Algorithm crashing

[ekow-mensah]

Hi, I have been experiencing a problem where after a number of nodes are added to the pose graph the algorithm crashes and returns the following errors.

[pcl::NormalEstimation::compute] input_ is empty!

Initially when the algorithm starts no errors are present, then a new marker is added to the map (sphere), this error is printed out in Rviz:

[ WARN] [1533303347.367675061]: Invalid argument passed to canTransform argument source_frame in tf2 frame_ids cannot be empty

And the Marker Array section in Rviz says status error but with no additional information.

I would really appreciate some help on this. Thank you very much!

[koide3]

Hi, I guess the first error was caused in floor_detection_nodelet since no other nodelet uses the normal estimation. Can you disable the floor detection by changing "enable_floor_detection" in your launch file to "false"?

[ekow-mensah]

When i set the enable_floor_detection in the launch file to false, it still crashes and returns a long error message. Please see below:

[ERROR] [1533638036.111240000]: Failed to load nodelet [/prefiltering_nodelet] of type [hdl_graph_slam/PrefilteringNodelet] even after refreshing the cache: According to the loaded plugin descriptions the class hdl_graph_slam/PrefilteringNodelet with base class type nodelet::Nodelet does not exist. Declared types are depth_image_proc/convert_metric depth_image_proc/crop_foremost depth_image_proc/disparity depth_image_proc/point_cloud_xyz depth_image_proc/point_cloud_xyz_radial depth_image_proc/point_cloud_xyzi depth_image_proc/point_cloud_xyzi_radial depth_image_proc/point_cloud_xyzrgb depth_image_proc/register image_proc/crop_decimate image_proc/crop_nonZero image_proc/crop_non_zero image_proc/debayer image_proc/rectify image_proc/resize image_publisher/image_publisher image_rotate/image_rotate image_view/disparity image_view/image nodelet_tutorial_math/Plus pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid stereo_image_proc/disparity stereo_image_proc/point_cloud2 velodyne_driver/DriverNodelet velodyne_laserscan/LaserScanNodelet velodyne_pointcloud/CloudNodelet velodyne_pointcloud/RingColorsNodelet velodyne_pointcloud/TransformNodelet [ERROR] [1533638036.111341937]: The error before refreshing the cache was: According to the loaded plugin descriptions the class hdl_graph_slam/PrefilteringNodelet with base class type nodelet::Nodelet does not exist. Declared types are depth_image_proc/convert_metric depth_image_proc/crop_foremost depth_image_proc/disparity depth_image_proc/point_cloud_xyz depth_image_proc/point_cloud_xyz_radial depth_image_proc/point_cloud_xyzi depth_image_proc/point_cloud_xyzi_radial depth_image_proc/point_cloud_xyzrgb depth_image_proc/register image_proc/crop_decimate image_proc/crop_nonZero image_proc/crop_non_zero image_proc/debayer image_proc/rectify image_proc/resize image_publisher/image_publisher image_rotate/image_rotate image_view/disparity image_view/image nodelet_tutorial_math/Plus pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid stereo_image_proc/disparity stereo_image_proc/point_cloud2 velodyne_driver/DriverNodelet velodyne_laserscan/LaserScanNodelet velodyne_pointcloud/CloudNodelet velodyne_pointcloud/RingColorsNodelet velodyne_pointcloud/TransformNodelet [ERROR] [1533638036.133664307]: Failed to load nodelet [/scan_matching_odometry_nodelet] of type [hdl_graph_slam/ScanMatchingOdometryNodelet] even after refreshing the cache: According to the loaded plugin descriptions the class hdl_graph_slam/ScanMatchingOdometryNodelet with base class type nodelet::Nodelet does not exist. Declared types are depth_image_proc/convert_metric depth_image_proc/crop_foremost depth_image_proc/disparity depth_image_proc/point_cloud_xyz depth_image_proc/point_cloud_xyz_radial depth_image_proc/point_cloud_xyzi depth_image_proc/point_cloud_xyzi_radial depth_image_proc/point_cloud_xyzrgb depth_image_proc/register image_proc/crop_decimate image_proc/crop_nonZero image_proc/crop_non_zero image_proc/debayer image_proc/rectify image_proc/resize image_publisher/image_publisher image_rotate/image_rotate image_view/disparity image_view/image nodelet_tutorial_math/Plus pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid stereo_image_proc/disparity stereo_image_proc/point_cloud2 velodyne_driver/DriverNodelet velodyne_laserscan/LaserScanNodelet velodyne_pointcloud/CloudNodelet velodyne_pointcloud/RingColorsNodelet velodyne_pointcloud/TransformNodelet [ERROR] [1533638036.133778030]: The error before refreshing the cache was: According to the loaded plugin descriptions the class hdl_graph_slam/ScanMatchingOdometryNodelet with base class type nodelet::Nodelet does not exist. Declared types are depth_image_proc/convert_metric depth_image_proc/crop_foremost depth_image_proc/disparity depth_image_proc/point_cloud_xyz depth_image_proc/point_cloud_xyz_radial depth_image_proc/point_cloud_xyzi depth_image_proc/point_cloud_xyzi_radial depth_image_proc/point_cloud_xyzrgb depth_image_proc/register image_proc/crop_decimate image_proc/crop_nonZero image_proc/crop_non_zero image_proc/debayer image_proc/rectify image_proc/resize image_publisher/image_publisher image_rotate/image_rotate image_view/disparity image_view/image nodelet_tutorial_math/Plus pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid stereo_image_proc/disparity stereo_image_proc/point_cloud2 velodyne_driver/DriverNodelet velodyne_laserscan/LaserScanNodelet velodyne_pointcloud/CloudNodelet velodyne_pointcloud/RingColorsNodelet velodyne_pointcloud/TransformNodelet [ERROR] [1533638036.155931992]: Failed to load nodelet [/hdl_graph_slam_nodelet] of type [hdl_graph_slam/HdlGraphSlamNodelet] even after refreshing the cache: According to the loaded plugin descriptions the class hdl_graph_slam/HdlGraphSlamNodelet with base class type nodelet::Nodelet does not exist. Declared types are depth_image_proc/convert_metric depth_image_proc/crop_foremost depth_image_proc/disparity depth_image_proc/point_cloud_xyz depth_image_proc/point_cloud_xyz_radial depth_image_proc/point_cloud_xyzi depth_image_proc/point_cloud_xyzi_radial depth_image_proc/point_cloud_xyzrgb depth_image_proc/register image_proc/crop_decimate image_proc/crop_nonZero image_proc/crop_non_zero image_proc/debayer image_proc/rectify image_proc/resize image_publisher/image_publisher image_rotate/image_rotate image_view/disparity image_view/image nodelet_tutorial_math/Plus pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid stereo_image_proc/disparity stereo_image_proc/point_cloud2 velodyne_driver/DriverNodelet velodyne_laserscan/LaserScanNodelet velodyne_pointcloud/CloudNodelet velodyne_pointcloud/RingColorsNodelet velodyne_pointcloud/TransformNodelet [ERROR] [1533638036.156139883]: The error before refreshing the cache was: According to the loaded plugin descriptions the class hdl_graph_slam/HdlGraphSlamNodelet with base class type nodelet::Nodelet does not exist. Declared types are depth_image_proc/convert_metric depth_image_proc/crop_foremost depth_image_proc/disparity depth_image_proc/point_cloud_xyz depth_image_proc/point_cloud_xyz_radial depth_image_proc/point_cloud_xyzi depth_image_proc/point_cloud_xyzi_radial depth_image_proc/point_cloud_xyzrgb depth_image_proc/register image_proc/crop_decimate image_proc/crop_nonZero image_proc/crop_non_zero image_proc/debayer image_proc/rectify image_proc/resize image_publisher/image_publisher image_rotate/image_rotate image_view/disparity image_view/image nodelet_tutorial_math/Plus pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid stereo_image_proc/disparity stereo_image_proc/point_cloud2 velodyne_driver/DriverNodelet velodyne_laserscan/LaserScanNodelet velodyne_pointcloud/CloudNodelet velodyne_pointcloud/RingColorsNodelet velodyne_pointcloud/TransformNodelet

