Hi guys,

I got this error when I tried to launch the "hdl_graph_slam_xxx.launch" files (on both 400 and 501 bags, the g2o version is the one mentioned on the README file)

Using CSparse poseDim -1 landMarkDim -1 blockordering 0

Error in `/opt/ros/kinetic/lib/nodelet/nodelet': ======= Backtrace: ========= /lib/x86_64-linux-gnu/libc.so.6(+0x777e5)[0x7f8f66fa97e /lib/x86_64-linux-gnu/libc.so.6(+0x8037a)[0x7f8f66fb237 /lib/x86_64-linux-gnu/libc.so.6(cfree+0x4c)[0x7f8f66fb6 /opt/ros/kinetic/lib/libroscpp.so(_ZNK3ros10NodeHandle1 /opt/ros/kinetic/lib/libroscpp.so(_ZNK3ros10NodeHandle1 /opt/ros/kinetic/lib/libroscpp.so(_ZNK3ros10NodeHandle8 /home/z/iliad_ws/devel/lib//libhdl_graph_slam_nodelet.s /home/z/iliad_ws/devel/lib//libhdl_graph_slam_nodelet.s /opt/ros/kinetic/lib/libnodeletlib.so(_ZN7nodelet7Nodel /opt/ros/kinetic/lib/libnodeletlib.so(_ZN7nodelet6Loade /opt/ros/kinetic/lib/libnodeletlib.so(_ZN7nodelet9Loade /opt/ros/kinetic/lib/libnodeletlib.so(_ZN3ros22ServiceC /opt/ros/kinetic/lib/libroscpp.so(_ZN3ros15ServiceCallb /opt/ros/kinetic/lib/libroscpp.so(_ZN3ros13CallbackQueu /opt/ros/kinetic/lib/libroscpp.so(_ZN3ros13CallbackQueu /opt/ros/kinetic/lib/libroscpp.so(_ZN3ros21SingleThread /opt/ros/kinetic/lib/libroscpp.so(_ZN3ros4spinEv+0x2b)[ /opt/ros/kinetic/lib/nodelet/nodelet(main+0x1e7)[0x4051 /lib/x86_64-linux-gnu/libc.so.6(libc_start_mai /opt/ros/kinetic/lib/nodelet/nodelet(_start+0x29)[0x406 ======= Memory map: ======== 00400000-0040e000 r-xp 00000000 103:02 47320383 0060d000-0060e000 r--p 0000d000 103:02 47320383 0060e000-0060f000 rw-p 0000e000 103:02 47320383 01b57000-0224b000 rw-p 00000000 00:00 0 7f8f30000000-7f8f30021000 rw-p 00000000 00:00 0 7f8f30021000-7f8f34000000 ---p 00000000 00:00 0 7f8f3522a000-7f8f35233000 r-xp 00000000 103:02 11543024 7f8f35233000-7f8f35432000 ---p 00009000 103:02 11543024 7f8f35432000-7f8f35433000 r--p 00008000 103:02 11543024 7f8f35433000-7f8f35434000 rw-p 00009000 103:02 11543024 7f8f35434000-7f8f3543e000 r-xp 00000000 103:02 11540753 7f8f3543e000-7f8f3563d000 ---p 0000a000 103:02 11540753 7f8f3563d000-7f8f3563e000 r--p 00009000 103:02 11540753 7f8f3563e000-7f8f3563f000 rw-p 0000a000 103:02 11540753 7f8f3563f000-7f8f35644000 r-xp 00000000 103:02 11542241 7f8f35644000-7f8f35843000 ---p 00005000 103:02 11542241 7f8f35843000-7f8f35844000 r--p 00004000 103:02 11542241 7f8f35844000-7f8f35845000 rw-p 00005000 103:02 11542241 7f8f35845000-7f8f35847000 r-xp 00000000 103:02 11542230 7f8f35847000-7f8f35a47000 ---p 00002000 103:02 11542230 7f8f35a47000-7f8f35a48000 r--p 00002000 103:02 11542230 7f8f35a48000-7f8f35a49000 rw-p 00003000 103:02 11542230 7f8f35a49000-7f8f35a82000 r-xp 00000000 103:02 11548756 7f8f35a82000-7f8f35c81000 ---p 00039000 103:02 11548756 7f8f35c81000-7f8f35c82000 r--p 00038000 103:02 11548756 7f8f35c82000-7f8f35c83000 rw-p 00039000 103:02 11548756 7f8f35c83000-7f8f35ca4000 r-xp 00000000 103:02 11543648 7f8f35ca4000-7f8f35ea3000 ---p 00021000 103:02 11543648 7f8f35ea3000-7f8f35ea4000 r--p 00020000 103:02 11543648 7f8f35ea4000-7f8f35ea5000 rw-p 00021000 103:02 11543648 7f8f35ea5000-7f8f35eb0000 r-xp 00000000 103:02 11542978 7f8f35eb0000-7f8f360af000 ---p 0000b000 103:02 11542978 7f8f360af000-7f8f360b0000 r--p 0000a000 103:02 11542978 7f8f360b0000-7f8f360b3000 rw-p 0000b000 103:02 11542978 7f8f360b3000-7f8f360d4000 r-xp 00000000 103:02 48894453 