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gisbi-kim / FAST_LIO_SLAM

LiDAR SLAM = FAST-LIO + Scan Context
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Error transforming odometry 'pgoOdom' from frame '/camera_init' to frame 'camera_init' #15

Closed Auto-RunningWang closed 2 years ago

Auto-RunningWang commented 3 years ago

Hello @gisbi-kim , thank you for your amazing work. I tried FAST_LIO_SLAM(using KAIST 03 sequence of MulRan dataset).I got transforming error when I launched "aloam_velodyne fastlio_ouster64.launch" and then crashed, just the following result.Pelase give me some advice for the error,thanks! Screenshot from 2021-09-01 21-09-32

harveybia commented 3 years ago

Refer to: https://github.com/laboshinl/loam_velodyne/issues/157 Changing all the /camera_init frames to camera_init in the code fixed this for me.

ManChrys commented 3 years ago

Hello @Auto-RunningWang

Did you try to remove all gtsam versions and install everything from the beginning, following the steps on issue #8 ?

Auto-RunningWang commented 3 years ago

Refer to: laboshinl/loam_velodyne#157 Changing all the /camera_init frames to camera_init in the code fixed this for me.

Hello my friend. Thanks for your answer. I tried this change but it did not work in the right way, and i got the new warning message "Invalid argument "/camera_init" passed to canTransform argument target_frame in tf2 frame_ids cannot start with a '/' like:". Is there any other case I should care about?

Auto-RunningWang commented 3 years ago

Hello @ManChrys, I installed gtsam 4.0.3 and this bug looks like related to coordinate frame. Are you sure change gtsam version can make difference?

@ManChrys Thank you very much. I tried your advice to reinstall gtsam following the guidance of issue #8 and solved the program crash bug.

Auto-RunningWang commented 3 years ago

At last, I solved my problem based on the advice of @harveybia and @ManChrys

ManChrys commented 3 years ago

Yeah all these pgo errors have to do with gtsam version. That's my opinion. I'm happy that my answer helps you my friend. Have a nice day!!