Wang-Bo-xuan
commented
5 years ago I added GDB debugging to launch, and I got the following error message:
wangboxuan@wangboxuan-pc:~/Desktop/segment_ws$ roslaunch segmapper kitti_loop_closure.launch ... logging to /home/wangboxuan/.ros/log/5e7e2b96-f82e-11e8-93fd-0c9d92bde351/roslaunch-wangboxuan-pc-27512.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://wangboxuan-pc:36655/
SUMMARY
PARAMETERS
- /LaserMapper/bag_file: /media/wangboxuan...
- /SegMapper/Benchmarker/enable_live_output: False
- /SegMapper/Benchmarker/results_directory: /tmp/segmap_bench...
- /SegMapper/Benchmarker/save_statistics_only: False
- /SegMapper/LaserSlamWorker/assembled_cloud_sub_topic: /velodyne_points
- /SegMapper/LaserSlamWorker/create_filtered_map: True
- /SegMapper/LaserSlamWorker/distant_map_pub_topic: distant_map
- /SegMapper/LaserSlamWorker/full_map_pub_topic: full_map
- /SegMapper/LaserSlamWorker/local_map_pub_topic: local_map
- /SegMapper/LaserSlamWorker/map_publication_rate_hz: 3
- /SegMapper/LaserSlamWorker/odom_frame: world
- /SegMapper/LaserSlamWorker/odometry_trajectory_pub_topic: odometry_trajectory
- /SegMapper/LaserSlamWorker/publish_distant_map: False
- /SegMapper/LaserSlamWorker/publish_full_map: False
- /SegMapper/LaserSlamWorker/publish_local_map: True
- /SegMapper/LaserSlamWorker/sensor_frame: velodyne
- /SegMapper/LaserSlamWorker/trajectory_pub_topic: trajectory
- /SegMapper/LaserSlamWorker/use_odometry_information: True
- /SegMapper/OnlineEstimator/LaserTrack/add_m_estimator_on_icp: False
- /SegMapper/OnlineEstimator/LaserTrack/add_m_estimator_on_odom: False
- /SegMapper/OnlineEstimator/LaserTrack/force_priors: False
- /SegMapper/OnlineEstimator/LaserTrack/icp_noise_model: [0.5, 0.05, 0.05,...
- /SegMapper/OnlineEstimator/LaserTrack/nscan_in_sub_map: 5
- /SegMapper/OnlineEstimator/LaserTrack/nscan_to_match: 3
- /SegMapper/OnlineEstimator/LaserTrack/odometry_noise_model: [0.5, 0.5, 0.5, 0...
- /SegMapper/OnlineEstimator/LaserTrack/save_icp_results: False
- /SegMapper/OnlineEstimator/LaserTrack/use_icp_factors: True
- /SegMapper/OnlineEstimator/LaserTrack/use_odom_factors: True
- /SegMapper/OnlineEstimator/add_m_estimator_on_loop_closures: True
- /SegMapper/OnlineEstimator/do_icp_step_on_loop_closures: False
- /SegMapper/OnlineEstimator/loop_closure_noise_model: [0.0005, 0.0005, ...
- /SegMapper/OnlineEstimator/loop_closures_sub_maps_radius: 3
- /SegMapper/SegMatchWorker/SegMatch/Classifier/apply_hard_threshold_on_feature_distance: True
- /SegMapper/SegMatchWorker/SegMatch/Classifier/enable_two_stage_retrieval: True
- /SegMapper/SegMatchWorker/SegMatch/Classifier/feature_distance_threshold: 0.01
- /SegMapper/SegMatchWorker/SegMatch/Classifier/knn_feature_dim: 7
- /SegMapper/SegMatchWorker/SegMatch/Classifier/max_eigen_features_values: [2493.5, 186681.0...
