Don't save map

[Parkeunseok]

It is currently in use by ubuntu 22.04 ros2 humble

The config file I set is as follows.

As you can see in the file below, the map is not saved even though "pcd_save_en" is true.

What is the solution?

[roboticlemon]

I've had 2 problems, 1) the ROOT_DIR wasn't setting correctly if you have a non-standard directory structure. Manually hard coding this can be a quick workaround. 2) the map wouldn't save in time before SIGKILL was sent my roslaunch. You can verify if this is happening because you won't see the

current scan saved to /PCD/

print to screen.

[Ericsii]

In order not to be affected by the io operation of the saved map performance, I made a new ros service map_save with type std_srvs/Trigger. You can try manually trigger the service to save the map pointcloud to file.

[Parkeunseok]

i'm solved it thank you

[123295]

I've meet the same problem and I can't save the pcd file, could you show me your folder structure? Thank you!

[pk30123]

I tried executing the service map_save, but i did not give any results , Can you please help on elaborating it

[pk30123]

[fastlio_mapping-1] [INFO] [1725266567.425343949] [laser_mapping]: Saving map to /home/pradheep/Documents/flio_ws/src/FAST_LIO/PCD/test.pcd... [fastlio_mapping-1] terminate called after throwing an instance of 'pcl::IOException' [fastlio_mapping-1] what(): : [pcl::PCDWriter::writeBinary] Input point cloud has no data! [ERROR] [fastlio_mapping-1]: process has died [pid 5983, exit code -6, cmd '/home/pradheep/Documents/flio_ws/install/fast_lio/lib/fast_lio/fastlio_mapping --ros-args --params-file /home/pradheep/Documents/flio_ws/src/FAST_LIO/config/ouster64.yaml --params-file /tmp/launch_params_4__njwjw'].

[arjunskumar]

@pk30123 check the size of pointcloud you are trying to save

[pk30123]

Do you know which topic i should check for the point cloud? i could see rviz building. Same dataset in ros1 docker works

[arjunskumar]

are the config same for both docker and non docker enviornment?

[pk30123]

Hi, sorry to elaborate i used docker in FASTLIO ROS1 and FASTLIO2 . the calibration matrices are the same , i could see some output in RVIZ in both but there is no saved pcd files in ROS2

[lidarmansiwon]

@pk30123 I had the same problem and error. I tried various ways to save the map. My environment is humble and the solution was to uncomment the code below and the map was saved.

laserMapping.cpp

Uncommented the comment code at line 513.

/**** save map ****/ / 1. make sure you have enough memories / 2. noted that pcd save will influence the real-time performences **/ if (pcd_save_en) { int size = feats_undistort->points.size(); PointCloudXYZI::Ptr laserCloudWorld( \ new PointCloudXYZI(size, 1));

for (int i = 0; i < size; i++) { RGBpointBodyToWorld(&feats_undistort->points[i], \ &laserCloudWorld->points[i]); } pcl_wait_save += laserCloudWorld;

static int scan_wait_num = 0; scan_wait_num++; if (pcl_wait_save->size() > 0 && pcd_save_interval > 0 && scan_wait_num >= pcd_save_interval) { pcd_index ++; string all_points_dir(string(string(ROOTDIR) + "PCD/scans") + to_string(pcd_index) + string(".pcd")); pcl::PCDWriter pcd_writer; cout << "current scan saved to /PCD/" << all_points_dir << endl; pcd_writer.writeBinary(all_points_dir, *pcl_wait_save); pcl_wait_save->clear(); scan_wait_num = 0; } } }

[pk30123]

Hi,

Thanks for the update. This made the map to save on Ctrl+C not on srv .

Thanks

[stale[bot]]

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.