ERROR: Service [/gsm_node/generate_mesh/] is not available.

[DoctorXK]

Hi dear author,

I finally build panoptic_mapping_pipeline successfully, but when I execute Step 4 rosservice call /gsm_node/generate_mesh in Robust Panoptic Mapping I will encounter:

ERROR: Service [/gsm_node/generate_mesh/] is not available.

I cannot find generate_mesh in my running environment and so as rosservice call /gsm_node/extract_instances.

When I reviewed the compilation process I found there was warning message when compiling gsm_node even though it didn't throw compilation ERROR.

Warnings << gsm_node:cmake /opt/ros/melodic/log/gsm_node/build.cmake.000.log 
CMake Warning at /opt/ros/melodic/devel/share/pcl catkin/cmake/pcl-extras.cmake:14 (find package): 
  By not providing "FindovTk.cmake" in cMAkE MODuLE PATH this project has asked CMake to find a package confiquration file provided by"QVTK"but CMake did not find one.
  Could not find a package configuration file provided by "QVTK" with any of
the following names: 
    QVTKConfig.cmake
    qvtk-config.cmake
  Add the installation prefix of "OVTK" to CMAKE PREFIX_PATH or set
  "OVTK DIR" to a directory containing one of the above files.If"OVTK 
  provides a separate development package or sokbe sure it has been 
  installed.
Call Stack (most recent call first):
  /opt/ros/melodic/devel/share/pclcatkin/cmake/pcl_catkinconfiq.cmake:222(include)
  /opt/ros/melodic/devel/share/globalsegment_map/cmake/globalsegment_mapConfig.cmake:197(find_package)
  /opt/ros/melodic/devel/share/catkin_simple/cmake/catkin_simple-extras.cmake:38 (find_package) 
  CMakeLists.txt:12(catkin simple)

cd /opt/ros/melodic/build/gsm_node; catkin build --det-env gsm_node catkin env -si /usr/bin/cmake /opt/ros/melodic/src/Interactive-Scene-Reconstruction/mappina/voxblox-plusplus/global_segment_map_node --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/opt/ros/melodic/devel -DCMAKE INSTALL PREFIX=/opt/ros/melodic/install -OCMAKE_CX X_STANDARD=14 -DCMAKE_BUILDTYPE=Release; cd -

Have you ever encounter this situation? Looking forward to your reply. : )

[hmz-15]

Hi there,

I think executing "source devel/setup.bash" in the terminal you want to call the services will solve the issue.

[DoctorXK]

Thanks for your reply : ) . Unfortunately it cannot work : ( . Actually there is no generate_mesh or extract_instances under the /gsm_node directory, and I cannot find them in my running environment using command find / -name generate_mesh. I guess the package gsm_node doesn't compile as espected even though it doesn't throw compilation ERROR. But I don't know how to check and fix it : ( .

[hmz-15]

Sorry for my later reply. generate_mesh and extract_instances are in fact two ros services implemented in global_segment_map_node/src/controller.cpp. You can explicitly compile gsm_node by:

catkin build gsm_node

You can check whether the service is available by:

rosservice list

[DoctorXK]

Sorry for my later reply. I tried, but it seems not work. I cannot find generate_mesh and extract_instances under rosservice list after

catkin build gsm_node

You can see there is some packages skipped or ignored.

After execute Step 4 you can see Service [/gsm_node/generate_mesh] is not available.

Another thing that hit me is when executing

roslaunch panoptic_mapping_pipeline scenenn_pano_mapping.launch sequence:=sceneNN_test

I can see some ERROR message about gms_node:

[DoctorXK]

Another new ERROR occur!!! Lets forget about the previous discussion. :)

I try to install the running environment in a new machine with Ubuntu 20.04 and compile successfully. When I launch the ros nodes as Step2 in Robust Panoptic Mapping, the system prompts that the [gsm_node-4] process has died. But luckily it seems that the panoptic mapping is still running. When the mapping process ends, I call the two ros services to save results. But throw an ERROR Is there any settings with respect to the cause of ERROR?

[TooSchoolForCool]

The gsm_node crashed and did not work as expected.

As you can properly build (compile) the whole program without error message prompted, this must be a runtime error.

I would suggest using gdb to debug this kind of error.

Here is some of my conjecture:

• We've test the whole program extensively, so I guess this runtime error might not be a segmentation fault or access violation.
• One possibility is that something wrong with the 3rd party dependencies, e.g., vtk required by pcl.
• Besides, probably you linked the program to a wrong dynamic link library, for example, the program requires lib.so.2.x.x, but you link them to lib.so.1.x.x. This usually happened when you have multiple copies of same library, e.g., Boost, Eigen, OpenCV, etc.

[DoctorXK]

Thank you for your suggestions!!! :)

There is another thing I want to confirm with you, because I am afraid of missing potentially important information. I notice that when the compilation complete the system will prompt that Ignored: 6 packages were skipped or are skiplisted.

Do you think these packages ignoring will have a big impact with gsm_node?

[DoctorXK]

Hi there,

I have found out the reason why the gsm_node crashed. It was because I ran the panoptic mapping through MobaXterm and the visualization didn't work successfully through MobaXterm, which then caused the crash of gsm_node. As long as I run in local terminal and visualize in local screen, the gsm_node works normally. :)

Thanks for you help again~