- /SegMapper/SegMatchWorker/SegMatch/Classifier/n_nearest_neighbours: 120
- /SegMapper/SegMatchWorker/SegMatch/Classifier/normalize_eigen_for_hard_threshold: True
- /SegMapper/SegMatchWorker/SegMatch/Classifier/normalize_eigen_for_knn: False
- /SegMapper/SegMatchWorker/SegMatch/Classifier/threshold_to_accept_match: 0.6
- /SegMapper/SegMatchWorker/SegMatch/Descriptors/descriptor_types: ['EigenvalueBased']
- /SegMapper/SegMatchWorker/SegMatch/GeometricConsistency/max_consistency_distance_for_caching: 3.0
- /SegMapper/SegMatchWorker/SegMatch/GeometricConsistency/min_cluster_size: 6
- /SegMapper/SegMatchWorker/SegMatch/GeometricConsistency/recognizer_type: Incremental
- /SegMapper/SegMatchWorker/SegMatch/GeometricConsistency/resolution: 0.4
- /SegMapper/SegMatchWorker/SegMatch/LocalMap/max_vertical_distance_m: 999.0
- /SegMapper/SegMatchWorker/SegMatch/LocalMap/min_points_per_voxel: 1
- /SegMapper/SegMatchWorker/SegMatch/LocalMap/min_vertical_distance_m: -999.0
- /SegMapper/SegMatchWorker/SegMatch/LocalMap/neighbors_provider_type: KdTree
- /SegMapper/SegMatchWorker/SegMatch/LocalMap/radius_m: 50
- /SegMapper/SegMatchWorker/SegMatch/LocalMap/voxel_size_m: 0.1
- /SegMapper/SegMatchWorker/SegMatch/Segmenters/max_cluster_size: 15000
- /SegMapper/SegMatchWorker/SegMatch/Segmenters/min_cluster_size: 100
- /SegMapper/SegMatchWorker/SegMatch/Segmenters/radius_for_growing: 0.2
- /SegMapper/SegMatchWorker/SegMatch/Segmenters/segmenter_type: IncrementalEuclid...
- /SegMapper/SegMatchWorker/SegMatch/boundary_radius_m: 999.0
- /SegMapper/SegMatchWorker/SegMatch/centroid_distance_threshold_m: 2.5
- /SegMapper/SegMatchWorker/SegMatch/check_pose_lies_below_segments: False
- /SegMapper/SegMatchWorker/SegMatch/filter_boundary_segments: True
- /SegMapper/SegMatchWorker/SegMatch/filter_duplicate_segments: True
- /SegMapper/SegMatchWorker/SegMatch/min_time_between_segment_for_matches_s: 60
- /SegMapper/SegMatchWorker/align_target_map_on_first_loop_closure: False
- /SegMapper/SegMatchWorker/close_loops: True
- /SegMapper/SegMatchWorker/distance_between_segmentations_m: 0.0
- /SegMapper/SegMatchWorker/distance_to_lower_target_cloud_for_viz_m: 15.0
- /SegMapper/SegMatchWorker/export_segments_and_matches: False
- /SegMapper/SegMatchWorker/line_scale_loop_closures: 5.0
- /SegMapper/SegMatchWorker/line_scale_matches: 0.5
- /SegMapper/SegMatchWorker/localize: False
- /SegMapper/SegMatchWorker/publish_predicted_segment_matches: False
- /SegMapper/SegMatchWorker/ratio_of_points_to_keep_when_publishing: 1.0
- /SegMapper/clear_local_map_after_loop_closure: False
- /SegMapper/number_of_robots: 1
- /SegMapper/publish_world_to_odom: True
- /SegMapper/robot_prefix: na
- /SegMapper/tf_publication_rate_hz: 10
- /SegMapper/world_frame: map
- /rosdistro: kinetic
- /rosversion: 1.12.14
- /segmapper/icp_configuration_file: /home/wangboxuan/...
- /segmapper/icp_input_filters_file: /home/wangboxuan/...
