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hku-mars / r2live

R2LIVE: A Robust, Real-time, LiDAR-Inertial-Visual tightly-coupled state Estimator and mapping package
GNU General Public License v2.0
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launch error: doesn't exist #69

Closed Hjw-Edward closed 2 years ago

Hjw-Edward commented 2 years ago

Hello! Could I ask you how to deal with the problem ? It is worth mentioning that I verify my software environment. My software version are listed as follow: My OpenCV Version is: 3.3.1 My ceres version is: 1.14.0 My Eigen version is: 3.3.9

when I roslaunch r2live demo.launch,it gives the following error: ... logging to /home/hjw/.ros/log/8da4a8f8-eb89-11ec-ab9e-f02f74f50fd8/roslaunch-hjw-pc-5650.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://hjw-pc:45045/

SUMMARY

PARAMETERS

NODES / feature_tracker (feature_tracker/feature_tracker) lio_feat_extract (r2live/lio_feat_extract) r2live (r2live/r2live) rvizvisualisation (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[feature_tracker-1]: started with pid [5680] process[lio_feat_extract-2]: started with pid [5681] process[r2live-3]: started with pid [5682] process[rvizvisualisation-4]: started with pid [5688] [ INFO] [1655173755.828430334]: init begins [ INFO] [1655173755.831679860]: Loaded config_file: /home/hjw/catkin_ws/src/r2live/r2live/../config/filr_cam.yaml result path /vins_result_no_loop.csv not exists, trying to create it Failed to create folder
[ INFO] [1655173755.832502542]: ROW: 512.000000 COL: 640.000000 [ WARN] [1655173755.832544487]: fix extrinsic param [ INFO] [1655173755.832787727]: Extrinsic_R : 0.00193065 -0.0166655 0.999859 -0.999998 0.000312504 0.00193612 -0.000344726 -0.999861 -0.0166649 [ INFO] [1655173755.832907185]: Extrinsic_T : 0.03056 0.06429 -0.00865 [ INFO] [1655173755.832969301]: Unsynchronized sensors, online estimate time offset, initial td: 0 [Ros_parameter]: /lidar_drag_cam_tim ==> 10 [Ros_parameter]: /acc_mul_G ==> 0 [Ros_parameter]: /if_lidar_start_first ==> 1 [Ros_parameter]: /if_write_to_bag ==> 0 [Ros_parameter]: /if_dump_log ==> 0 [Ros_parameter]: /record_bag_name ==> /home/ziv/kitti_bag/lic_record_bag/lic.bag Multi thread started /home/hjw/catkin_ws/src/r2live/r2live/src/./fast_lio/fast_lio.hpp 786 [Ros_parameter]: fast_lio/dense_map_enable ==> 1 [Ros_parameter]: fast_lio/lidar_time_delay ==> 0 [Ros_parameter]: fast_lio/max_iteration ==> 4 [Ros_parameter]: fast_lio/fov_degree ==> 360 [Ros_parameter]: fast_lio/filter_size_corner ==> 0.4 [Ros_parameter]: fast_lio/filter_size_surf ==> 0.4 [Ros_parameter]: fast_lio/filter_size_surf_z ==> 0.4 [Ros_parameter]: fast_lio/filter_size_map ==> 0.4 [Ros_parameter]: fast_lio/cube_side_length ==> 1e+09 [Ros_parameter]: fast_lio/maximum_pt_kdtree_dis ==> 0.5 [Ros_parameter]: fast_lio/maximum_res_dis ==> 0.3 [Ros_parameter]: fast_lio/planar_check_dis ==> 0.1 [Ros_parameter]: fast_lio/long_rang_pt_dis ==> 50 [Ros_parameter]: fast_lio/publish_feature_map ==> 0 /home/hjw/catkin_ws/src/r2live/r2live/src/./fast_lio/fast_lio.hpp 811 /home/hjw/catkin_ws/src/r2live/r2live/src/./fast_lio/fast_lio.hpp 824 /home/hjw/catkin_ws/src/r2live/r2live/src/./fast_lio/fast_lio.hpp 826 [ WARN] [1655173755.877137555]: waiting for image and imu...



[r2live-3] process has died [pid 19790, exit code -11, cmd /home/hjw/catkin_ws/devel/lib/r2live/r2live __name:=r2live __log:=/home/hjw/.ros/log/179a6104-eae2-11ec-9b09-f02f74f50fd8/r2live-3.log].
log file: /home/hjw/.ros/log/179a6104-eae2-11ec-9b09-f02f74f50fd8/r2live-3*.log
stale[bot] commented 2 years ago

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.

hr2894235132 commented 1 year ago

Hello! Could I ask you how to deal with the problem ? It is worth mentioning that I verify my software environment. My software version are listed as follow: My OpenCV Version is: 3.3.1 My ceres version is: 1.14.0 My Eigen version is: 3.3.9

when I roslaunch r2live demo.launch,it gives the following error: ... logging to /home/hjw/.ros/log/8da4a8f8-eb89-11ec-ab9e-f02f74f50fd8/roslaunch-hjw-pc-5650.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://hjw-pc:45045/