[koide3]

Hi, Can you start all the nodelets with standalone mode to find which one gets crashed?

Change: <node pkg="nodelet" ... args="load ..." /> to: <node pkg="nodelet" ... args="standalone ..." />

[ekow-mensah]

hi, when i started all nodelets in standalone mode, i found that the hdl_graph_slam nodelet keeps crashing. I have pasted the error below:

[hdl_graph_slam_nodelet-3] process has died [pid 16590, exit code -11, cmd /opt/ros/kinetic/lib/nodelet/nodelet standalone hdl_graph_slam/HdlGraphSlamNodelet velodyne_nodelet_manager __name:=hdl_graph_slam_nodelet __log:=/home/lunet/coem2/.ros/log/e1bbd4f2-9a39-11e8-ae46-9c8e99dee3fc/hdl_graph_slam_nodelet-3.log]. log file: /home/lunet/coem2/.ros/log/e1bbd4f2-9a39-11e8-ae46-9c8e99dee3fc/hdl_graph_slam_nodelet-3*.log

I keep getting this error as well:

int g2o::csparse_extension::cs_cholsolsymb(const cs_di, double, const cs_dis, double, int*): cholesky failed! Cholesky failure, writing debug.txt (Hessian loadable by Octave)

[koide3]

hi, Are you using the branch "devel"? It seems the optimizer causes the error. Can you change "g2o_solver_type" to "lm_var" or "gn_var"?

[ekow-mensah]

hi, I am using the "lm_var" solver and no I forked the project from the master branch. Should I switch the solver type to "gn_var"?

I still get the same error when using gn_var and my results are strange as well.

Its alright I applied the fix form issue #4 and the solver seams to work now. But after some iterations the map tends to tilt and the generated map isn't really accurate. In the image below, I tried mapping a corridor which is one floor but it appears as if i went through two floors.

[koide3]

I think floor constraints may significantly improve the map accuracy in your environment. Try to enable floor_detection_nodelet and check if the floor is correctly detected by looking /floor_detection/floor_points. You can see the detected floor cloud on this topic.

[ekow-mensah]

Thanks @koide3 enabling floor detection did solve the problem.