我在进行跑demo时，在roslaunch命令时，出现下面的错误，学生在寻找解决方案时，没有找到有效的解决方案，所以想请老师指导一下，下面是出现的错误： [ic_gvins_node-2] process has died [pid 2717, exit code -6, cmd /home/scc/gvins_ws/devel/lib/ic_gvins/ic_gvins_ros name:=ic_gvins_node log:=/home/scc/.ros/log/70fe380e-4f8d-11ee-b8cb-1599f70f4e49/ic_gvins_node-2.log]. log file: /home/scc/.ros/log/70fe380e-4f8d-11ee-b8cb-1599f70f4e49/ic_gvins_node-2*.log

IC-GVINS多源融合定位算法配置文件

结果输出路径

Output directory

outputpath: "/home/scc/gvins_ws/output" is_make_outputdir: true

时间信息, s

Time length for GNSS/INS intialization

initlength: 1

IMU原始数据频率, Hz

IMU sample rate

imudatarate: 100

考虑地球自转补偿项

Consider the Earth rotation

iswithearth: true

天线杆臂, IMU前右下方向, m

GNSS lever-arm in IMU body frame (front-right-down)

antlever: [0.07, 0, -0.23]

IMU噪声建模参数

IMU noise parameters

imumodel: arw: 0.2 # deg/sqrt(hr) vrw: 0.5 # m/s/sqrt(hr) gbstd: 10.0 # deg/hr abstd: 150.0 # mGal corrtime: 1.0 # hr

GNSS中断配置

GNSS outage configurations, the GNSS will not be used after the gnssoutagetime

isusegnssoutage: false gnssoutagetime: 364461.5

固定阈值GNSS抗差

A fixed threshold (STD, m) for GNSS outlier culling

gnssthreshold: 5

是否开启可视化

Use visualization

is_use_visualization: true

跟踪

Tracking configurations

track_check_histogram: false # 直方图检查, 避免出现光照变化较大的图像 (Check histogram for drastic illumulation change) track_min_parallax: 15 # 关键帧最小像素视差 (The minmum parallax in pixels to choose a keyframe) track_max_interval: 0.5 # 最大的关键帧间隔, 超过则插入观测帧, s (The maximum lenght to choose a observation frame) track_max_features: 200 # 最大提取特征数量 (The maximum features to detect, may be more or less, see tracking.cc)

优化

Optimization configurations

reprojection_error_std: 1.5 # 像素重投影误差 (The reprojection error std for optimizition and outlier culling) optimize_windows_size: 10 # 滑动窗口大小 (The size of the sliding window, number of the keyframes ) optimize_num_iterations: 20 # 优化迭代次数 (The iterations in total) optimize_estimate_extrinsic: true # 是否估计相机和IMU的外参 (Estimate the extrinsic) optimize_estimate_td: true # 否估计相机和IMU之间的时间间隔 (Estimate the time delay)

Camera parameters

cam0:

内参 [fx, fy, cx, cy(, skew)]

# Intrinsic parameters, pinhole model
intrinsic:
    [
        8.1640221474060002e+02,
        8.1738388562809996e+02,
        6.0882658427579997e+02,
        2.6668865652440002e+02,
        -2.3882017757999998e+00,
    ]

# 畸变参数 [k1, k2, p1, p2(, k3)]
# Distortion parameters
distortion:
    [
        -5.0040485799999999e-02,
        1.2001217170000000e-01,
        -6.2598060000000004e-04,
        -1.1825064000000000e-03,
        -6.3505207999999994e-02,
    ]

# 图像分辨率
# Resolution
resolution: [1280, 560]

# 相机IMU外参 (Camera-IMU extrinsic)
# Pb = q_b_c * Pc + t_b_c
# q (x, y, z, w)
q_b_c: [0.49452151768306785, 0.4977818081111032, 0.5055845943507494, 0.5020417891144757]
t_b_c: [1.71239, -0.247401, 0.11589]

# IMU和相机时间延时 (The time delay between the IMU and camera)
# t_i = t_c + td
td_b_c: 0.0

i2Nav-WHU / IC-GVINS

祝老师教师节快乐，学生在跑demo所遇问题。 #35