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gisbi-kim / SC-A-LOAM

Robust LiDAR SLAM with a versatile plug-and-play loop closing and pose-graph optimization.
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[alaserPGO-4] process has died [pid 10294, exit code -11 #4

Open mac137 opened 3 years ago

mac137 commented 3 years ago

Hello! I was trying to use this package with my own VLP-16 but after a couple of seconds, the alaserPGO node crashes every time I try to run it.

I can see the original A-LOAM's path and point cloud nicely.

Any idea what might be wrong?

Here some output on the console:

... logging to /home/maciej/.ros/log/ba604eac-0047-11ec-908e-bfd9381756ce/roslaunch-u20-10266.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://u20:44311/

SUMMARY
========

PARAMETERS
 * /keyframe_deg_gap: 10.0
 * /keyframe_meter_gap: 1.0
 * /lidar_type: VLP16
 * /mapping_line_resolution: 0.2
 * /mapping_plane_resolution: 0.4
 * /mapping_skip_frame: 1
 * /mapviz_filter_size: 0.1
 * /minimum_range: 1.0
 * /rosdistro: noetic
 * /rosversion: 1.15.11
 * /save_directory: /home/maciej/ros1...
 * /sc_dist_thres: 0.2
 * /sc_max_radius: 80.0
 * /scan_line: 16