- /use_sim_time: True
NODES / player (rosbag/play) segmapper (segmapper/segmapper_node) visualizer (rviz/rviz)
auto-starting new master process[master]: started with pid [27522] ROS_MASTER_URI=http://localhost:11311
setting /run_id to 5e7e2b96-f82e-11e8-93fd-0c9d92bde351 process[rosout-1]: started with pid [27535] started core service [/rosout] process[visualizer-2]: started with pid [27559] process[player-3]: started with pid [27560] process[segmapper-4]: started with pid [27561] [ INFO] [1543973867.947643835]: Opening /media/wangboxuan/data/bag/segmap/kitti/2011_09_30_drive_18.bag
Waiting 0.2 seconds after advertising topics...[ INFO] [1543973868.021676369]: rviz version 1.12.16 [ INFO] [1543973868.021712022]: compiled against Qt version 5.5.1 [ INFO] [1543973868.021722840]: compiled against OGRE version 1.9.0 (Ghadamon) GNU gdb (Ubuntu 7.11.1-0ubuntu1~16.5) 7.11.1 Copyright (C) 2016 Free Software Foundation, Inc. License GPLv3+: GNU GPL version 3 or later http://gnu.org/licenses/gpl.html This is free software: you are free to change and redistribute it. There is NO WARRANTY, to the extent permitted by law. Type "show copying" and "show warranty" for details. This GDB was configured as "x86_64-linux-gnu". Type "show configuration" for configuration details. For bug reporting instructions, please see: http://www.gnu.org/software/gdb/bugs/. Find the GDB manual and other documentation resources online at: http://www.gnu.org/software/gdb/documentation/. For help, type "help". Type "apropos word" to search for commands related to "word"... Reading symbols from /home/wangboxuan/Desktop/segment_ws/devel/lib/segmapper/segmapper_node...(no debugging symbols found)...done. Starting program: /home/wangboxuan/Desktop/segment_ws/devel/lib/segmapper/segmapper_node name:=segmapper log:=/home/wangboxuan/.ros/log/5e7e2b96-f82e-11e8-93fd-0c9d92bde351/segmapper-4.log [tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device] [tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device] done.
Hit space to toggle paused, or 's' to step. [ INFO] [1543973868.671718328, 1317376479.232045294]: Stereo is NOT SUPPORTED
[ INFO] [1543973868.671797607, 1317376479.232045294]: OpenGl version: 4.6 (GLSL 4.6). [Thread debugging using libthread_db enabled]ation: 0.940699 / 287.641810
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1". [tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]10
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]10
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device] [tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device] [tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device] [tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device] [New Thread 0x7fff9ebf3700 (LWP 27703)] Duration: 2.085174 / 287.641810
[New Thread 0x7fff9d4ef700 (LWP 27705)] Duration: 2.191413 / 287.641810
[New Thread 0x7fff9ccee700 (LWP 27706)] [New Thread 0x7fff97fff700 (LWP 27707)] [New Thread 0x7fff977fe700 (LWP 27719)] WARNING: Logging before InitGoogleLogging() is written to STDERR I1205 09:37:53.431857 27607 segmatch.cpp:23] Do not forget to initialize SegMatch. I1205 09:37:53.465507 27607 laser_track.cpp:16] Loading ICP configurations from: /home/wangboxuan/Desktop/segment_ws/src/segmap/segmapper/launch/kitti/icp_dynamic_outdoor.yaml I1205 09:37:53.466413 27607 laser_track.cpp:26] Loading ICP input filters from: /home/wangboxuan/Desktop/segment_ws/src/segmap/segmapper/launch/kitti/input_filters_outdoor.yaml I1205 09:37:53.466704 27607 incremental_estimator.cpp:31] Creating loop closure noise model with cauchy. I1205 09:37:53.466727 27607 incremental_estimator.cpp:54] Loading ICP configurations from: /home/wangboxuan/Desktop/segment_ws/src/segmap/segmapper/launch/kitti/icp_dynamic_outdoor.yaml [ INFO] [1543973873.467791184]: Number of laser_slam workers: 1287.641810
