kxch928925819 commented 3 years ago

dji@dji-MANIFOLD-2-C:~/catkin_scaloam_ws/src/SC-A-LOAM$ roslaunch aloam_velodyne aloam_mulran.launch ... logging to /home/dji/.ros/log/26d237ca-c6c4-11eb-bfca-34d26269e60d/roslaunch-dji-MANIFOLD-2-C-14613.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://dji-MANIFOLD-2-C:34089/

SUMMARY

PARAMETERS

/keyframe_meter_gap: 1.0
/lidar_type: OS1-64
/mapping_line_resolution: 0.4
/mapping_plane_resolution: 0.8
/mapping_skip_frame: 1
/minimum_range: 0.5
/rosdistro: melodic
/rosversion: 1.14.11
/save_directory: /home/user/Docume...
/sc_dist_thres: 0.2
/sc_max_radius: 80.0
/scan_line: 64

NODES / alaserMapping (aloam_velodyne/alaserMapping) alaserOdometry (aloam_velodyne/alaserOdometry) alaserPGO (aloam_velodyne/alaserPGO) ascanRegistration (aloam_velodyne/ascanRegistration) rviz (rviz/rviz)

auto-starting new master process[master]: started with pid [14623] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 26d237ca-c6c4-11eb-bfca-34d26269e60d process[rosout-1]: started with pid [14634] started core service [/rosout] process[ascanRegistration-2]: started with pid [14641] process[alaserOdometry-3]: started with pid [14642] process[alaserMapping-4]: started with pid [14643] ERROR: cannot launch node of type [aloam_velodyne/alaserPGO]: Cannot locate node of type [alaserPGO] in package [aloam_velodyne]. Make sure file exists in package path and permission is set to executable (chmod +x) process[rviz-6]: started with pid [14649] QFactoryLoader::QFactoryLoader() checking directory path "/usr/lib/x86_64-linux-gnu/qt5/plugins/platforms" ... QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt5/plugins/platforms/libqeglfs.so" Found metadata in lib /usr/lib/x86_64-linux-gnu/qt5/plugins/platforms/libqeglfs.so, metadata= { "IID": "org.qt-project.Qt.QPA.QPlatformIntegrationFactoryInterface.5.3", "MetaData": { "Keys": [ "eglfs" ] }, "className": "QEglFSIntegrationPlugin", "debug": false, "version": 329989 }

Got keys from plugin meta data ("eglfs") QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt5/plugins/platforms/libqlinuxfb.so" Found metadata in lib /usr/lib/x86_64-linux-gnu/qt5/plugins/platforms/libqlinuxfb.so, metadata= { "IID": "org.qt-project.Qt.QPA.QPlatformIntegrationFactoryInterface.5.3", "MetaData": { "Keys": [ "linuxfb" ] }, "className": "QLinuxFbIntegrationPlugin", "debug": false, "version": 329989 }

Got keys from plugin meta data ("linuxfb") QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt5/plugins/platforms/libqminimal.so" Found metadata in lib /usr/lib/x86_64-linux-gnu/qt5/plugins/platforms/libqminimal.so, metadata= { "IID": "org.qt-project.Qt.QPA.QPlatformIntegrationFactoryInterface.5.3", "MetaData": { "Keys": [ "minimal" ] }, "className": "QMinimalIntegrationPlugin", "debug": false, "version": 329989 }

Got keys from plugin meta data ("minimal") QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt5/plugins/platforms/libqminimalegl.so" Found metadata in lib /usr/lib/x86_64-linux-gnu/qt5/plugins/platforms/libqminimalegl.so, metadata= { "IID": "org.qt-project.Qt.QPA.QPlatformIntegrationFactoryInterface.5.3", "MetaData": { "Keys": [ "minimalegl" ] }, "className": "QMinimalEglIntegrationPlugin", "debug": false, "version": 329989 }

Got keys from plugin meta data ("minimalegl") QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt5/plugins/platforms/libqoffscreen.so" Found metadata in lib /usr/lib/x86_64-linux-gnu/qt5/plugins/platforms/libqoffscreen.so, metadata= { "IID": "org.qt-project.Qt.QPA.QPlatformIntegrationFactoryInterface.5.3", "MetaData": { "Keys": [ "offscreen" ] }, "className": "QOffscreenIntegrationPlugin", "debug": false, "version": 329989 }

