[sample_nodelet_manager-2] process has died

[zjuyy113]

感谢您如此出色工作！ 不过我在使用程序处理无人机自采数据，使用的是livox avia雷达所以采用了这里的avia配置。 程序在前几十秒处理正常，没有任何问题 但是当运行到八九十秒时，突然进程死掉了。以下是终端信息： Key Frame:29, cloud size:24861 proj normal:0 0 1 [ mapping ]: time: IMU + Map + Input Downsample: 0.001146 ave match: 0.010962 ave solve: 0.001829 ave ICP: 0.013407 map incre: 0.005587 ave total: 0.019974 icp: 0.012888 construct H: 0.000486 [ mapping ]: time: IMU + Map + Input Downsample: 0.001513 ave match: 0.010974 ave solve: 0.001829 ave ICP: 0.024431 map incre: 0.005467 ave total: 0.019987 icp: 0.012901 construct H: 0.000486 [ mapping ]: time: IMU + Map + Input Downsample: 0.001399 ave match: 0.011016 ave solve: 0.001830 ave ICP: 0.050943 map incre: 0.004711 ave total: 0.020028 icp: 0.012943 construct H: 0.000486 [ mapping ]: time: IMU + Map + Input Downsample: 0.001447 ave match: 0.011023 ave solve: 0.001831 ave ICP: 0.020457 map incre: 0.004677 ave total: 0.020036 icp: 0.012951 construct H: 0.000487 [ mapping ]: time: IMU + Map + Input Downsample: 0.001433 ave match: 0.011026 ave solve: 0.001832 ave ICP: 0.016097 map incre: 0.009077 ave total: 0.020043 icp: 0.012955 construct H: 0.000487 [ mapping ]: time: IMU + Map + Input Downsample: 0.001410 ave match: 0.011026 ave solve: 0.001832 ave ICP: 0.013167 map incre: 0.009825 ave total: 0.020048 icp: 0.012955 construct H: 0.000487 [ mapping ]: time: IMU + Map + Input Downsample: 0.001520 ave match: 0.011025 ave solve: 0.001832 ave ICP: 0.012460 map incre: 0.006889 ave total: 0.020049 icp: 0.012954 construct H: 0.000487 [ mapping ]: time: IMU + Map + Input Downsample: 0.001515 ave match: 0.011024 ave solve: 0.001832 ave ICP: 0.012626 map incre: 0.006995 ave total: 0.020050 icp: 0.012954 construct H: 0.000487 [ mapping ]: time: IMU + Map + Input Downsample: 0.003588 ave match: 0.011035 ave solve: 0.001834 ave ICP: 0.024840 map incre: 0.060846 ave total: 0.020128 icp: 0.012967 construct H: 0.000488 [ mapping ]: time: IMU + Map + Input Downsample: 0.002570 ave match: 0.011063 ave solve: 0.001834 ave ICP: 0.038399 map incre: 0.018729 ave total: 0.020172 icp: 0.012995 construct H: 0.000488

