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koide3 / hdl_graph_slam

3D LIDAR-based Graph SLAM
BSD 2-Clause "Simplified" License
1.97k stars 726 forks source link

SLAM 3D using RoboSense Lidar #111

Open balletg opened 4 years ago

balletg commented 4 years ago

Hi koide3,

Thanks for your open source project. I am trying to use hdl to perform an hand held slam with the 16 nap rslidar. I have modified the hdl_graph_slam.launch you have provided but each time I launch it I receive below error :

[FATAL] [1585131902.225136372]: Failed to load nodelet '/prefiltering_nodeletof typehdl_graph_slam/PrefilteringNodeletto managerrslidar_nodelet_manager' [prefiltering_nodelet-2] process has died [pid 9578, exit code 255, cmd /opt/ros/melodic/lib/nodelet/nodelet load hdl_graph_slam/PrefilteringNodelet rslidar_nodelet_manager /rslidar_points:=/rslidar_points name:=prefiltering_nodelet log:=/home/gabriel/.ros/log/196aa6d6-6e81-11ea-ab4f-40a3cc4085fd/prefiltering_nodelet-2.log]. log file: /home/gabriel/.ros/log/196aa6d6-6e81-11ea-ab4f-40a3cc4085fd/prefiltering_nodelet-2*.log [FATAL] [1585131902.496909072]: Failed to load nodelet '/hdl_graph_slam_nodeletof typehdl_graph_slam/HdlGraphSlamNodeletto managerrslidar_nodelet_manager' [hdl_graph_slam_nodelet-4] process has died [pid 9585, exit code 255, cmd /opt/ros/melodic/lib/nodelet/nodelet load hdl_graph_slam/HdlGraphSlamNodelet rslidar_nodelet_manager name:=hdl_graph_slam_nodelet log:=/home/gabriel/.ros/log/196aa6d6-6e81-11ea-ab4f-40a3cc4085fd/hdl_graph_slam_nodelet-4.log]. log file: /home/gabriel/.ros/log/196aa6d6-6e81-11ea-ab4f-40a3cc4085fd/hdl_graph_slam_nodelet-4.log [FATAL] [1585131902.753282107]: Failed to load nodelet '/scan_matching_odometry_nodeletof typehdl_graph_slam/ScanMatchingOdometryNodeletto managerrslidar_nodelet_manager' [scan_matching_odometry_nodelet-3] process has died [pid 9579, exit code 255, cmd /opt/ros/melodic/lib/nodelet/nodelet load hdl_graph_slam/ScanMatchingOdometryNodelet rslidar_nodelet_manager __name:=scan_matching_odometry_nodelet __log:=/home/gabriel/.ros/log/196aa6d6-6e81-11ea-ab4f-40a3cc4085fd/scan_matching_odometry_nodelet-3.log]. log file: /home/gabriel/.ros/log/196aa6d6-6e81-11ea-ab4f-40a3cc4085fd/scan_matching_odometry_nodelet-3.log

Could you please help me understood why is it failing ? I am running it with ubuntu 18 and melodic and I have followed the instructions in the README to install hdl_graph_slam Thanks

koide3 commented 4 years ago

Hi @balletg , Please make sure that you have installed ros-melodic-nodelet.

balletg commented 4 years ago

Hi @koide3 Indeed it was not installed on one of my two computers (the one on which the lidar is connected to) but I am still having the same issue anyway