ZeeshanshariffNS commented 1 year ago

We are using a ouster lidar and voxl-imu to run LIO and to estimate extrinsic parameters we are using "roslaunch lidar_imu_init ouster.launch" but it terminates with the message "process has finished cleanly"

basically the Lidar and IMU buffer is zero in laserMapping node before this termination occurs. Can you please let us the cause of the error and the way to solve this problem.

LOGS AS DISPLAYED ON THE TERMINAL

root@qrb5165-rb5:~/ws_livox# roslaunch lidar_imu_init ouster.launch ... logging to /root/.ros/log/15dc4692-6cbb-11ed-9c1c-000ec6817901/roslaunch-qrb5165-rb5-20158.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://qrb5165-rb5:35381/

SUMMARY

PARAMETERS

/common/imu_topic: /ouster/imu
/common/lid_topic: /ouster/points
/cube_side_length: 2000.0
/initialization/Rot_LI_cov: [5e-05, 5e-05, 5e...
/initialization/Trans_LI_cov: [0.0001, 0.0001, ...
/initialization/cut_frame: True
/initialization/cut_frame_num: 3
/initialization/data_accum_length: 300
/initialization/mean_acc_norm: 9.805
/initialization/online_refine_time: 15
/initialization/orig_odom_freq: 10
/mapping/acc_cov: 2
/mapping/b_acc_cov: 0.0001
/mapping/b_gyr_cov: 0.0001
/mapping/det_range: 150.0
/mapping/filter_size_map: 0.15
/mapping/filter_size_surf: 0.05
/mapping/gyr_cov: 50
/max_iteration: 5
/pcd_save/interval: -1
/pcd_save/pcd_save_en: False
/point_filter_num: 1
/preprocess/blind: 1
/preprocess/feature_extract_en: False
/preprocess/lidar_type: 3
/preprocess/scan_line: 32
/publish/dense_publish_en: True
/publish/path_en: True
/publish/scan_bodyframe_pub_en: True
/publish/scan_publish_en: True
/rosdistro: melodic
/rosversion: 1.14.13

NODES / laserMapping (lidar_imu_init/li_init)

ROS_MASTER_URI=http://localhost:11311

process[laserMapping-1]: started with pid [20268] Multi thread started lidar_type: 3 LiDAR-only odometry starts.



[Exit]: Exit the process.
[WARN]: Online refinement not finished yet.
[Final Result] Rotation LiDAR to IMU    =  0.000000 -0.000000  0.000000 deg
[Final Result] Translation LiDAR to IMU = 0.000000 0.000000 0.000000 m
[Final Result] Time Lag IMU to LiDAR    = 0.00000000 s 
[Final Result] Bias of Gyroscope        = 0.000000 0.000000 0.000000 rad/s
[Final Result] Bias of Accelerometer    = 0.000000 0.000000 0.000000 m/s^2
[Final Result] Gravity in World Frame   = 0.000000 0.000000 0.000000 m/s^2
Rebuild thread terminated normally
[laserMapping-1] process has finished cleanly
log file: /root/.ros/log/15dc4692-6cbb-11ed-9c1c-000ec6817901/laserMapping-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete

Bala-Ramachandran-Joulea commented 1 year ago

Hey, Did you solve this issue?

edwardes2201 commented 1 year ago

hello, I also have the same error, I'm using ubuntu 20.04 installed on a pi4 and I can't run. however on a normal pc with ubuntu 18.04 it runs normally without error. If anyone knows how to fix it, it would be a great help. greetings

hku-mars / LiDAR_IMU_Init

[laserMapping-1] process has finished cleanly #44

SUMMARY