [ERROR] - ugv_nav4d::Point 2.54313       0 12.2605 is outside of the grid! Can't add to grid. (/home/localadmin/cpp_projects/ugv_nav4d/build/install/include/maps/grid/MLSMap.hpp:222 - void maps::grid::MLSMap<SurfaceType>::mergePointCloud(const PointCloud&, const Transform3d&, double) [with maps::grid::MLSConfig::update_model SurfaceType = maps::grid::MLSConfig::SLOPE; maps::grid::PointCloud = pcl::PointCloud<pcl::PointXYZ>; base::Transform3d = Eigen::Transform<double, 3, 2, 2>])
haider8645 commented 2 months ago

That just means that some points of the PLY file could not be added to the MLS map because of being just on the borders of the grid. But yeah for a user that would look like something is broken.

chhtz commented 2 months ago

I think that this should just be a warning (it only concerns a few points at the border of the map and should not influence the navigation). But I'm working on a fix for that.

haider8645 commented 2 months ago

The errors about out-of-bound points should not appear anymore. @chhtz thanks!

chhtz commented 1 month ago

terminate called after throwing an instance of 'std::runtime_error' what(): gridSize has to be > 0

The cause for that appears to be that atof takes the current locale for parsing numbers. It should work if you pass 0,3 instead of 0.3, I assume.

OlgerSiebinga commented 1 month ago

Using 0,3 works for me indeed!

It made me curious though, what does this parameter do? (and are there other parameters I can use when calling the gui from the terminal?) I cannot find anything about it in the documentation other then the example. But I might me missing something.

chhtz commented 1 month ago

The 0.3 is the grid-size. With smaller values, planning can be finer (unless it is too small to create a usable map, i.e. smaller than the resolution of the point cloud), but generally also may take longer. E.g., 0.1 still works for me. Values 0.5 and 1.0 seem to be prohibited and I did not succeed generating paths with values above that (maybe some other parameters need to be changed to make that work).

Most parameters are hardcoded here: https://github.com/dfki-ric/ugv_nav4d/blob/main/src/gui/PlannerGui.cpp#L294

As it is, the GUI is more a demonstrator. One could parse additional parameters, or read them from a config file.

haider8645 commented 2 weeks ago

@OlgerSiebinga can this be closed?

OlgerSiebinga commented 2 weeks ago

yes, I think it works now. So if the example now show 0,3 instead of 0.3 (so it runs when you copy it) I think the issue can be closed

chhtz commented 1 week ago

Regarding 0.3 vs 0,3, either we should replace atof with something which ignores the locale or add a note that the locale may influence the behavior (I'd prefer the first, honestly).

haider8645 commented 3 days ago

Closing this because adding std::setlocale(LC_ALL, "C") which interprets a . as a decimal