search

ethz-asl / maplab

A Modular and Multi-Modal Mapping Framework
https://maplab.asl.ethz.ch
Apache License 2.0
2.6k stars 721 forks source link

"Probably missing in the config file" error #273

Closed telemc97 closed 4 years ago

telemc97 commented 4 years ago

I get the following error when i attemp to run rovioli on CLA rosbag (floor G) using a jetson nano, ubuntu 18.04 and pre_release_public/march-2018 branch

[ INFO] [1598132974.292333560]: Connected to master at [192.168.2.14:1311] I0823 00:49:35.238173 6553 rovio-factory.cc:178] Loading ROVIO configuration template: /home/tilemahos/test/rovio_default_config.info _F0823 00:49:35.525959 6553 PropertyHandler.hpp:105] No such node (Init.Covariance.pmp0). Probably missing in the config file. Check failure stack trace: @ 0x7f9fdadb90 google::LogMessage::Fail() @ 0x7f9fdafac8 google::LogMessage::SendToLog() @ 0x7f9fdad6c4 google::LogMessage::Flush() @ 0x7f9fdb034c google::LogMessageFatal::~LogMessageFatal() @ 0x7f9fb10d88 LWF::Register<>::readPropertyTree() @ 0x7f9fb19970 LWF::PropertyHandler::readPropertyTree() @ 0x7f9fb1e180 LWF::PropertyHandler::readFromPropertyTree() @ 0x7f9fbf8674 rovio::RovioInterfaceImpl<>::RovioInterfaceImpl() @ 0x7f9fbf8844 rovio::RovioInterfaceImpl<>::RovioInterfaceImpl() @ 0x7f9faf6c80 rovioli::constructAndConfigureRovio() @ 0x7f9fbfcbf4 rovioli::RovioFlow::RovioFlow() @ 0x7f9fc07854 rovioli::RovioliNode::RovioliNode() @ 0x5562e14928 (unknown) @ 0x7f9f6c36e0 __libc_start_main @ 0x5562e15158 (unknown) /home/tilemahos/maplab_ws/src/maplab/applications/rovioli/scripts/tutorials/tutorial_euroc: line 20: 6553 Aborted (core dumped) rosrun rovioli rovioli --alsologtostderr=1 --v=2 --ncamera_calibration=$NCAMERA_CALIBRATION --imu_parameters_maplab=$IMU_PARAMETERS_MAPLAB --datasource_type="rosbag" --save_map_folder="$LOCALIZATION_MAP_OUTPUT" --optimize_map_to_localization_map=false --map_builder_save_image_as_resources=false --datasource_rosbag=$ROSBAG $REST

araujokth commented 4 years ago

Seems like you may be having a problem with your configuration.

Did you manage to successfully run the tutorials on the euroc dataset https://github.com/ethz-asl/maplab/wiki/Running-ROVIOLI-in-VIO-mode? Did you also modify the calibration files for the CLA dataset http://robotics.ethz.ch/~asl-datasets/maplab/multi_session_mapping_CLA/calibration/?

telemc97 commented 4 years ago

No, on both datasets (euroc and cla) i used the correct given calibration files but i still get the same exact error (F0828 12:34:50.698326 9652 PropertyHandler.hpp:105] No such node (Init.Covariance.pmp_0). Probably missing in the config file.). I have also tried to clean the workspace and rebuild with no luck. I suspect it has something to do with this branch i am using (pre_release_public/march-2018 branch) since i am trying to use maplab on a arm device.

araujokth commented 4 years ago

hmm... I am also using that branch (pre_release_public/march-2018) on arm devices (Nano, NX and AGX) and it works fine. I guess you have managed to successfully build without any problems?

