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gaoxiang12 / faster-lio

Faster-LIO: Lightweight Tightly Coupled Lidar-inertial Odometry using Parallel Sparse Incremental Voxels
GNU General Public License v2.0
984 stars 259 forks source link

[laserMapping-2] process has died [pid 13020, exit code 3221226356, cmd C:\ws\ws_fast-lio\devel\lib\faster_lio\run_mapping_online.exe __name:=laserMapping __log:= #34

Open dh-bccw opened 1 year ago

dh-bccw commented 1 year ago

请问这个是什么问题？

[rosmaster.main][INFO] 2022-07-21 17:10:48,567: initialization complete, waiting for shutdown [rosmaster.main][INFO] 2022-07-21 17:10:48,567: Starting ROS Master Node [xmlrpc][INFO] 2022-07-21 17:10:48,567: XML-RPC server binding to 127.0.0.1:11311 [xmlrpc][INFO] 2022-07-21 17:10:48,567: Started XML-RPC server [http://127.0.0.1:11311/] [xmlrpc][INFO] 2022-07-21 17:10:48,567: xml rpc node: starting XML-RPC server [rosmaster.master][INFO] 2022-07-21 17:10:48,579: Master initialized: port[11311], uri[http://127.0.0.1:11311/] [rosmaster.master][INFO] 2022-07-21 17:10:48,940: +PARAM [/run_id] by /roslaunch [rosmaster.master][INFO] 2022-07-21 17:10:48,940: +PARAM [/roslaunch/uris/host_127_0_0_160276] by /roslaunch [rosmaster.master][INFO] 2022-07-21 17:10:49,285: +PARAM [/rosversion] by /roslaunch [rosmaster.master][INFO] 2022-07-21 17:10:49,285: +PARAM [/rosdistro] by /roslaunch [rosmaster.master][INFO] 2022-07-21 17:10:49,285: +PARAM [/common/lid_topic] by /roslaunch [rosmaster.master][INFO] 2022-07-21 17:10:49,285: +PARAM [/common/imu_topic] by /roslaunch [rosmaster.master][INFO] 2022-07-21 17:10:49,285: +PARAM [/common/time_sync_en] by /roslaunch [rosmaster.master][INFO] 2022-07-21 17:10:49,285: +PARAM [/preprocess/lidar_type] by /roslaunch [rosmaster.master][INFO] 2022-07-21 17:10:49,285: +PARAM [/preprocess/scan_line] by /roslaunch [rosmaster.master][INFO] 2022-07-21 17:10:49,285: +PARAM [/preprocess/blind] by /roslaunch [rosmaster.master][INFO] 2022-07-21 17:10:49,285: +PARAM [/preprocess/time_scale] by /roslaunch [rosmaster.master][INFO] 2022-07-21 17:10:49,285: +PARAM [/mapping/acc_cov] by /roslaunch [rosmaster.master][INFO] 2022-07-21 17:10:49,285: +PARAM [/mapping/gyr_cov] by /roslaunch [rosmaster.master][INFO] 2022-07-21 17:10:49,285: +PARAM [/mapping/b_acc_cov] by /roslaunch [rosmaster.master][INFO] 2022-07-21 17:10:49,285: +PARAM [/mapping/b_gyr_cov] by /roslaunch [rosmaster.master][INFO] 2022-07-21 17:10:49,285: +PARAM [/mapping/fov_degree] by /roslaunch [rosmaster.master][INFO] 2022-07-21 17:10:49,285: +PARAM [/mapping/det_range] by /roslaunch [rosmaster.master][INFO] 2022-07-21 17:10:49,285: +PARAM [/mapping/extrinsic_est_en] by /roslaunch [rosmaster.master][INFO] 2022-07-21 17:10:49,285: +PARAM [/mapping/extrinsic_T] by /roslaunch [rosmaster.master][INFO] 2022-07-21 17:10:49,285: +PARAM [/mapping/extrinsic_R] by /roslaunch [rosmaster.master][INFO] 2022-07-21 17:10:49,285: +PARAM [/publish/path_publish_en] by /roslaunch [rosmaster.master][INFO] 2022-07-21 17:10:49,285: +PARAM [/publish/scan_publish_en] by /roslaunch [rosmaster.master][INFO] 2022-07-21 17:10:49,285: +PARAM [/publish/scan_effect_pub_en] by /roslaunch [rosmaster.master][INFO] 2022-07-21 17:10:49,285: +PARAM [/publish/dense_publish_en] by /roslaunch [rosmaster.master][INFO] 2022-07-21 17:10:49,285: +PARAM [/publish/scan_bodyframe_pub_en] by /roslaunch [rosmaster.master][INFO] 2022-07-21 