Open cstlove opened 2 years ago
After I spent a long time installing segmap, I ran into problems testing the roslaunch segmapper kitti_loop_closure.launch example again :
setting /run_id to e37bc3e8-f782-11eb-8d6c-902e162cc832 process[rosout-1]: started with pid [17870] started core service [/rosout] process[visualizer-2]: started with pid [17894] process[player-3]: started with pid [17895] process[segmapper-4]: started with pid [17896] [ INFO] [1628342710.616333458]: Opening /home/wowsky/.segmap/kitti/2011_09_30_drive_18.bag [FATAL] [1628342710.616916009]: Required 'op' field missing [ INFO] [1628342710.767527847]: rviz version 1.12.17 [ INFO] [1628342710.767575758]: compiled against Qt version 5.5.1 [ INFO] [1628342710.767590984]: compiled against OGRE version 1.9.0 (Ghadamon) [player-3] process has died [pid 17895, exit code 1, cmd /opt/ros/kinetic/lib/rosbag/play -r 1 -s 0 --clock --pause /home/wowsky/.segmap/kitti/2011_09_30_drive_18.bag name:=player log:=/home/wowsky/.ros/log/e37bc3e8-f782-11eb-8d6c-902e162cc832/player-3.log]. log file: /home/wowsky/.ros/log/e37bc3e8-f782-11eb-8d6c-902e162cc832/player-3*.log [ INFO] [1628342710.954490860]: Stereo is NOT SUPPORTED [ INFO] [1628342710.954643465]: OpenGl version: 3 (GLSL 1.3). WARNING: Logging before InitGoogleLogging() is written to STDERR I0807 21:25:11.559703 17896 segmatch.cpp:23] Do not forget to initialize SegMatch. I0807 21:25:11.657824 17896 laser_track.cpp:16] Loading ICP configurations from: /home/wowsky/segmap_ws/src/segmap/segmapper/launch/kitti/icp_dynamic_outdoor.yaml I0807 21:25:11.659390 17896 laser_track.cpp:26] Loading ICP input filters from: /home/wowsky/segmap_ws/src/segmap/segmapper/launch/kitti/input_filters_outdoor.yaml I0807 21:25:11.660444 17896 incremental_estimator.cpp:31] Creating loop closure noise model with cauchy. I0807 21:25:11.660580 17896 incremental_estimator.cpp:54] Loading ICP configurations from: /home/wowsky/segmap_ws/src/segmap/segmapper/launch/kitti/icp_dynamic_outdoor.yaml [ INFO] [1628342711.663035324]: Number of laser_slam workers: 1 I0807 21:25:11.663285 17896 segmapper.cpp:86] Robot 0 subscribes to /velodyne_points world and velodyne I0807 21:25:11.663312 17896 segmapper.cpp:89] Robot 0 publishes to trajectory and local_map I0807 21:25:11.710723 18240 segmapper.cpp:121] publishing local maps ^C[segmapper-4] killing on exit [visualizer-2] killing on exit I0807 21:25:14.779260 18242 segmapper.cpp:317] Statistics: Topic: Mean (SD) Times.SM.Worker.Publish: 0.19 (0.16) Times.SM.Worker.PublishSourceRepresentation: 0.02 (0.01)
I0807 21:25:14.780064 18242 benchmarker.cpp:137] Benchmark results saved to /tmp/segmap_benchmark/kitti_loop_closure/2021-08-07_21-25-14 [rosout-1] killing on exit [master] killing on exit
After I spent a long time installing segmap, I ran into problems testing the roslaunch segmapper kitti_loop_closure.launch example again :
setting /run_id to e37bc3e8-f782-11eb-8d6c-902e162cc832 process[rosout-1]: started with pid [17870] started core service [/rosout] process[visualizer-2]: started with pid [17894] process[player-3]: started with pid [17895] process[segmapper-4]: started with pid [17896] [ INFO] [1628342710.616333458]: Opening /home/wowsky/.segmap/kitti/2011_09_30_drive_18.bag [FATAL] [1628342710.616916009]: Required 'op' field missing [ INFO] [1628342710.767527847]: rviz version 1.12.17 [ INFO] [1628342710.767575758]: compiled against Qt version 5.5.1 [ INFO] [1628342710.767590984]: compiled against OGRE version 1.9.0 (Ghadamon) [player-3] process has died [pid 17895, exit code 1, cmd /opt/ros/kinetic/lib/rosbag/play -r 1 -s 0 --clock --pause /home/wowsky/.segmap/kitti/2011_09_30_drive_18.bag name:=player log:=/home/wowsky/.ros/log/e37bc3e8-f782-11eb-8d6c-902e162cc832/player-3.log]. log file: /home/wowsky/.ros/log/e37bc3e8-f782-11eb-8d6c-902e162cc832/player-3*.log [ INFO] [1628342710.954490860]: Stereo is NOT SUPPORTED [ INFO] [1628342710.954643465]: OpenGl version: 3 (GLSL 1.3). WARNING: Logging before InitGoogleLogging() is written to STDERR I0807 21:25:11.559703 17896 segmatch.cpp:23] Do not forget to initialize SegMatch. I0807 21:25:11.657824 17896 laser_track.cpp:16] Loading ICP configurations from: /home/wowsky/segmap_ws/src/segmap/segmapper/launch/kitti/icp_dynamic_outdoor.yaml I0807 21:25:11.659390 17896 laser_track.cpp:26] Loading ICP input filters from: /home/wowsky/segmap_ws/src/segmap/segmapper/launch/kitti/input_filters_outdoor.yaml I0807 21:25:11.660444 17896 incremental_estimator.cpp:31] Creating loop closure noise model with cauchy. I0807 21:25:11.660580 17896 incremental_estimator.cpp:54] Loading ICP configurations from: /home/wowsky/segmap_ws/src/segmap/segmapper/launch/kitti/icp_dynamic_outdoor.yaml [ INFO] [1628342711.663035324]: Number of laser_slam workers: 1 I0807 21:25:11.663285 17896 segmapper.cpp:86] Robot 0 subscribes to /velodyne_points world and velodyne I0807 21:25:11.663312 17896 segmapper.cpp:89] Robot 0 publishes to trajectory and local_map I0807 21:25:11.710723 18240 segmapper.cpp:121] publishing local maps ^C[segmapper-4] killing on exit [visualizer-2] killing on exit I0807 21:25:14.779260 18242 segmapper.cpp:317] Statistics: Topic: Mean (SD) Times.SM.Worker.Publish: 0.19 (0.16) Times.SM.Worker.PublishSourceRepresentation: 0.02 (0.01)
I0807 21:25:14.780064 18242 benchmarker.cpp:137] Benchmark results saved to /tmp/segmap_benchmark/kitti_loop_closure/2021-08-07_21-25-14 [rosout-1] killing on exit [master] killing on exit