I1205 09:37:53.467942 27607 segmapper.cpp:86] Robot 0 subscribes to /velodyne_points world and velodyne I1205 09:37:53.467960 27607 segmapper.cpp:89] Robot 0 publishes to trajectory and local_map [New Thread 0x7fff96ffd700 (LWP 27859)] Duration: 2.293678 / 287.641810
[New Thread 0x7fff967fc700 (LWP 27887)] I1205 09:37:53.481892 27887 segmapper.cpp:121] publishing local maps [New Thread 0x7fff95ffb700 (LWP 27888)] [New Thread 0x7fff957fa700 (LWP 27889)] [ WARN] [1543973873.896686826, 1317376481.950120543]: [SegMapper] Timeout while waiting between world and velodyne. [New Thread 0x7fff94ff9700 (LWP 27890)] [New Thread 0x7fff77fff700 (LWP 27891)] [New Thread 0x7fff777fe700 (LWP 27892)] [New Thread 0x7fff76ffd700 (LWP 27893)] [New Thread 0x7fff767fc700 (LWP 27894)] [New Thread 0x7fff75ffb700 (LWP 27895)] [New Thread 0x7fff757fa700 (LWP 27896)] [New Thread 0x7fff74ff9700 (LWP 27897)] [New Thread 0x7fff747f8700 (LWP 27898)] [New Thread 0x7fff73ff7700 (LWP 27899)] [New Thread 0x7fff737f6700 (LWP 27900)] [New Thread 0x7fff9c4ed700 (LWP 27901)] I1205 09:37:53.993852 27887 segmapper.cpp:121] publishing local maps41810
[New Thread 0x7fff947f8700 (LWP 27902)] [New Thread 0x7fff72ff5700 (LWP 27903)] stack smashing detected : /home/wangboxuan/Desktop/segment_ws/devel/lib/segmapper/segmapper_node terminated I1205 09:37:53.995028 27887 segmapper.cpp:121] publishing local maps [New Thread 0x7fff723f2700 (LWP 27906)] Duration: 2.921976 / 287.641810
[New Thread 0x7fff727f3700 (LWP 27904)] [New Thread 0x7fff72bf4700 (LWP 27905)] stack smashing detected : /home/wangboxuan/Desktop/segment_ws/devel/lib/segmapper/segmapper_node terminated [New Thread 0x7fff71bf0700 (LWP 27907)] [New Thread 0x7fff71ff1700 (LWP 27908)]Thread 1 "segmapper_node" received signal SIGABRT, Aborted. 0x00007fffc08bf428 in __GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:54 54 ../sysdeps/unix/sysv/linux/raise.c: No such file or directory. [RUNNING] Bag Time: 1317376513.415246 Duration: 34.183200 / 287.641810
0 0x00007fffc08bf428 in __GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:54
1 0x00007fffc08c102a in __GI_abort () at abort.c:89
2 0x00007fffc09017ea in __libc_message (do_abort=do_abort@entry=1, fmt=fmt@entry=0x7fffc0a1949f " %s : %s terminated\n")
at ../sysdeps/posix/libc_fatal.c:1753 0x00007fffc09a315c in __GI___fortify_fail (msg=
, msg@entry=0x7fffc0a19481 "stack smashing detected") at fortify_fail.c:374 0x00007fffc09a3100 in __stack_chk_fail () at stack_chk_fail.c:28
5 0x00007ffff585313c in gtsam::internal::CallRecordImplementor<gtsam::internal::UnaryExpression<kindr::minimal::QuatTransformationTemplate
, kindr::minimal::QuatTransformationTemplate >::Record, 6>::_reverseAD3(Eigen::Matrix<double, -1, 6, 0, -1, 6> const&, gtsam::internal::JacobianMap&) const () from /home/wangboxuan/Desktop/segment_ws/devel/lib/libminkindr_gtsam.so 6 0x00007ffff5847dc0 in gtsam::internal::CallRecordImplementor<gtsam::internal::BinaryExpression<kindr::minimal::QuatTransformationTemplate
, kindr::minimal::QuatTransformationTemplate , kindr::minimal::QuatTransformationTemplate >::Record, 6>::_startReverseAD3(gtsam::internal::JacobianMap&) const () from /home/wangboxuan/Desktop/segment_ws/devel/lib/libminkindr_gtsam.so 7 0x00007ffff69192e3 in gtsam::Expression<kindr::minimal::QuatTransformationTemplate
>::valueAndJacobianMap(gtsam::Values const&, gtsam::internal::JacobianMap&) const () from /home/wangboxuan/Desktop/segment_ws/devel/.private/laser_slam/lib/liblaser_slam.so 8 0x00007ffff6919581 in gtsam::ExpressionFactor<kindr::minimal::QuatTransformationTemplate
