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jake3991 / DRACo-SLAM

Multirobot SLAM system for underwater vehicles with imaging sonar
MIT License
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RuntimeError: Indeterminant linear system detected while working near variable8791026472627208192 (Symbol: z0). #5

Open WLXM0922 opened 2 months ago

WLXM0922 commented 2 months ago

Hello! Thank you very much for your work. When I successfully compiled and ran this demo, the terminal reported an error: draco_slam/src/draco_slam/multi_robot_slam.py", line 1320, in merge_trajectory isam.update(graph, values) RuntimeError: Indeterminant linear system detected while working near variable8791026472627208192 (Symbol: z0). Thrown when a linear system is ill-posed. The most common cause for this error is having underconstrained variables. Mathematically, the system is underdetermined. Is this error due to a problem with the ros packet? Or is there something wrong with the parameters? I don't know how to modify it. I would appreciate it if you could answer my question. Looking forward to your reply

WLXM0922 commented 1 month ago

Hello! Thank you very much for your work. When I successfully compiled and ran this demo, the terminal reported an error: draco_slam/src/draco_slam/multi_robot_slam.py", line 1320, in merge_trajectory isam.update(graph, values) RuntimeError: Indeterminant linear system detected while working near variable8791026472627208192 (Symbol: z0). Thrown when a linear system is ill-posed. The most common cause for this error is having underconstrained variables. Mathematically, the system is underdetermined. Is this error due to a problem with the ros packet? Or is there something wrong with the parameters? I don't know how to modify it. I would appreciate it if you could answer my question. Looking forward to your reply Every time I run it, I will get an error: File "/src/draco_slam/src/draco_slam/multi_robot_slam.py", line 779, in state_update_callback self.update_factor_graph()
File "/src/draco_slam/src/draco_slam/multi_robot_slam.py", line 1469, in update_factor_graph isam = self.merge_trajectory(isam, robot) File "/src/draco_slam/src/draco_slam/multi_robot_slam.py", line 1405, in merge_trajectory isam.update(graph, values) RuntimeError: Indeterminant linear system detected while working near variable 8718968878589280264 (Symbol: y8).

Thrown when a linear system is ill-posed. The most common cause for this error is having underconstrained variables. Mathematically, the system is underdetermined. See the GTSAM Doxygen documentation at http://borg.cc.gatech.edu/ on gtsam::IndeterminantLinearSystemException for more information. Why does the values in the factor diagram go wrong when the closed loop of the trajectory between ROVs is detected, and it becomes very large, and the reason can't be found?