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gisbi-kim / SC-LIO-SAM

LiDAR-inertial SLAM: Scan Context + LIO-SAM
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Error on running launch file #11

Closed ManChrys closed 3 years ago

ManChrys commented 3 years ago

Hello

when im running the following command

roslaunch lio_sam run.launch

i have the following error

Screenshot from 2021-07-29 13-08-47

As i notice i have this error in all LIO-SAM projects and the reasons are the imuPreinegration and mapOptimization.

I've installed sudo apt-get install libparmetis-dev so idk whats going on here.

Any help would be appreciated.

gisbi-kim commented 3 years ago

@ManChrys first could you check the imu and lidar topic flows and their timestamps? are they syncronized?

e.g., rostopic echo /imu > log.txt then, you can open the log file and can find time

ps. you can rather use the lidar-only version. please see https://github.com/gisbi-kim/SC-A-LOAM

ManChrys commented 3 years ago

@gisbi-kim

Hello my friend and thanks for the fast responses. I found that the reason for the above error was the gtsam. I remove every gtsam file and i installed again

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