17:10:49,285: +PARAM [/path_save_en] by /roslaunch [rosmaster.master][INFO] 2022-07-21 17:10:49,285: +PARAM [/pcd_save/pcd_save_en] by /roslaunch [rosmaster.master][INFO] 2022-07-21 17:10:49,285: +PARAM [/pcd_save/interval] by /roslaunch [rosmaster.master][INFO] 2022-07-21 17:10:49,285: +PARAM [/feature_extract_enable] by /roslaunch [rosmaster.master][INFO] 2022-07-21 17:10:49,285: +PARAM [/point_filter_num] by /roslaunch [rosmaster.master][INFO] 2022-07-21 17:10:49,285: +PARAM [/max_iteration] by /roslaunch [rosmaster.master][INFO] 2022-07-21 17:10:49,285: +PARAM [/filter_size_surf] by /roslaunch [rosmaster.master][INFO] 2022-07-21 17:10:49,285: +PARAM [/filter_size_map] by /roslaunch [rosmaster.master][INFO] 2022-07-21 17:10:49,285: +PARAM [/cube_side_length] by /roslaunch [rosmaster.master][INFO] 2022-07-21 17:10:49,285: +PARAM [/ivox_grid_resolution] by /roslaunch [rosmaster.master][INFO] 2022-07-21 17:10:49,285: +PARAM [/ivox_nearby_type] by /roslaunch [rosmaster.master][INFO] 2022-07-21 17:10:49,285: +PARAM [/esti_plane_threshold] by /roslaunch [rosmaster.master][INFO] 2022-07-21 17:10:49,285: +PARAM [/point_filternum] by /roslaunch [rosmaster.master][INFO] 2022-07-21 17:10:49,285: +PARAM [/runtime_pos_log_enable] by /roslaunch [rosmaster.master][INFO] 2022-07-21 17:10:49,316: +SERVICE [/rosout/get_loggers] /rosout http://127.0.0.1:60294/ [rosmaster.master][INFO] 2022-07-21 17:10:49,316: +SERVICE [/rosout/set_logger_level] /rosout http://127.0.0.1:60294/ [rosmaster.master][INFO] 2022-07-21 17:10:49,316: +PUB [/rosout_agg] /rosout http://127.0.0.1:60294/ [rosmaster.master][INFO] 2022-07-21 17:10:49,316: +SUB [/rosout] /rosout http://127.0.0.1:60294/ [rosmaster.master][INFO] 2022-07-21 17:10:49,584: +PUB [/rosout] /laserMapping http://127.0.0.1:60299/ [rosmaster.master][INFO] 2022-07-21 17:10:49,584: +SERVICE [/laserMapping/get_loggers] /laserMapping http://127.0.0.1:60299/ [rosmaster.master][INFO] 2022-07-21 17:10:49,584: +SERVICE [/laserMapping/set_logger_level] /laserMapping http://127.0.0.1:60299/ [rosmaster.master][INFO] 2022-07-21 17:10:49,646: +SUB [/livox/lidar] /laserMapping http://127.0.0.1:60299/ [rosmaster.master][INFO] 2022-07-21 17:10:49,646: +SUB [/livox/imu] /laserMapping http://127.0.0.1:60299/ [rosmaster.master][INFO] 2022-07-21 17:10:49,646: +PUB [/cloud_registered] /laserMapping http://127.0.0.1:60299/ [rosmaster.master][INFO] 2022-07-21 17:10:49,646: +PUB [/cloud_registered_body] /laserMapping http://127.0.0.1:60299/ [rosmaster.master][INFO] 2022-07-21 17:10:49,646: +PUB [/cloud_registered_effect_world] /laserMapping http://127.0.0.1:60299/ [rosmaster.master][INFO] 2022-07-21 17:10:49,646: +PUB [/Odometry] /laserMapping http://127.0.0.1:60299/ [rosmaster.master][INFO] 2022-07-21 17:10:49,646: +PUB [/path] /laserMapping http://127.0.0.1:60299/ [rosmaster.master][INFO] 2022-07-21 17:10:49,678: publisherUpdate[/rosout] -> http://127.0.0.1:60294/ ['http://127.0.0.1:60299/'] [rosmaster.master][INFO] 2022-07-21 17:10:49,678: publisherUpdate[/rosout] -> http://127.0.0.1:60294/ ['http://127.0.0.1:60299/']: sec=0.00, result=[1, '', 0] [rosmaster.master][INFO] 2022-07-21 17:10:50,148: +PUB [/rosout] /rviz http://127.0.0.1:60308/ [rosmaster.master][INFO] 2022-07-21 17:10:50,148: +SERVICE [/rviz/get_loggers] /rviz http://127.0.0.1:60308/ [rosmaster.master][INFO] 2022-07-21 17:10:50,164: +SERVICE [/rviz/set_logger_level] /rviz