Open djetshu opened 1 year ago
engcang
commented
1 year ago Hi @djetshu. As you said, if you just want to delete the message, you can remove launch-prefix in the launch file. But that launch-prefix is GDB and is very useful to debug.
When you get the error and the algorithm stops, try to type "bt" and enter, then you will see where the error occurs in the code. Can you attach the result of "bt" here please?
djetshu
commented
1 year ago Thanks for replying, I typed ¨bt¨ after the algorithm stops and gets error. The result are the following in code and as a screenshot as well:
Starting program: /home/catolica/Documents/tumi_robotics_projects/chavito_escalamiento/ros/ws_fastlio_sam/devel/lib/fast_lio_sam/fast_lio_sam_node __name:=fast_lio_sam_node __log:=/home/catolica/.ros/log/8f869842-4683-11ee-a099-afa8419c0159/fast_lio_sam_node-4.log
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[New Thread 0x7fffeeed2700 (LWP 11333)]
[New Thread 0x7fffee6d1700 (LWP 11334)]
[New Thread 0x7fffeded0700 (LWP 11335)]
[New Thread 0x7fffed6cf700 (LWP 11336)]
--Type <RET> for more, q to quit, c to continue without paging--
Thread 1 "fast_lio_sam_no" received signal SIGSEGV, Segmentation fault.
0x0000000000000000 in ?? ()
(gdb) bt
#0 0x0000000000000000 in ?? ()
#1 0x00007ffff61fead3 in gtsam::ISAM2::ISAM2(gtsam::ISAM2Params const&) ()
from /usr/local/lib/libgtsam.so.4
#2 0x00007ffff64a2052 in __gnu_cxx::new_allocator<gtsam::ISAM2>::construct<gtsam::ISAM2, gtsam::ISAM2Params&> (this=<optimized out>, __p=0x555555599660)
at /usr/include/c++/9/new:174
#3 std::allocator_traits<std::allocator<gtsam::ISAM2> >::construct<gtsam::ISAM2, gtsam::ISAM2Params&> (__a=..., __p=0x555555599660)
at /usr/include/c++/9/bits/alloc_traits.h:483
#4 std::_Sp_counted_ptr_inplace<gtsam::ISAM2, std::allocator<gtsam::ISAM2>, (__gnu_cxx::_Lock_policy)2>::_Sp_counted_ptr_inplace<gtsam::ISAM2Params&> (
__a=..., this=0x555555599650)
at /usr/include/c++/9/bits/shared_ptr_base.h:548
#5 std::__shared_count<(__gnu_cxx::_Lock_policy)2>::__shared_count<gtsam::ISAM2, std::allocator<gtsam::ISAM2>, gtsam::ISAM2Params&> (__a=...,
__p=<optimized out>, this=<optimized out>)
at /usr/include/c++/9/bits/shared_ptr_base.h:679
#6 std::__shared_ptr<gtsam::ISAM2, (__gnu_cxx::_Lock_policy)2>::__shared_ptr<std::allocator<gtsam::ISAM2>, gtsam::ISAM2Params&> (__tag=...,
this=<optimized out>) at /usr/include/c++/9/bits/shared_ptr_base.h:1344
#7 std::shared_ptr<gtsam::ISAM2>::shared_ptr<std::allocator<gtsam::ISAM2>, gtsam::ISAM2Params&> (__tag=..., this=<optimized out>)
at /usr/include/c++/9/bits/shared_ptr.h:359
--Type <RET> for more, q to quit, c to continue without paging--
#8 std::allocate_shared<gtsam::ISAM2, std::allocator<gtsam::ISAM2>, gtsam::ISAM2Params&> (__a=...) at /usr/include/c++/9/bits/shared_ptr.h:702
#9 std::make_shared<gtsam::ISAM2, gtsam::ISAM2Params&> ()
at /usr/include/c++/9/bits/shared_ptr.h:718
#10 FAST_LIO_SAM_CLASS::FAST_LIO_SAM_CLASS (this=0x7fffffffc6e0, n_private=...)
at /home/catolica/Documents/tumi_robotics_projects/chavito_escalamiento/ros/ws_fastlio_sam/src/FAST-LIO-SAM/fast_lio_sam/src/constructor.cpp:41
#11 0x000055555555dc70 in main (argc=<optimized out>, argv=<optimized out>)
at /home/catolica/Documents/tumi_robotics_projects/chavito_escalamiento/ros/ws_fastlio_sam/src/FAST-LIO-SAM/fast_lio_sam/src/main.cpp:15
(gdb) There are 3 main threads in the code (in callbacks.cpp) and only two (loop_timer and visualization_timer) are working in your case.
According to your error, your code failed to initialize the gtsam::ISAM2 handler at here.
Sadly, it seems that the error is not from the code but from GTSAM itself.
Eigen? - you can see the version here: /usr/include/eigen3/Eigen/src/Core/util/Macros.h
For instance, mine is 3.4.0
#define EIGEN_WORLD_VERSION 3
#define EIGEN_MAJOR_VERSION 4
#define EIGEN_MINOR_VERSION 0Hi @djetshu Any updates?
First of all, thanks for the great repository. I have the following issue:
roslaunch fast_lio_sam run.launch lidar:=velodyneHow could I disable correctly "--Type for more, q to quit, c to continue without paging-- " in order that it does not stop the algorithm?
The algorithms works well where this message appears:
But always after 15 sec approximately the
"--Type <RET> for more, q to quit, c to continue without paging--"stops only fastlio_sam_node.I have tried to add some extra commands to launch-prefix:
and even removing launch-prefix from this launch line, that results that the output does not appear but in same way stops after 15 secs. Some recommendations to deal with that? It was tested in Jetson Orin AGX and PC with RTX 4080 + 13th Gen Intel® Core™ i9-13900KF, both have Ubuntu 20.04 and ROS Noetic.