Got keys from plugin meta data ("offscreen") QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt5/plugins/platforms/libqvnc.so" Found metadata in lib /usr/lib/x86_64-linux-gnu/qt5/plugins/platforms/libqvnc.so, metadata= { "IID": "org.qt-project.Qt.QPA.QPlatformIntegrationFactoryInterface.5.3", "MetaData": { "Keys": [ "vnc" ] }, "className": "QVncIntegrationPlugin", "debug": false, "version": 329989 }

Got keys from plugin meta data ("vnc") QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt5/plugins/platforms/libqxcb.so" Found metadata in lib /usr/lib/x86_64-linux-gnu/qt5/plugins/platforms/libqxcb.so, metadata= { "IID": "org.qt-project.Qt.QPA.QPlatformIntegrationFactoryInterface.5.3", "MetaData": { "Keys": [ "xcb" ] }, "className": "QXcbIntegrationPlugin", "debug": false, "version": 329989 }

Got keys from plugin meta data ("xcb") QFactoryLoader::QFactoryLoader() checking directory path "/opt/ros/melodic/lib/rviz/platforms" ... loaded library "/usr/lib/x86_64-linux-gnu/qt5/plugins/platforms/libqxcb.so" loaded library "Xcursor" QFactoryLoader::QFactoryLoader() checking directory path "/usr/lib/x86_64-linux-gnu/qt5/plugins/xcbglintegrations" ... QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt5/plugins/xcbglintegrations/libqxcb-egl-integration.so" Found metadata in lib /usr/lib/x86_64-linux-gnu/qt5/plugins/xcbglintegrations/libqxcb-egl-integration.so, metadata= { "IID": "org.qt-project.Qt.QPA.Xcb.QXcbGlIntegrationFactoryInterface.5.5", "MetaData": { "Keys": [ "xcb_egl" ] }, "className": "QXcbEglIntegrationPlugin", "debug": false, "version": 329989 }

Got keys from plugin meta data ("xcb_egl") QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt5/plugins/xcbglintegrations/libqxcb-glx-integration.so" Found metadata in lib /usr/lib/x86_64-linux-gnu/qt5/plugins/xcbglintegrations/libqxcb-glx-integration.so, metadata= { "IID": "org.qt-project.Qt.QPA.Xcb.QXcbGlIntegrationFactoryInterface.5.5", "MetaData": { "Keys": [ "xcb_glx" ] }, "className": "QXcbGlxIntegrationPlugin", "debug": false, "version": 329989 }

Got keys from plugin meta data ("xcb_glx") QFactoryLoader::QFactoryLoader() checking directory path "/opt/ros/melodic/lib/rviz/xcbglintegrations" ... loaded library "/usr/lib/x86_64-linux-gnu/qt5/plugins/xcbglintegrations/libqxcb-glx-integration.so" QFactoryLoader::QFactoryLoader() checking directory path "/usr/lib/x86_64-linux-gnu/qt5/plugins/platformthemes" ... QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt5/plugins/platformthemes/libqgtk3.so" Found metadata in lib /usr/lib/x86_64-linux-gnu/qt5/plugins/platformthemes/libqgtk3.so, metadata= { "IID": "org.qt-project.Qt.QPA.QPlatformThemeFactoryInterface.5.1", "MetaData": { "Keys": [ "gtk3" ] }, "className": "QGtk3ThemePlugin", "debug": false, "version": 329989 }

Got keys from plugin meta data ("gtk3") QFactoryLoader::QFactoryLoader() checking directory path "/opt/ros/melodic/lib/rviz/platformthemes" ... loaded library "/usr/lib/x86_64-linux-gnu/qt5/plugins/platformthemes/libqgtk3.so" QFactoryLoader::QFactoryLoader() checking directory path "/usr/lib/x86_64-linux-gnu/qt5/plugins/platforminputcontexts" ... QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt5/plugins/platforminputcontexts/libcomposeplatforminputcontextplugin.so" Found metadata in lib /usr/lib/x86_64-linux-gnu/qt5/plugins/platforminputcontexts/libcomposeplatforminputcontextplugin.so, metadata= { "IID": "org.qt-project.Qt.QPlatformInputContextFactoryInterface.5.1", "MetaData": { "Keys": [ "compose", "xim" ] }, "className": "QComposePlatformInputContextPlugin", "debug": false, "version": 329989 }