One thing that is a bit strange from your output is that your rovio config template is loading from "/home/tilemahos/test/rovio_default_config.info". Have you properly sourced the maplab workspace? I think the variable $ROVIO_CONFIG_DIR is not correctly defined for your case and it should point to maplab_ws/src/maplab/applications/rovioli/share as it is explained here https://github.com/ethz-asl/maplab/wiki/Running-ROVIOLI-in-VIO-mode#requirements

telemc97 commented 4 years ago

Yes the build is succesfull with some warnings. As far as for the $ROVIO_CONFIGDIR variable i change it from its default path to /home/tilemahos/test_ by using ROVIO_CONFIG_DIR=/home/tilemahos/test. Can that create a problem loading configuration files ? Also i only change the path of ROVIO_CONFIG_DIR when im using a rosbag. If i'am using rostopics as my data source i use the default path maplab_ws/src/maplab/applications/rovioli/share and i also get the same error. maybe i should pay more attention to the warnings i get during build to see if they have to do anything with the error i get ?

araujokth commented 4 years ago

Sorry I didnt understand. Why dont you just keep the original value for that variable when using the rosbags? I mean, if you just follow the tutorial in the wiki for the rosbag case without changing anything, does it work or not?

telemc97 commented 4 years ago

it doesn't. Following the wiki tutorial for the rosbag case i get the same error.

I0829 12:52:55.261324 8330 rovio-factory.cc:178] Loading ROVIO configuration template: /home/tilemahos/maplab_ws/src/maplab/applications/rovioli/share//rovio_default_config.info F0829 12:52:55.544064 8330 PropertyHandler.hpp:105] No such node (Init.Covariance.pmp_0). Probably missing in the config file. Check failure stack trace: @ 0x7fad01eb90 google::LogMessage::Fail() @ 0x7fad020ac8 google::LogMessage::SendToLog() @ 0x7fad01e6c4 google::LogMessage::Flush() @ 0x7fad02134c google::LogMessageFatal::~LogMessageFatal() @ 0x7facd81d88 LWF::Register<>::readPropertyTree() @ 0x7facd8a970 LWF::PropertyHandler::readPropertyTree() @ 0x7facd8f180 LWF::PropertyHandler::readFromPropertyTree() @ 0x7face69674 rovio::RovioInterfaceImpl<>::RovioInterfaceImpl() @ 0x7face69844 rovio::RovioInterfaceImpl<>::RovioInterfaceImpl() @ 0x7facd67c80 rovioli::constructAndConfigureRovio() @ 0x7face6dbf4 rovioli::RovioFlow::RovioFlow() @ 0x7face78854 rovioli::RovioliNode::RovioliNode() @ 0x557d067928 (unknown) @ 0x7fac9346e0 __libc_start_main @ 0x557d068158 (unknown) /home/tilemahos/maplab_ws/src/maplab/applications/rovioli/scripts/tutorials/tutorial_euroc: line 20: 8330 Aborted (core dumped) rosrun rovioli rovioli --alsologtostderr=1 --v=2 --ncamera_calibration=$NCAMERA_CALIBRATION --imu_parameters_maplab=$IMU_PARAMETERS_MAPLAB --datasource_type="rosbag" --save_map_folder="$LOCALIZATION_MAP_OUTPUT" --optimize_map_to_localization_map=false --map_builder_save_image_as_resources=false --datasource_rosbag=$ROSBAG $REST

araujokth commented 4 years ago

hmm strange.

Which branch of maplab_dependencies are you using? You should also use the pre-release-march-2018 branch https://github.com/ethz-asl/maplab_dependencies/tree/pre_release_public/march-2018

When you built, did you have to do any modifications to openc3_catkin inside maplab_dependencies? for me I had to do these steps: https://github.com/ethz-asl/maplab/issues/155#issuecomment-681046278

Could you create a new workspace, and follow again the installation instructions for maplab and maplab_dependencies using the pre-release-march-2018 branch and applying the modifications I mention above, and try to run the tutorial_euroc example again?

araujokth commented 4 years ago

Another thing, could you check that your rovio_default_config.info has the values pmp_0 defined like here https://github.com/ethz-asl/maplab/blob/pre_release_public/march-2018/applications/rovioli/share/rovio_default_config.info#L82

telemc97 commented 4 years ago

Thank you very much !! my rovio_default_config.info was missing the pmp_0 values as it was taken from the master branch