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

ROS_MASTER_URI=http://localhost:11311

process[ascanRegistration-1]: started with pid [10291]
process[alaserOdometry-2]: started with pid [10292]
process[alaserMapping-3]: started with pid [10293]
process[alaserPGO-4]: started with pid [10294]
process[rviz-5]: started with pid [10310]
Initialization finished 
[ WARN] [1629307294.464116126]: time Map corner and surf num are not enough
posegraph prior node 0 added
running isam2 optimization ...
running isam2 optimization ...
[ WARN] [1629307296.617260630]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109086.590366 according to authority unknown_publisher
[ WARN] [1629307296.717237043]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109086.590366 according to authority unknown_publisher
[ WARN] [1629307296.817238252]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109086.590366 according to authority unknown_publisher
[ WARN] [1629307296.917239281]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109086.590366 according to authority unknown_publisher
[ WARN] [1629307297.017243436]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109086.590366 according to authority unknown_publisher
running isam2 optimization ...
[ WARN] [1629307297.117262164]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109086.590366 according to authority unknown_publisher
[ WARN] [1629307297.317240087]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109087.699800 according to authority unknown_publisher
[ WARN] [1629307297.417241833]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109087.699800 according to authority unknown_publisher
[ WARN] [1629307297.517260541]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109087.699800 according to authority unknown_publisher
[ WARN] [1629307297.617252037]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109087.699800 according to authority unknown_publisher
[ WARN] [1629307297.717247662]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109087.699800 according to authority unknown_publisher
[ WARN] [1629307297.817249798]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109087.699800 according to authority unknown_publisher
[ WARN] [1629307297.917247065]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109087.699800 according to authority unknown_publisher
[ WARN] [1629307298.017245224]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109087.699800 according to authority unknown_publisher
running isam2 optimization ...
[ WARN] [1629307298.117269338]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109087.699800 according to authority unknown_publisher
[ WARN] [1629307298.317253555]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109088.304963 according to authority unknown_publisher
[ WARN] [1629307298.417250487]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109088.304963 according to authority unknown_publisher
[ WARN] [1629307298.517252378]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109088.304963 according to authority unknown_publisher
[ WARN] [1629307298.617252157]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109088.304963 according to authority unknown_publisher
[ WARN] [1629307298.717253878]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109088.304963 according to authority unknown_publisher
[ WARN] [1629307298.817239369]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109088.304963 according to authority unknown_publisher
[ WARN] [1629307298.917244045]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109088.304963 according to authority unknown_publisher
[ WARN] [1629307299.017245617]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109088.304963 according to authority unknown_publisher
running isam2 optimization ...
[ WARN] [1629307299.117283562]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109088.304963 according to authority unknown_publisher
[ WARN] [1629307299.317247582]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109089.616076 according to authority unknown_publisher
[ WARN] [1629307299.417246192]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109089.616076 according to authority unknown_publisher
[ WARN] [1629307299.517238643]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109089.616076 according to authority unknown_publisher
[ WARN] [1629307299.617256359]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109089.616076 according to authority unknown_publisher
[ WARN] [1629307299.717243520]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109089.616076 according to authority unknown_publisher
[ WARN] [1629307299.817247851]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109089.616076 according to authority unknown_publisher
[ WARN] [1629307299.917245009]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109089.616076 according to authority unknown_publisher
[ WARN] [1629307300.017257607]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109089.616076 according to authority unknown_publisher
running isam2 optimization ...
[ WARN] [1629307300.117272635]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109089.616076 according to authority unknown_publisher
[ WARN] [1629307300.317234732]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109090.826364 according to authority unknown_publisher
[ WARN] [1629307300.417245872]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109090.826364 according to authority unknown_publisher
[ WARN] [1629307300.517239620]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109090.826364 according to authority unknown_publisher
[ WARN] [1629307300.617234148]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109090.826364 according to authority unknown_publisher
[ WARN] [1629307300.717243836]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109090.826364 according to authority unknown_publisher
[ WARN] [1629307300.817248014]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109090.826364 according to authority unknown_publisher
[ WARN] [1629307300.917253122]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109090.826364 according to authority unknown_publisher
[ WARN] [1629307301.017255246]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109090.826364 according to authority unknown_publisher
running isam2 optimization ...
[ WARN] [1629307301.117258948]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109090.826364 according to authority unknown_publisher
[ WARN] [1629307301.317240322]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109091.330624 according to authority unknown_publisher
[ WARN] [1629307301.417248483]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109091.330624 according to authority unknown_publisher
[ WARN] [1629307301.517242144]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109091.330624 according to authority unknown_publisher
[ WARN] [1629307301.617234385]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109091.330624 according to authority unknown_publisher
[ WARN] [1629307301.717241433]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109091.330624 according to authority unknown_publisher
[ WARN] [1629307301.817248711]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109091.330624 according to authority unknown_publisher
[ WARN] [1629307301.917230672]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109091.330624 according to authority unknown_publisher
[ WARN] [1629307302.017231779]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109091.330624 according to authority unknown_publisher
running isam2 optimization ...
[ WARN] [1629307302.117292284]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109091.330624 according to authority unknown_publisher
[ WARN] [1629307302.317225988]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109092.540913 according to authority unknown_publisher
[ WARN] [1629307302.417229726]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109092.540913 according to authority unknown_publisher
[ WARN] [1629307302.517231800]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109092.540913 according to authority unknown_publisher
[ WARN] [1629307302.617239636]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109092.540913 according to authority unknown_publisher
[ WARN] [1629307302.717230389]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109092.540913 according to authority unknown_publisher
[ WARN] [1629307302.817244364]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109092.540913 according to authority unknown_publisher
[ WARN] [1629307302.917232462]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109092.540913 according to authority unknown_publisher
[ WARN] [1629307303.017228086]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109092.540913 according to authority unknown_publisher
[ WARN] [1629307303.117257989]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109092.540913 according to authority unknown_publisher
running isam2 optimization ...
[ WARN] [1629307303.317276866]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109093.852047 according to authority unknown_publisher
[ WARN] [1629307303.417239561]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109093.852047 according to authority unknown_publisher
[ WARN] [1629307303.517235560]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109093.852047 according to authority unknown_publisher
[ WARN] [1629307303.617233772]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109093.852047 according to authority unknown_publisher
[ WARN] [1629307303.717234548]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109093.852047 according to authority unknown_publisher
[ WARN] [1629307303.817268748]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109093.852047 according to authority unknown_publisher
[ WARN] [1629307303.917328827]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109093.852047 according to authority unknown_publisher
[ WARN] [1629307304.017229406]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109093.852047 according to authority unknown_publisher
running isam2 optimization ...
[ WARN] [1629307304.118606415]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1622109093.852047 according to authority unknown_publisher
[alaserPGO-4] process has died [pid 10294, exit code -11, cmd /home/maciej/ros1_wss/odom/devel/lib/aloam_velodyne/alaserPGO velodyne_points:=velodyne_points __name:=alaserPGO __log:=/home/maciej/.ros/log/ba604eac-0047-11ec-908e-bfd9381756ce/alaserPGO-4.log].
log file: /home/maciej/.ros/log/ba604eac-0047-11ec-908e-bfd9381756ce/alaserPGO-4*.log
gisbi-kim commented 2 years ago

@maciej-3 I think PGO node error may related with GTSAM version please read this issue gisbi-kim/FAST_LIO_SLAM#8

samsdolphin commented 1 year ago

I encountered the same problem, gtsam 4.0.2 doesn't work for me, but the 4.1.1 version solves the problem.

qlibp commented 1 year ago

When I use gtsam 4.1.1 and build with -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF, the code still not work. But when I also built will debug mode, the code works. Seems like -O3 stuff makes thing wrong