Got keys from plugin meta data ("compose", "xim") QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt5/plugins/platforminputcontexts/libibusplatforminputcontextplugin.so" Found metadata in lib /usr/lib/x86_64-linux-gnu/qt5/plugins/platforminputcontexts/libibusplatforminputcontextplugin.so, metadata= { "IID": "org.qt-project.Qt.QPlatformInputContextFactoryInterface.5.1", "MetaData": { "Keys": [ "ibus" ] }, "className": "QIbusPlatformInputContextPlugin", "debug": false, "version": 329989 }

Got keys from plugin meta data ("ibus") QFactoryLoader::QFactoryLoader() checking directory path "/opt/ros/melodic/lib/rviz/platforminputcontexts" ... loaded library "/usr/lib/x86_64-linux-gnu/qt5/plugins/platforminputcontexts/libibusplatforminputcontextplugin.so" QFactoryLoader::QFactoryLoader() checking directory path "/usr/lib/x86_64-linux-gnu/qt5/plugins/styles" ... QFactoryLoader::QFactoryLoader() checking directory path "/opt/ros/melodic/lib/rviz/styles" ... QFactoryLoader::QFactoryLoader() checking directory path "/usr/lib/x86_64-linux-gnu/qt5/plugins/iconengines" ... QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt5/plugins/iconengines/libqsvgicon.so" Found metadata in lib /usr/lib/x86_64-linux-gnu/qt5/plugins/iconengines/libqsvgicon.so, metadata= { "IID": "org.qt-project.Qt.QIconEngineFactoryInterface", "MetaData": { "Keys": [ "svg", "svgz", "svg.gz" ] }, "className": "QSvgIconPlugin", "debug": false, "version": 329989 }

Got keys from plugin meta data ("svg", "svgz", "svg.gz") QFactoryLoader::QFactoryLoader() checking directory path "/opt/ros/melodic/lib/rviz/iconengines" ... QFactoryLoader::QFactoryLoader() checking directory path "/usr/lib/x86_64-linux-gnu/qt5/plugins/imageformats" ... QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt5/plugins/imageformats/libqgif.so" Found metadata in lib /usr/lib/x86_64-linux-gnu/qt5/plugins/imageformats/libqgif.so, metadata= { "IID": "org.qt-project.Qt.QImageIOHandlerFactoryInterface", "MetaData": { "Keys": [ "gif" ], "MimeTypes": [ "image/gif" ] }, "className": "QGifPlugin", "debug": false, "version": 329989 }

Got keys from plugin meta data ("gif") QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt5/plugins/imageformats/libqico.so" Found metadata in lib /usr/lib/x86_64-linux-gnu/qt5/plugins/imageformats/libqico.so, metadata= { "IID": "org.qt-project.Qt.QImageIOHandlerFactoryInterface", "MetaData": { "Keys": [ "ico", "cur" ], "MimeTypes": [ "image/vnd.microsoft.icon" ] }, "className": "QICOPlugin", "debug": false, "version": 329989 }

Got keys from plugin meta data ("ico", "cur") QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt5/plugins/imageformats/libqjpeg.so" Found metadata in lib /usr/lib/x86_64-linux-gnu/qt5/plugins/imageformats/libqjpeg.so, metadata= { "IID": "org.qt-project.Qt.QImageIOHandlerFactoryInterface", "MetaData": { "Keys": [ "jpg", "jpeg" ], "MimeTypes": [ "image/jpeg", "image/jpeg" ] }, "className": "QJpegPlugin", "debug": false, "version": 329989 }

Got keys from plugin meta data ("jpg", "jpeg") QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt5/plugins/imageformats/libqsvg.so" Found metadata in lib /usr/lib/x86_64-linux-gnu/qt5/plugins/imageformats/libqsvg.so, metadata= { "IID": "org.qt-project.Qt.QImageIOHandlerFactoryInterface", "MetaData": { "Keys": [ "svg", "svgz" ], "MimeTypes": [ "image/svg+xml", "image/svg+xml-compressed" ] }, "className": "QSvgPlugin", "debug": false, "version": 329989 }

