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hku-mars / LTAOM

Apache License 2.0
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你好，求助，修改代码后可以运行了，但是报错[sample_nodelet_manager-1] process has died #17

Open lonlonago opened 2 weeks ago

lonlonago commented 2 weeks ago

Failed to find match for field 't'. Failed to find match for field 't'. [ mapping ]: time: IMU + Map + Input Downsample: 0.005314 ave match: 0.016717 ave solve: 0.002462 ave ICP: 0.017212 map incre: 0.006545 ave total: 0.027436 icp: 0.019285 construct H: 0.000553 [ mapping ]: time: IMU + Map + Input Downsample: 0.001994 ave match: 0.016688 ave solve: 0.002457 ave ICP: 0.015589 map incre: 0.003411 ave total: 0.027377 icp: 0.019250 construct H: 0.000551 Failed to find match for field 't'. Failed to find match for field 't'. [ mapping ]: time: IMU + Map + Input Downsample: 0.005657 ave match: 0.016681 ave solve: 0.002452 ave ICP: 0.018055 map incre: 0.005604 ave total: 0.027395 icp: 0.019238 construct H: 0.000550 Failed to find match for field 't'. [ mapping ]: time: IMU + Map + Input Downsample: 0.005730 ave match: 0.016670 ave solve: 0.002447 ave ICP: 0.017545 map incre: 0.006912 ave total: 0.027420 icp: 0.019222 construct H: 0.000549

Key Frame:0, cloud size:300113 [ mapping ]: time: IMU + Map + Input Downsample: 0.000968 ave match: 0.016658 ave solve: 0.002442 ave ICP: 0.017438 map incre: 0.003691 ave total: 0.027373 icp: 0.019204 construct H: 0.000548 /opt/ros/melodic/lib/nodelet/nodelet: symbol lookup error: /home/lan/Documents/latom/devel/lib/libloop_detection.so: undefined symbol: _ZN3tbb10interface78internal20isolate_within_arenaERNS1_13delegate_baseEl [sample_nodelet_manager-1] process has died [pid 31080, exit code 127, cmd /opt/ros/melodic/lib/nodelet/nodelet manager name:=sample_nodelet_manager log:=/home/lan/.ros/log/29127d40-29ec-11ef-aca1-9cda3e61bec6/sample_nodelet_manager-1.log]. log file: /home/lan/.ros/log/29127d40-29ec-11ef-aca1-9cda3e61bec6/sample_nodelet_manager-1.log [ INFO] [1718330916.081146908]: Bond broken, exiting [ INFO] [1718330916.242622428]: Bond broken, exiting [loop_detection_plugin_loader-3] process has finished cleanly log file: /home/lan/.ros/log/29127d40-29ec-11ef-aca1-9cda3e61bec6/loop_detection_plugin_loader-3.log [fastlio_plugin_loader-2] process has finished cleanly log file: /home/lan/.ros/log/29127d40-29ec-11ef-aca1-9cda3e61bec6/fastlio_plugin_loader-2*.log ^C[rviz-4] killing on exit shutting down processing monitor... ... shutting down processing monitor completeFailed to find match for field 't'. Failed to find match for field 't'. [ mapping ]: time: IMU + Map + Input Downsample: 0.005314 ave match: 0.016717 ave solve: 0.002462 ave ICP: 0.017212 map incre: 0.006545 ave total: 0.027436 icp: 0.019285 construct H: 0.000553 [ mapping ]: time: IMU + Map + Input Downsample: 0.001994 ave match: 0.016688 ave solve: 0.002457 ave ICP: 0.015589 map incre: 0.003411 ave total: 0.027377 icp: 0.019250 construct H: 0.000551 Failed to find match for field 't'. Failed to find match for field 't'. [ mapping ]: time: IMU + Map + Input Downsample: 0.005657 ave match: 0.016681 ave solve: 0.002452 ave ICP: 0.018055 map incre: 0.005604 ave total: 0.027395 icp: 0.019238 construct H: 0.000550 Failed to find match for field 't'. [ mapping ]: time: IMU + Map + Input Downsample: 0.005730 ave match: 0.016670 ave solve: 0.002447 ave ICP: 0.017545 map incre: 0.006912 ave total: 0.027420 icp: 0.019222 construct H: 0.000549