>::linearize(gtsam::Values const&) const () from /home/wangboxuan/Desktop/segment_ws/devel/.private/laser_slam/lib/liblaser_slam.so 9 0x00007ffff54c3d6c in tbb::interface9::internal::start_for<tbb::blocked_range
, gtsam::(anonymous namespace)::_LinearizeOneFactor, tbb::auto_partitioner const>::execute() () from /home/wangboxuan/Desktop/segment_ws/devel/lib/libgtsam.so.4 10 0x00007ffff4a63fdd in ?? () from /usr/lib/x86_64-linux-gnu/libtbb.so.2
11 0x00007ffff4a611f0 in ?? () from /usr/lib/x86_64-linux-gnu/libtbb.so.2
12 0x00007ffff54c6de2 in gtsam::NonlinearFactorGraph::linearize(gtsam::Values const&) const ()
from /home/wangboxuan/Desktop/segment_ws/devel/lib/libgtsam.so.4
13 0x00007ffff54cfb86 in gtsam::ISAM2::update(gtsam::NonlinearFactorGraph const&, gtsam::Values const&, gtsam::FastVector
const&, boost::optional<gtsam::FastMap<unsigned long, int> > const&, boost::optional<gtsam::FastList > const&, boost::optional<gtsam::FastList > const&, bool) () from /home/wangboxuan/Desktop/segment_ws/devel/lib/libgtsam.so.4 14 0x00007ffff691af0f in laser_slam::IncrementalEstimator::estimate(gtsam::NonlinearFactorGraph const&, gtsam::Values const&, long)
() from /home/wangboxuan/Desktop/segment_ws/devel/.private/laser_slam/lib/liblaser_slam.so15 0x00007ffff7bb9d6b in laser_slam_ros::LaserSlamWorker::scanCallback(sensormsgs::PointCloud2<std::allocator
> const&) () [RUNNING] Bag Time: 1317376517.687838 Duration: 38.455793 / 287.641810
from /home/wangboxuan/Desktop/segment_ws/devel/.private/laser_slam_ros/lib/liblaser_slam_ros.so16 0x00007ffff7bca96a in ros::SubscriptionCallbackHelperT<sensormsgs::PointCloud2<std::allocator
> const&, void>::call(ros::SubscriptionCallbackHelperCallParams&) () from /home/wangboxuan/Desktop/segment_ws/devel/.private/laser_slam_ros/lib/liblaser_slam_ros.so
17 0x00007fffdbbbed8d in ros::SubscriptionQueue::call() () from /opt/ros/kinetic/lib/libroscpp.so
18 0x00007fffdbb64838 in ros::CallbackQueue::callOneCB(ros::CallbackQueue::TLS*) () from /opt/ros/kinetic/lib/libroscpp.so
19 0x00007fffdbb6623b in ros::CallbackQueue::callAvailable(ros::WallDuration) () from /opt/ros/kinetic/lib/libroscpp.so
20 0x00007fffdbbc2e39 in ros::SingleThreadedSpinner::spin(ros::CallbackQueue*) () from /opt/ros/kinetic/lib/libroscpp.so
21 0x00007fffdbba7e9b in ros::spin() () from /opt/ros/kinetic/lib/libroscpp.so
22 0x0000000000409c05 in main ()
[RUNNING] Bag Time: 1317376518.006707 Duration: 38.774662 / 287.641810
[RUNNING] Bag Time: 1317376518.422637 Duration: 39.190592 / 287.641810
[RUNNING] Bag Time: 1317376518.736475 Duration: 39.504429 / 287.641810
[segmapper-4] killing on exit520.617160 Duration: 41.385114 / 287.641810
[player-3] killing on exit Quit (gdb) [visualizer-2] killing on exit [RUNNING] Bag Time: 1317376520.924290 Duration: 41.692245 / 287.641810
[segmapper-4] escalating to SIGTERM Exception ignored in: <gdb.GdbOutputFile object at 0x7fc95d577358> Traceback (most recent call last): File "/usr/share/gdb/python/gdb/init.py", line 43, in flush def flush(self): KeyboardInterrupt [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done
ahandsomeperson
illuosion
I have successfully installed (possibly) segmap. When I used 2011_09_30_drive_18.bag for kitti_loop_closure. launch simulation, the following error occurred. What is the problem? Please help me. Thank you:
In addition, when I ran segmapper. launch, I encountered the following errors:
My 2011_10_03_drive_27.bag is downloading, so I haven't tested kitti_localization. launch yet, but I think it will fail too. After these simulations are completed, I want to train my data and run it. How can I solve these problems now? Thank you.