http://127.0.0.1:60308/ [rosmaster.master][INFO] 2022-07-21 17:10:50,164: +CACHEDPARAM [/rosout_disable_topics_generation] by /rviz [rosmaster.master][INFO] 2022-07-21 17:10:50,227: publisherUpdate[/rosout] -> http://127.0.0.1:60294/ ['http://127.0.0.1:60299/', 'http://127.0.0.1:60308/'] [rosmaster.master][INFO] 2022-07-21 17:10:50,227: publisherUpdate[/rosout] -> http://127.0.0.1:60294/ ['http://127.0.0.1:60299/', 'http://127.0.0.1:60308/']: sec=0.00, result=[1, '', 0] [rosmaster.master][INFO] 2022-07-21 17:10:52,561: +CACHEDPARAM [/rosout/omit_topics] by /rosout [rosmaster.master][INFO] 2022-07-21 17:10:52,640: +SUB [/tf] /rviz http://127.0.0.1:60308/ [rosmaster.master][INFO] 2022-07-21 17:10:52,640: +SUB [/tf_static] /rviz http://127.0.0.1:60308/ [rosmaster.master][INFO] 2022-07-21 17:10:52,687: +PUB [/initialpose] /rviz http://127.0.0.1:60308/ [rosmaster.master][INFO] 2022-07-21 17:10:52,687: +PUB [/goal] /rviz http://127.0.0.1:60308/ [rosmaster.master][INFO] 2022-07-21 17:10:52,703: +SUB [/cloud_registered] /rviz http://127.0.0.1:60308/ [rosmaster.master][INFO] 2022-07-21 17:10:52,703: -SUB [/cloud_registered] /rviz http://127.0.0.1:60308/ [rosmaster.master][INFO] 2022-07-21 17:10:52,718: +SUB [/cloud_registered] /rviz http://127.0.0.1:60308/ [rosmaster.master][INFO] 2022-07-21 17:10:52,734: +SUB [/Odometry] /rviz http://127.0.0.1:60308/ [rosmaster.master][INFO] 2022-07-21 17:10:52,750: +SUB [/path] /rviz http://127.0.0.1:60308/ [rosmaster.master][INFO] 2022-07-21 17:10:52,750: -PUB [/goal] /rviz http://127.0.0.1:60308/ [rosmaster.master][INFO] 2022-07-21 17:10:52,750: -PUB [/initialpose] /rviz http://127.0.0.1:60308/ [rosmaster.master][INFO] 2022-07-21 17:10:52,750: +PUB [/initialpose] /rviz http://127.0.0.1:60308/ [rosmaster.master][INFO] 2022-07-21 17:10:52,765: +PUB [/goal] /rviz http://127.0.0.1:60308/ [rosmaster.master][INFO] 2022-07-21 17:10:52,765: +PUB [/move_base_simple/goal] /rviz http://127.0.0.1:60308/ [rosmaster.master][INFO] 2022-07-21 17:10:52,765: -PUB [/goal] /rviz http://127.0.0.1:60308/ [rosmaster.master][INFO] 2022-07-21 17:10:52,765: +PUB [/clicked_point] /rviz http://127.0.0.1:60308/ [rosmaster.master][INFO] 2022-07-21 17:10:52,813: +SERVICE [/rviz/reload_shaders] /rviz http://127.0.0.1:60308/ [rosmaster.master][INFO] 2022-07-21 17:10:52,813: +SERVICE [/rviz/load_config] /rviz http://127.0.0.1:60308/ [rosmaster.master][INFO] 2022-07-21 17:10:52,813: +SERVICE [/rviz/save_config] /rviz http://127.0.0.1:60308/ [rosmaster.master][INFO] 2022-07-21 17:11:24,533: -PUB [/clock] /play_1658394608131832300 http://127.0.0.1:60211/ [rosmaster.master][INFO] 2022-07-21 17:11:24,533: -PUB [/camera/image_color] /play_1658394608131832300 http://127.0.0.1:60211/ [rosmaster.master][INFO] 2022-07-21 17:11:24,533: -PUB [/livox/imu] /play_1658394608131832300 http://127.0.0.1:60211/ [rosmaster.master][INFO] 2022-07-21 17:11:24,533: -PUB [/livox/lidar] /play_1658394608131832300 http://127.0.0.1:60211/ [rosmaster.master][INFO] 2022-07-21 17:11:24,533: -SERVICE [/play_1658394608131832300/get_loggers] /play_1658394608131832300 rosrpc://127.0.0.1:60210 [rosmaster.master][INFO] 2022-07-21 17:11:24,533: -SERVICE [/play_1658394608131832300/set_logger_level] /play_1658394608131832300 rosrpc://127.0.0.1:60210 [rosmaster.master][INFO] 2022-07-21 17:11:24,533: -SERVICE [/play_1658394608131832300/pause_playback] /play_1658394608131832300 rosrpc://127.0.0.1:60210 [rosmaster.master][INFO] 2022-07-21 17:11:24,533: -CACHEDPARAM [/rosout_disable_topics_generation] by /play_1658394608131832300 [rosmaster.master][INFO] 2022-07-21 17:11:31,466: +PUB [/rosout] /play_1658394691461547500 http://127.0.0.1:60352/ [rosmaster.master][INFO] 2022-07-21 17:11:31,466: +SERVICE [/play_1658394691461547500/get_loggers] /play_1658394691461547500 http://127.0.0.1:60352/ [rosmaster.master][INFO] 2022-07-21 17:11:31,466: +SERVICE [/play_1658394691461547500/set_logger_level] /play_1658394691461547500 http://127.0.0.1:60352/ [rosmaster.master][INFO] 2022-07-21 17:11:31,466: +PUB [/clock] /play_1658394691461547500 http://127.0.0.1:60352/ [rosmaster.master][INFO] 2022-07-21 17:11:31,466: +SERVICE [/play_1658394691461547500/pause_playback] /play_1658394691461547500 http://127.0.0.1:60352/ [rosmaster.master][INFO] 2022-07-21 17:11:31,466: +CACHEDPARAM [/rosout_disable_topics_generation] by /play_1658394691461547500 [rosmaster.master][INFO] 2022-07-21 17:11:31,560: publisherUpdate[/rosout] -> http://127.0.0.1:60294/ ['http://127.0.0.1:60299/', 'http://127.0.0.1:60308/', 'http://127.0.0.1:60352/'] [rosmaster.master][INFO] 2022-07-21 17:11:31,560: publisherUpdate[/rosout] -> http://127.0.0.1:60294/ ['http://127.0.0.1:60299/', 'http://127.0.0.1:60308/', 'http://127.0.0.1:60352/']: sec=0.00, result=[1, '', 0] [rosmaster.master][INFO] 2022-07-21 17:11:32,567: +PUB [/camera/image_color] /play_1658394691461547500 http://127.0.0.1:60352/ [rosmaster.master][INFO] 2022-07-21 17:11:32,567: +PUB [/livox/imu] /play_1658394691461547500 http://127.0.0.1:60352/ [rosmaster.master][INFO] 2022-07-21 17:11:32,567: +PUB [/livox/lidar] /play_1658394691461547500 http://127.0.0.1:60352/ [rosmaster.master][INFO] 2022-07-21 17:11:32,661: publisherUpdate[/livox/imu] -> http://127.0.0.1:60299/ ['http://127.0.0.1:60352/'] [rosmaster.master][INFO] 2022-07-21 17:11:32,661: publisherUpdate[/livox/imu] -> http://127.0.0.1:60299/ ['http://127.0.0.1:60352/']: sec=0.00, result=[1, '', 0] [rosmaster.master][INFO] 2022-07-21 17:11:32,661: publisherUpdate[/livox/lidar] -> http://127.0.0.1:60299/ ['http://127.0.0.1:60352/'] [rosmaster.master][INFO] 2022-07-21 17:11:32,661: publisherUpdate[/livox/lidar] -> http://127.0.0.1:60299/ ['http://127.0.0.1:60352/']: sec=0.00, result=[1, '', 0] [xmlrpc][ERROR] 2022-07-21 17:11:39,292: Traceback (most recent call last): File "socketserver.py", line 650, in process_request_thread File "socketserver.py", line 360, in finish_request File "socketserver.py", line 720, in init__ File "http\server.py", line 429, in handle File "http\server.py", line 395, in handle_one_request File "socket.py", line 669, in readinto ConnectionResetError: [WinError 10054] 远程主机强迫关闭了一个现有的连接。

[rosmaster.master][INFO] 2022-07-21 17:12:59,900: -PUB [/rosout] /play_1658394691461547500 http://127.0.0.1:60352/ [rosmaster.master][INFO] 2022-07-21 17:12:59,900: -PUB [/clock] /play_1658394691461547500 http://127.0.0.1:60352/ [rosmaster.master][INFO] 2022-07-21 17:12:59,900: -PUB [/camera/image_color] /play_1658394691461547500 http://127.0.0.1:60352/ [rosmaster.master][INFO] 2022-07-21 17:12:59,900: -PUB [/livox/imu] /play_1658394691461547500 http://127.0.0.1:60352/ [rosmaster.master][INFO] 2022-07-21 17:12:59,900: -PUB [/livox/lidar] /play_1658394691461547500 http://127.0.0.1:60352/ [rosmaster.master][INFO] 2022-07-21 17:12:59,900: -SERVICE [/play_1658394691461547500/get_loggers] /play_1658394691461547500 rosrpc://127.0.0.1:60351 [rosmaster.master][INFO] 2022-07-21 17:12:59,900: -SERVICE [/play_1658394691461547500/set_logger_level] /play_1658394691461547500 rosrpc://127.0.0.1:60351 [rosmaster.master][INFO] 2022-07-21 17:12:59,900: -SERVICE [/play_1658394691461547500/pause_playback] /play_1658394691461547500 rosrpc://127.0.0.1:60351 [rosmaster.master][INFO] 2022-07-21 17:12:59,900: -CACHEDPARAM [/rosout_disable_topics_generation] by /play_1658394691461547500 [rosmaster.master][INFO] 2022-07-21 17:12:59,946: publisherUpdate[/rosout] -> http://127.0.0.1:60294/ ['http://127.0.0.1:60299/', 'http://127.0.0.1:60308/'] [rosmaster.master][INFO] 2022-07-21 17:12:59,946: publisherUpdate[/livox/imu] -> http://127.0.0.1:60299/ [] [rosmaster.master][INFO] 2022-07-21 17:12:59,946: publisherUpdate[/rosout] -> http://127.0.0.1:60294/ ['http://127.0.0.1:60299/', 'http://127.0.0.1:60308/']: sec=0.00, result=[1, '', 0] [rosmaster.master][INFO] 2022-07-21 17:13:01,956: publisherUpdate[/livox/imu] -> http://127.0.0.1:60299/ []: sec=2.01, exception=[WinError 10061] 由于目标计算机积极拒绝，无法连接。 [rosmaster.threadpool][ERROR] 2022-07-21 17:13:01,956: Traceback (most recent call last): File "C:\opt\ros\noetic\x64\lib\site-packages\rosmaster\threadpool.py", line 218, in run result = cmd(*args) File "C:\opt\ros\noetic\x64\lib\site-packages\rosmaster\master_api.py", line 210, in publisher_update_task ret = xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris) File "xmlrpc\client.py", line 1109, in call File "xmlrpc\client.py", line 1450, in __request File "xmlrpc\client.py", line 1153, in request File "xmlrpc\client.py", line 1165, in single_request File "xmlrpc\client.py", line 1278, in send_request File "xmlrpc\client.py", line 1308, in send_content File "http\client.py", line 1235, in endheaders File "http\client.py", line 1006, in _send_output File "http\client.py", line 946, in send File "http\client.py", line 917, in connect File "socket.py", line 808, in create_connection File "socket.py", line 796, in create_connection ConnectionRefusedError: [WinError 10061] 由于目标计算机积极拒绝，无法连接。

[rosmaster.master][INFO] 2022-07-21 17:13:01,956: publisherUpdate[/livox/lidar] -> http://127.0.0.1:60299/ [] [rosmaster.master][INFO] 2022-07-21 17:13:03,980: publisherUpdate[/livox/lidar] -> http://127.0.0.1:60299/ []: sec=2.02, exception=[WinError 10061] 由于目标计算机积极拒绝，无法连接。 [rosmaster.threadpool][ERROR] 2022-07-21 17:13:03,980: Traceback (most recent call last): File "C:\opt\ros\noetic\x64\lib\site-packages\rosmaster\threadpool.py", line 218, in run result = cmd(*args) File "C:\opt\ros\noetic\x64\lib\site-packages\rosmaster\master_api.py", line 210, in publisher_update_task ret = xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris) File "xmlrpc\client.py", line 1109, in call File "xmlrpc\client.py", line 1450, in __request File "xmlrpc\client.py", line 1153, in request File "xmlrpc\client.py", line 1165, in single_request File "xmlrpc\client.py", line 1278, in send_request File "xmlrpc\client.py", line 1308, in send_content File "http\client.py", line 1235, in endheaders File "http\client.py", line 1006, in _send_output File "http\client.py", line 946, in send File "http\client.py", line 917, in connect File "socket.py", line 808, in create_connection File "socket.py", line 796, in create_connection ConnectionRefusedError: [WinError 10061] 由于目标计算机积极拒绝，无法连接。