Key Frame:30, cloud size:23982 proj normal:0 0 1 [ mapping ]: time: IMU + Map + Input Downsample: 0.001598 ave match: 0.011062 ave solve: 0.001834 ave ICP: 0.012016 map incre: 0.011562 ave total: 0.020177 icp: 0.012994 construct H: 0.000488 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! [ mapping ]: time: IMU + Map + Input Downsample: 0.001448 ave match: 0.011101 ave solve: 0.001835 ave ICP: 0.049217 map incre: 0.008557 ave total: 0.020221 icp: 0.013034 construct H: 0.000489 [ mapping ]: time: IMU + Map + Input Downsample: 0.001358 ave match: 0.011098 ave solve: 0.001835 ave ICP: 0.009650 map incre: 0.006372 ave total: 0.020218 icp: 0.013030 construct H: 0.000489 [ mapping ]: time: IMU + Map + Input Downsample: 0.001029 ave match: 0.011091 ave solve: 0.001834 ave ICP: 0.005748 map incre: 0.005666 ave total: 0.020209 icp: 0.013022 construct H: 0.000488 [ mapping ]: time: IMU + Map + Input Downsample: 0.001188 ave match: 0.011083 ave solve: 0.001833 ave ICP: 0.005188 map incre: 0.002337 ave total: 0.020196 icp: 0.013013 construct H: 0.000488 [ mapping ]: time: IMU + Map + Input Downsample: 0.000881 ave match: 0.011078 ave solve: 0.001832 ave ICP: 0.007635 map incre: 0.001600 ave total: 0.020185 icp: 0.013007 construct H: 0.000488 [ mapping ]: time: IMU + Map + Input Downsample: 0.000563 ave match: 0.011068 ave solve: 0.001830 ave ICP: 0.003247 map incre: 0.001324 ave total: 0.020169 icp: 0.012996 construct H: 0.000487 [ mapping ]: time: IMU + Map + Input Downsample: 0.000833 ave match: 0.011059 ave solve: 0.001829 ave ICP: 0.003526 map incre: 0.002086 ave total: 0.020153 icp: 0.012986 construct H: 0.000487 [ mapping ]: time: IMU + Map + Input Downsample: 0.001172 ave match: 0.011052 ave solve: 0.001828 ave ICP: 0.005861 map incre: 0.002680 ave total: 0.020142 icp: 0.012978 construct H: 0.000487 [ mapping ]: time: IMU + Map + Input Downsample: 0.001410 ave match: 0.011055 ave solve: 0.001832 ave ICP: 0.019018 map incre: 0.014054 ave total: 0.020158 icp: 0.012984 construct H: 0.000487

Key Frame:31, cloud size:13550 [sample_nodelet_manager-2] process has died [pid 16883, exit code -11, cmd /opt/ros/melodic/lib/nodelet/nodelet manager name:=sample_nodelet_manager log:=/home/yy/.ros/log/358d6cf8-3f70-11ef-869f-1c1b0d30c2e1/sample_nodelet_manager-2.log]. log file: /home/yy/.ros/log/358d6cf8-3f70-11ef-869f-1c1b0d30c2e1/sample_nodelet_manager-2.log [ INFO] [1720693765.072400764]: Bond broken, exiting [ INFO] [1720693765.234805624]: Bond broken, exiting [loop_detection_plugin_loader-4] process has finished cleanly log file: /home/yy/.ros/log/358d6cf8-3f70-11ef-869f-1c1b0d30c2e1/loop_detection_plugin_loader-4.log [fastlio_plugin_loader-3] process has finished cleanly log file: /home/yy/.ros/log/358d6cf8-3f70-11ef-869f-1c1b0d30c2e1/fastlio_plugin_loader-3*.log ^C[rviz-5] killing on exit [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done 然后也没有其他报错信息 就是单纯这个节点断掉了。 闭环地图优化进程的输出打印信息如下： [Add Odom Factor]: 19 20 [Optimize]: running isam2 optimization ... [Add Odom Factor]: 20 21 [Optimize]: running isam2 optimization ... [Add Odom Factor]: 21 22 [Optimize]: running isam2 optimization ... [Add Odom Factor]: 22 23 [Optimize]: running isam2 optimization ... [Add Odom Factor]: 23 24 [Optimize]: running isam2 optimization ... [Add Odom Factor]: 24 25 [Optimize]: running isam2 optimization ... [Add Odom Factor]: 25 26 [Optimize]: running isam2 optimization ... [Add Odom Factor]: 26 27 [Optimize]: running isam2 optimization ... [Add Odom Factor]: 27 28 [Optimize]: running isam2 optimization ... [Add Odom Factor]: 28 29 [Optimize]: running isam2 optimization ... [Add Odom Factor]: 29 30 [Optimize]: running isam2 optimization ... 也是比较正常的 目前就不知道为什么会出现这样的缘故 是程序运行到这个时候有什么处理或者有什么东西需要保存吗？

[XiaoJake]

顶一下,和你一样, 我也是程序跑一会儿就会 sample_nodelet_manager 节点崩溃掉

[lonlonago]

我改了fastlio 里面的lib路径就可以了，但是实际测试下来发现，跑velodyne 雷达的里程计效果很差，比fastlio2 原版本差很多，不知道怎么回事