Got keys from plugin meta data ("svg", "svgz") QFactoryLoader::QFactoryLoader() checking directory path "/opt/ros/melodic/lib/rviz/imageformats" ... loaded library "/usr/lib/x86_64-linux-gnu/qt5/plugins/imageformats/libqgif.so" loaded library "/usr/lib/x86_64-linux-gnu/qt5/plugins/imageformats/libqico.so" loaded library "/usr/lib/x86_64-linux-gnu/qt5/plugins/imageformats/libqjpeg.so" loaded library "/usr/lib/x86_64-linux-gnu/qt5/plugins/imageformats/libqsvg.so" QFactoryLoader::QFactoryLoader() checking directory path "/usr/lib/x86_64-linux-gnu/qt5/plugins/accessible" ... QFactoryLoader::QFactoryLoader() checking directory path "/opt/ros/melodic/lib/rviz/accessible" ... QFactoryLoader::QFactoryLoader() checking directory path "/usr/lib/x86_64-linux-gnu/qt5/plugins/accessiblebridge" ... QFactoryLoader::QFactoryLoader() checking directory path "/opt/ros/melodic/lib/rviz/accessiblebridge" ... loaded library "/usr/lib/x86_64-linux-gnu/qt5/plugins/iconengines/libqsvgicon.so" ^C[rviz-6] killing on exit [alaserMapping-4] killing on exit [alaserOdometry-3] killing on exit [ascanRegistration-2] killing on exit terminate called without an active exception QLibraryPrivate::unload succeeded on "/usr/lib/x86_64-linux-gnu/qt5/plugins/imageformats/libqgif.so" QLibraryPrivate::unload succeeded on "/usr/lib/x86_64-linux-gnu/qt5/plugins/imageformats/libqico.so" QLibraryPrivate::unload succeeded on "/usr/lib/x86_64-linux-gnu/qt5/plugins/imageformats/libqjpeg.so" QLibraryPrivate::unload succeeded on "/usr/lib/x86_64-linux-gnu/qt5/plugins/imageformats/libqsvg.so" QLibraryPrivate::unload succeeded on "/usr/lib/x86_64-linux-gnu/qt5/plugins/iconengines/libqsvgicon.so" QLibraryPrivate::unload succeeded on "/usr/lib/x86_64-linux-gnu/qt5/plugins/platforminputcontexts/libibusplatforminputcontextplugin.so" QLibraryPrivate::unload succeeded on "/usr/lib/x86_64-linux-gnu/qt5/plugins/platformthemes/libqgtk3.so" QLibraryPrivate::unload succeeded on "/usr/lib/x86_64-linux-gnu/qt5/plugins/xcbglintegrations/libqxcb-glx-integration.so" QLibraryPrivate::unload succeeded on "/usr/lib/x86_64-linux-gnu/qt5/plugins/platforms/libqxcb.so" QLibraryPrivate::unload succeeded on "Xcursor" (faked) [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done dji@dji-MANIFOLD-2-C:~/catkin_scaloam_ws/src/SC-A-LOAM$ ls

ERROR: cannot launch node of type [aloam_velodyne/alaserPGO]: Cannot locate node of type [alaserPGO] in package [aloam_velodyne]. Make sure file exists in package path and permission is set to executable (chmod +x)

kxch928925819 commented 3 years ago

https://blog.csdn.net/qq_42700518/article/details/115320251?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522162305708316780255242971%2522%252C%2522scm%2522%253A%252220140713.130102334.pc%255Fall.%2522%257D&request_id=162305708316780255242971&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~all~first_rank_v2~rank_v29-1-115320251.first_rank_v2_pc_rank_v29&utm_term=cmake%E7%BC%96%E8%AF%91+cannot+find+-lBoost%3A%3Atimer&spm=1018.2226.3001.4187

gisbi-kim commented 3 years ago

@kxch928925819 did you solve the problem?

I guess, it might be the directory making issue please consider a right path for save_directory in the launch file

kxch928925819 commented 3 years ago

谢谢🙏！解决了，需要在cankefile里添加find packbag ！

------------------ Original ------------------ From: Giseop Kim @.> Date: Sat,Jun 12,2021 8:56 PM To: gisbi-kim/SC-A-LOAM @.> Cc: Weiguo Zhao @.>, Mention @.> Subject: Re: [gisbi-kim/SC-A-LOAM] roslaunch aloam_velodyne aloam_mulran.launch # for MulRan dataset setting (#1)

@kxch928925819 did you solve the problem?

I guess, it might be the directory making issue please consider a right path for save_directory in the launch file

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gisbi-kim commented 3 years ago

great. close this issue.

gisbi-kim / SC-A-LOAM

roslaunch aloam_velodyne aloam_mulran.launch # for MulRan dataset setting #1

SUMMARY