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engcang / FAST-LIO-SAM-QN

A SLAM implementation combining FAST-LIO2 with pose graph optimization and loop closing based on Quatro and Nano-GICP
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std::length_error #4

Open slamer2024 opened 6 months ago

slamer2024 commented 6 months ago

Thanks for sharing the code. I encountered an error after running the launch file a few seconds. fastliosam_error

engcang commented 6 months ago

@slamer2024 Hi. Can you turn on GDB debugging and show me the output of it? You can set it by changing this line - https://github.com/engcang/FAST-LIO-SAM-QN/blob/master/fast_lio_sam_qn/launch/run.launch#L12 into 

<node pkg="fast_lio_sam_qn" type="fast_lio_sam_qn_node" name="fast_lio_sam_qn_node" output="screen" launch-prefix="gdb -ex run --args"/>

After the code crashes, type "bt" on the terminal, then you will get the debugging logs.

slamer2024 commented 6 months ago

Thanks for replying. I followed your instruction. here is the result after type "bt" on the terminal. debug_fastliosamqn

engcang commented 6 months ago

@slamer2024 Hi. Thanks for the sharing the results of debugging. It looks weird, unfortunately. There is no any backtrace of it...

What are your versions of dependencies? Eigen, GTSAM, Teaser++ and TBB

Especially, how did you install GTSAM? did you follow the instruction as I wrote here? - https://github.com/engcang/FAST-LIO-SAM-QN?tab=readme-ov-file#dependencies