SUMMARY

PARAMETERS

  • /acc_mul_G: 0
  • /fast_lio/cube_side_length: 1000000000
  • /fast_lio/dense_map_enable: True
  • /fast_lio/filter_size_corner: 0.4
  • /fast_lio/filter_size_map: 0.4
  • /fast_lio/filter_size_surf: 0.4
  • /fast_lio/filter_size_surf_z: 0.4
  • /fast_lio/fov_degree: 360.0
  • /fast_lio/local_loop_win: [110, -116, 155, ...
  • /fast_lio/m_long_rang_pt_dis: 500
  • /fast_lio/map_file_path:
  • /fast_lio/max_iteration: 4
  • /fast_lio/maximum_pt_kdtree_dis: 0.5
  • /fast_lio/maximum_res_dis: 0.3
  • /fast_lio/planar_check_dis: 0.1
  • /fast_lio/publish_feature_map: False
  • /feature_extraction/N_SCANS: 6
  • /feature_extraction/blind: 0.1
  • /feature_extraction/cos160: 160.0
  • /feature_extraction/disA: 0.01
  • /feature_extraction/disB: 0.1
  • /feature_extraction/edgea: 2
  • /feature_extraction/edgeb: 0.1
  • /feature_extraction/group_size: 8
  • /feature_extraction/inf_bound: 4
  • /feature_extraction/jump_down_limit: 8.0
  • /feature_extraction/jump_up_limit: 170.0
  • /feature_extraction/lidar_type: 1
  • /feature_extraction/limit_maxmid: 6.25
  • /feature_extraction/limit_maxmin: 3.24
  • /feature_extraction/limit_midmin: 6.25
  • /feature_extraction/p2l_ratio: 225
  • /feature_extraction/point_filter_num: 1
  • /feature_extraction/point_step: 3
  • /feature_extraction/smallp_intersect: 172.5
  • /feature_extraction/smallp_ratio: 1.2
  • /feature_extraction/using_raw_point: 1
  • /feature_tracker/configfile: /home/hjw/catkin...
  • /feature_tracker/image_topic: /camera/image_color
  • /feature_tracker/vinsfolder: /home/hjw/catkin...
  • /if_dump_log: 0
  • /if_lidar_start_first: 1
  • /if_write_to_bag: 0
  • /imu_topic: /livox/imu
  • /lidar_drag_cam_tim: 10
  • /r2live/configfile: /home/hjw/catkin...
  • /r2live/vinsfolder: /home/hjw/catkin...
  • /record_bag_name: /home/ziv/kitti_b...
  • /rosdistro: melodic
  • /rosversion: 1.14.13

NODES / feature_tracker (feature_tracker/feature_tracker) lio_feat_extract (r2live/lio_feat_extract) r2live (r2live/r2live) rvizvisualisation (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[feature_tracker-1]: started with pid [5680] process[lio_feat_extract-2]: started with pid [5681] process[r2live-3]: started with pid [5682] process[rvizvisualisation-4]: started with pid [5688] [ INFO] [1655173755.828430334]: init begins [ INFO] [1655173755.831679860]: Loaded config_file: /home/hjw/catkin_ws/src/r2live/r2live/../config/filr_cam.yaml result path /vins_result_no_loop.csv not exists, trying to create it Failed to create folder [ INFO] [1655173755.832502542]: ROW: 512.000000 COL: 640.000000 [ WARN] [1655173755.832544487]: fix extrinsic param [ INFO] [1655173755.832787727]: Extrinsic_R : 0.00193065 -0.0166655 0.999859 -0.999998 0.000312504 0.00193612 -0.000344726 -0.999861 -0.0166649 [ INFO] [1655173755.832907185]: Extrinsic_T : 0.03056 0.06429 -0.00865 [ INFO] [1655173755.832969301]: Unsynchronized sensors, online estimate time offset, initial td: 0 [Ros_parameter]: /lidar_drag_cam_tim ==> 10 [Ros_parameter]: /acc_mul_G ==> 0 [Ros_parameter]: /if_lidar_start_first ==> 1 [Ros_parameter]: /if_write_to_bag ==> 0 [Ros_parameter]: /if_dump_log ==> 0 [Ros_parameter]: /record_bag_name ==> /home/ziv/kitti_bag/lic_record_bag/lic.bag Multi thread started /home/hjw/catkin_ws/src/r2live/r2live/src/./fast_lio/fast_lio.hpp 786 [Ros_parameter]: fast_lio/dense_map_enable ==> 1 [Ros_parameter]: fast_lio/lidar_time_delay ==> 0 [Ros_parameter]: fast_lio/max_iteration ==> 4 [Ros_parameter]: fast_lio/fov_degree ==> 360 [Ros_parameter]: fast_lio/filter_size_corner ==> 0.4 [Ros_parameter]: fast_lio/filter_size_surf ==> 0.4 [Ros_parameter]: fast_lio/filter_size_surf_z ==> 0.4 [Ros_parameter]: fast_lio/filter_size_map ==> 0.4 [Ros_parameter]: fast_lio/cube_side_length ==> 1e+09 [Ros_parameter]: fast_lio/maximum_pt_kdtree_dis ==> 0.5 [Ros_parameter]: fast_lio/maximum_res_dis ==> 0.3 [Ros_parameter]: fast_lio/planar_check_dis ==> 0.1 [Ros_parameter]: fast_lio/long_rang_pt_dis ==> 50 [Ros_parameter]: fast_lio/publish_feature_map ==> 0 /home/hjw/catkin_ws/src/r2live/r2live/src/./fast_lio/fast_lio.hpp 811 /home/hjw/catkin_ws/src/r2live/r2live/src/./fast_lio/fast_lio.hpp 824 /home/hjw/catkin_ws/src/r2live/r2live/src/./fast_lio/fast_lio.hpp 826 [ WARN] [1655173755.877137555]: waiting for image and imu...


[r2live-3] process has died [pid 19790, exit code -11, cmd /home/hjw/catkin_ws/devel/lib/r2live/r2live __name:=r2live __log:=/home/hjw/.ros/log/179a6104-eae2-11ec-9b09-f02f74f50fd8/r2live-3.log].
log file: /home/hjw/.ros/log/179a6104-eae2-11ec-9b09-f02f74f50fd8/r2live-3*.log

Hello! I am experiencing the same problem as you, did you solve the problem?