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gisbi-kim / FAST_LIO_SLAM

LiDAR SLAM = FAST-LIO + Scan Context
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ERROR on execution #8

Closed ManChrys closed 3 years ago

ManChrys commented 3 years ago

Hello guys,

i followed the steps to install FAST_LIO_SLAM but when im running the following command

roslaunch aloam_velodyne fastlio_ouster64.launch

i have the following error (Note! when im going to the log file path i cant find the log)

process[alaserPGO-1]: started with pid [22887]
process[rvizscpgo-2]: started with pid [22888]
/media/geo/d057a6b6-f590-4870-a4f8-13b392d0f9eb/geo/catkin_fastlio_slam/devel/lib/aloam_velodyne/alaserPGO: symbol lookup error: /media/geo/d057a6b6-f590-4870-a4f8-13b392d0f9eb/geo/catkin_fastlio_slam/devel/lib/aloam_velodyne/alaserPGO: undefined symbol: _ZN5gtsam4Rot36RzRyRxEddd

[alaserPGO-1] process has died [pid 18283, exit code 127, cmd /media/geo/d057a6b6-f590-4870-a4f8-13b392d0f9eb/geo/catkin_fastlio_slam/devel/lib/aloam_velodyne/alaserPGO /aft_mapped_to_init:=/Odometry /velodyne_cloud_registered_local:=/cloud_registered_body /cloud_for_scancontext:=/cloud_registered_lidar __name:=alaserPGO __log:=/home/geo/.ros/log/8397e4e6-ef73-11eb-92aa-3c6aa7d21fc7/alaserPGO-1.log].
log file: /home/geo/.ros/log/8397e4e6-ef73-11eb-92aa-3c6aa7d21fc7/alaserPGO-1*.log

i tried to debug it through gbd <node pkg="aloam_velodyne" type="alaserPGO" name="alaserPGO" output="screen" launch-prefix="gdb -ex run --args"/> and i have the following result.

ROS_MASTER_URI=http://localhost:11311

process[alaserPGO-1]: started with pid [20427]
process[rvizscpgo-2]: started with pid [20428]
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Reading symbols from /media/geo/d057a6b6-f590-4870-a4f8-13b392d0f9eb/geo/catkin_fastlio_slam/devel/lib/aloam_velodyne/alaserPGO...done.
Starting program: /media/geo/d057a6b6-f590-4870-a4f8-13b392d0f9eb/geo/catkin_fastlio_slam/devel/lib/aloam_velodyne/alaserPGO /aft_mapped_to_init:=/Odometry /velodyne_cloud_registered_local:=/cloud_registered_body /cloud_for_scancontext:=/cloud_registered_lidar __name:=alaserPGO __log:=/home/geo/.ros/log/8397e4e6-ef73-11eb-92aa-3c6aa7d21fc7/alaserPGO-1.log
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Invalid argument]
/media/geo/d057a6b6-f590-4870-a4f8-13b392d0f9eb/geo/catkin_fastlio_slam/devel/lib/aloam_velodyne/alaserPGO: symbol lookup error: /media/geo/d057a6b6-f590-4870-a4f8-13b392d0f9eb/geo/catkin_fastlio_slam/devel/lib/aloam_velodyne/alaserPGO: undefined symbol: _ZN5gtsam4Rot36RzRyRxEddd
[Inferior 1 (process 20457) exited with code 0177]
(gdb)
zxd123 commented 3 years ago

I also encountered the same problem. Have you solved it?

ManChrys commented 3 years ago

no nothing new yet :(

ManChrys commented 3 years ago

@zxd123 well my friend i have an update but not a solution, because ill try now to fix it.

geo@geo-X570-GAMING-X:~$ c++filt _ZN5gtsam4Rot36RzRyRxEddd
gtsam::Rot3::RzRyRx(double, double, double)
geo@geo-X570-GAMING-X:~$ c++filt _ZNK5gtsam4Rot3mlERKNS_6Point3E
gtsam::Rot3::operator*(gtsam::Point3 const&) const

as you can see its something about gtsam package version :P even if i follow the steps:

gtsam (Georgia Tech Smoothing and Mapping library)

wget -O ~/Downloads/gtsam.zip https://github.com/borglab/gtsam/archive/4.0.2.zip
cd ~/Downloads/ && unzip gtsam.zip -d ~/Downloads/
cd ~/Downloads/gtsam-4.0.2/
mkdir build && cd build
cmake -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF ..
sudo make install -j8
gisbi-kim commented 3 years ago

@ManChrys @zxd123 could you check whether a valid paht was used in this line? https://github.com/gisbi-kim/FAST_LIO_SLAM/blob/f173b26a182f1e75be0dda0e84f45174f3e92f7c/SC-PGO/launch/fastlio_ouster64.launch#L33

ManChrys commented 3 years ago

@gisbi-kim Hello my friend i found the solution.

@zxd123 just remove every gtsam file and install again. Follow the steps

wget -O ~/Downloads/gtsam.zip https://github.com/borglab/gtsam/archive/4.0.2.zip cd ~/Downloads/ && unzip gtsam.zip -d ~/Downloads/ cd ~/Downloads/gtsam-4.0.2/ mkdir build && cd build cmake -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF .. sudo make install -j8