Key Frame:0, cloud size:300113 [ mapping ]: time: IMU + Map + Input Downsample: 0.000968 ave match: 0.016658 ave solve: 0.002442 ave ICP: 0.017438 map incre: 0.003691 ave total: 0.027373 icp: 0.019204 construct H: 0.000548 /opt/ros/melodic/lib/nodelet/nodelet: symbol lookup error: /home/lan/Documents/latom/devel/lib/libloop_detection.so: undefined symbol: _ZN3tbb10interface78internal20isolate_within_arenaERNS1_13delegate_baseEl [sample_nodelet_manager-1] process has died [pid 31080, exit code 127, cmd /opt/ros/melodic/lib/nodelet/nodelet manager name:=sample_nodelet_manager log:=/home/lan/.ros/log/29127d40-29ec-11ef-aca1-9cda3e61bec6/sample_nodelet_manager-1.log]. log file: /home/lan/.ros/log/29127d40-29ec-11ef-aca1-9cda3e61bec6/sample_nodelet_manager-1.log [ INFO] [1718330916.081146908]: Bond broken, exiting [ INFO] [1718330916.242622428]: Bond broken, exiting [loop_detection_plugin_loader-3] process has finished cleanly log file: /home/lan/.ros/log/29127d40-29ec-11ef-aca1-9cda3e61bec6/loop_detection_plugin_loader-3.log [fastlio_plugin_loader-2] process has finished cleanly log file: /home/lan/.ros/log/29127d40-29ec-11ef-aca1-9cda3e61bec6/fastlio_plugin_loader-2*.log ^C[rviz-4] killing on exit shutting down processing monitor... ... shutting down processing monitor completeFailed to find match for field 't'. Failed to find match for field 't'. [ mapping ]: time: IMU + Map + Input Downsample: 0.005314 ave match: 0.016717 ave solve: 0.002462 ave ICP: 0.017212 map incre: 0.006545 ave total: 0.027436 icp: 0.019285 construct H: 0.000553 [ mapping ]: time: IMU + Map + Input Downsample: 0.001994 ave match: 0.016688 ave solve: 0.002457 ave ICP: 0.015589 map incre: 0.003411 ave total: 0.027377 icp: 0.019250 construct H: 0.000551 Failed to find match for field 't'. Failed to find match for field 't'. [ mapping ]: time: IMU + Map + Input Downsample: 0.005657 ave match: 0.016681 ave solve: 0.002452 ave ICP: 0.018055 map incre: 0.005604 ave total: 0.027395 icp: 0.019238 construct H: 0.000550 Failed to find match for field 't'. [ mapping ]: time: IMU + Map + Input Downsample: 0.005730 ave match: 0.016670 ave solve: 0.002447 ave ICP: 0.017545 map incre: 0.006912 ave total: 0.027420 icp: 0.019222 construct H: 0.000549

Key Frame:0, cloud size:300113 [ mapping ]: time: IMU + Map + Input Downsample: 0.000968 ave match: 0.016658 ave solve: 0.002442 ave ICP: 0.017438 map incre: 0.003691 ave total: 0.027373 icp: 0.019204 construct H: 0.000548 /opt/ros/melodic/lib/nodelet/nodelet: symbol lookup error: /home/lan/Documents/latom/devel/lib/libloop_detection.so: undefined symbol: _ZN3tbb10interface78internal20isolate_within_arenaERNS1_13delegate_baseEl [sample_nodelet_manager-1] process has died [pid 31080, exit code 127, cmd /opt/ros/melodic/lib/nodelet/nodelet manager name:=sample_nodelet_manager log:=/home/lan/.ros/log/29127d40-29ec-11ef-aca1-9cda3e61bec6/sample_nodelet_manager-1.log]. log file: /home/lan/.ros/log/29127d40-29ec-11ef-aca1-9cda3e61bec6/sample_nodelet_manager-1.log [ INFO] [1718330916.081146908]: Bond broken, exiting [ INFO] [1718330916.242622428]: Bond broken, exiting [loop_detection_plugin_loader-3] process has finished cleanly log file: /home/lan/.ros/log/29127d40-29ec-11ef-aca1-9cda3e61bec6/loop_detection_plugin_loader-3.log [fastlio_plugin_loader-2] process has finished cleanly log file: /home/lan/.ros/log/29127d40-29ec-11ef-aca1-9cda3e61bec6/fastlio_plugin_loader-2*.log ^C[rviz-4] killing on exit shutting down processing monitor... ... shutting down processing monitor complete

lonlonago commented 2 weeks ago

/opt/ros/melodic/lib/nodelet/nodelet: symbol lookup error: /home/lan/Documents/latom/devel/lib/libloop_detection.so: undefined symbol: _ 似乎和这个有直接关系，这个log里面，但是代码编译可以了

zuhaozou2017 commented 6 days ago

这里是关键： /opt/ros/melodic/lib/nodelet/nodelet: symbol lookup error: /home/lan/Documents/latom/devel/lib/libloop_detection.so: undefined symbol: _ZN3tbb10interface78internal20isolate_within_arenaERNS1_13delegate_baseEl/opt/ros/melodic/lib/nodelet/nodelet: symbol lookup error: /home/lan/Documents/latom/devel/lib/libloop_detection.so: undefined symbol: _ZN3tbb10interface78internal20isolate_within_arenaERNS1_13delegate_baseEl

zuhaozou2017 commented 6 days ago

请确保tbb版本按我的readme编译。同时确保你的cmake list.txt确切链接到了正确的 tbb的 .so