Closed YangSiri closed 4 years ago
me the same, not just in largescale.launch
,but all the launches.
Hi, @whiteineyes
Did you try other ros packages like loam_velodyne?
@YangSiri nope,`cause I got one livox mid40 in hand....
@YangSiri 你是说用livox的rosbag去试验loam_velodyne?还是只是单纯的问有没有试过其他loam?
Hi, @whiteineyes
yes, the second option. i mean other method.
@YangSiri yeah,i did test Lego_loam
@YangSiri which PCL version r u using? 1.9.1?
Hi, @whiteineyes
1.8.1, i suppose. But isnt there a 1.7 come with ros?
1.7 come with Ros-Kinetic, 1.8 with Melodic. I tried livox_loam with PCL1.7 in Kinetic and 1.8 in Melodic, it went well but without loop closure; and livox_loam version1 with pcl1.9 in Melodic,it went well too.
Yes, @whiteineyes
My env is Ros-Kinetic. I build loam_livox without any errors but i cant correctly run it with any recorded bags. It seems that _laserMapping is broken somewhere. So i'm really confused.
Your problem only exist in the loop section?
In specifically,
only loop section failure in PCL1.7 and PCL1.8;
the same corruption after a few seconds in PCL1.9
Yes, @whiteineyes
But i cant run it from the beginning, let alone until loop.
It stopped as long as this :
How do you launch? for this bag, the correct configuration is: roslaunch loam_livox rosbag_largescale.launch rosbag play YOUR_DOWNLOADED.bag
Yes @ziv-lin
That’s exactly how I launch. As you can see from the images above.
I have no I idea why this happens, I have tested this bag file before pushed my code... Are you running with the new clone codes? is that other examples run successfully?
Yes @ziv-lin
I cloned the newest codes. All of examples have similar issues.
It seem that you have some issue with your environments...
message(STATUS "***** PCL version: ${PCL_VERSION} *****")
Besides, how large is the RAM you have? is it sufficient enough? And please kindly check Loam-Livox has the permission to write the log files and create the directories (under the dir ${home}/Loam_livox).
Thanks for your suggestions, @ziv-lin
As you can see from this, my environments
And for your second comment, i have 16GB RAM i guess. Yeah, i noticed there is a folder in /home after running. Does this mean it already has the permission?
Actually, my problem comes at the laserMapping part as you can see from the fig. 1,2. I also run into similar situation launching loam\a-loam . I think now it is more related to my environment. But i haven't found any clue about this. Please help me with your expert experience, thank you.
And it would be great any of you can explain me about this:
Looking forward to generous help!
I am so sorry that I can not find out the problem with your environment since I have never meet the similar problems... Maybe you can try to find a cleaner environment to reconfigure all the settings?
@ziv-lin I reinstall Ubuntu18 system with ROS-melodic and PCL1.8, now it works fine but crushed after loo closure just like issue 31 ; and I record a rosbag with my own livox mid40 in the campus of CNU which the mid40 is mounted on a experimental Electric tricycle , as you can see fig1 and fig2 , the original path is smoother than the path after loop closure , is this a potential bug ?
Hi @ziv-lin @whiteineyes
Rebuilt PCL 1.8 helps at end. Thanks
Hi @ziv-lin @whiteineyes
Rebuilt PCL 1.8 helps at end. Thanks
Hi @ziv-lin @whiteineyes
Would you please share your environment? I meet the same problem, my environment is: Ubuntu 18.08 + ROS Melodic + PCL 1.9.1 + FLANN 1.9.1 First I setup the environment and run command: roslaunch loam_livox rosbag_largescale.launch # in first terminal rosbag play ~/catkin_ws/rosbag_for_loam_livox/CYT_02.bag # in second terminal
after a few second, the livox_lasermapping thread corrupted with: double free or corruption(out) BTW, I did not find any livox_lasermapping-3*.log as it mentioned.
Then I tried to re-compile everything with --std=c++17 -faligned-new, including EIGEN, PCL, loam_livox. It does not help.
Then I uninstall PCL 1.9.1, compile and install PCL-1.8.1, but when run catkin_make in ~/catkin_ws,error occurs:
-- Could NOT find Flann (missing: FLANN_INCLUDE_DIRS) CMake Error at /usr/share/pcl-1.8/PCLConfig.cmake:45 (message): kdtree is required but flann was not found Call Stack (most recent call first): /usr/share/pcl-1.8/PCLConfig.cmake:684 (pcl_report_not_found) /usr/share/pcl-1.8/PCLConfig.cmake:847 (find_external_library) loam_livox/CMakeLists.txt:25 (find_package)
-- Configuring incomplete, errors occurred!
I think there is something wrong with my os.
Now I'm going to reinstall my os, would you please share your environment, or further advice?
Hi, great contributors,
Today i'm testing your awesome project. I downloaded the large-scale _HKUST01.bag . But it somehow corrupted after a few seconds.
This is my terminal and problem:
Looking forward to your reply. THANKS