7f8f360d4000-7f8f362d3000 ---p 00021000 103:02 48894453 7f8f362d3000-7f8f362d4000 r--p 00020000 103:02 48894453 7f8f362d4000-7f8f362d5000 rw-p 00021000 103:02 48894453 7f8f362d5000-7f8f36365000 r-xp 00000000 103:02 11548784 7f8f36365000-7f8f36565000 ---p 00090000 103:02 11548784 7f8f36565000-7f8f36569000 r--p 00090000 103:02 11548784 7f8f36569000-7f8f3656d000 rw-p 00094000 103:02 11548784 7f8f3656d000-7f8f36572000 rw-p 00000000 00:00 0 7f8f36572000-7f8f365e7000 r-xp 00000000 103:02 11548780 7f8f365e7000-7f8f367e6000 ---p 00075000 103:02 11548780 7f8f367e6000-7f8f367e7000 r--p 00074000 103:02 11548780 7f8f367e7000-7f8f367ea000 rw-p 00075000 103:02 11548780 7f8f367ea000-7f8f367ec000 rw-p 00000000 00:00 0 7f8f367ec000-7f8f367f9000 r-xp 00000000 103:02 11548763 7f8f367f9000-7f8f369f9000 ---p 0000d000 103:02 11548763 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11549700 7f8f3a484000-7f8f3a486000 r--p 0002c000 103:02 11549700 7f8f3a486000-7f8f3a487000 rw-p 0002e000 103:02 11549700 7f8f3a487000-7f8f3a4aa000 r-xp 00000000 103:02 11549671 7f8f3a4aa000-7f8f3a6a9000 ---p 00023000 103:02 11549671 7f8f3a6a9000-7f8f3a6ab000 r--p 00022000 103:02 11549671 7f8f3a6ab000-7f8f3a6ac000 rw-p 00024000 103:02 11549671 7f8f3a6ac000-7f8f3a6ee000 r-xp 00000000 103:02 11549732 7f8f3a6ee000-7f8f3a8ee000 ---p 00042000 103:02 11549732 7f8f3a8ee000-7f8f3a8ef000 r--p 00042000 103:02 11549732 7f8f3a8ef000-7f8f3a8f0000 rw-p 00043000 103:02 11549732 7f8f3a8f0000-7f8f3a8f1000 rw-p 00000000 00:00 0 7f8f3a8f1000-7f8f3a93e000 r-xp 00000000 103:02 11549937 7f8f3a93e000-7f8f3ab3d000 ---p 0004d000 103:02 11549937 7f8f3ab3d000-7f8f3ab3f000 r--p 0004c000 103:02 11549937 7f8f3ab3f000-7f8f3ab40000 rw-p 0004e000 103:02 11549937 7f8f3ab40000-7f8f3ab58000 r-xp 00000000 103:02 11548768 7f8f3ab58000-7f8f3ad58000 ---p 00018000 103:02 11548768 7f8f3ad58000-7f8f3ad5a000 r--p 00018000 103:02 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/opt/ros/kinetic/lib/libroslib.so /opt/ros/kinetic/lib/libroslib.so /opt/ros/kinetic/lib/libclass_loader.so /opt/ros/kinetic/lib/libclass_loader.so /opt/ros/kinetic/lib/libclass_loader.so /opt/ros/kinetic/lib/libclass_loader.so /usr/lib/x86_64-linux-gnu/libtinyxml2.so.2.2.0 /usr/lib/x86_64-linux-gnu/libtinyxml2.so.2.2.0 /usr/lib/x86_64-linux-gnu/libtinyxml2.so.2.2.0 /usr/lib/x86_64-linux-gnu/libtinyxml2.so.2.2.0 /lib/x86_64-linux-gnu/libc-2.23.so /lib/x86_64-linux-gnu/libc-2.23.so /lib/x86_64-linux-gnu/libc-2.23.so /lib/x86_64-linux-gnu/libc-2.23.so /lib/x86_64-linux-gnu/libgcc_s.so.1 /lib/x86_64-linux-gnu/libgcc_s.so.1 /lib/x86_64-linux-gnu/libgcc_s.so.1 /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.21 /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.21 /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.21 /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.21 /usr/lib/x86_64-linux-gnu/libboost_system.so.1.58.0 /usr/lib/x86_64-linux-gnu/libboost_system.so.1.58.0 /usr/lib/x86_64-linux-gnu/libboost_system.so.1.58.0 /usr/lib/x86_64-linux-gnu/libboost_system.so.1.58.0 /opt/ros/kinetic/lib/librostime.so /opt/ros/kinetic/lib/librostime.so /opt/ros/kinetic/lib/librostime.so /opt/ros/kinetic/lib/librostime.so /opt/ros/kinetic/lib/libroscpp_serialization.so /opt/ros/kinetic/lib/libroscpp_serialization.so /opt/ros/kinetic/lib/libroscpp_serialization.so /opt/ros/kinetic/lib/libroscpp_serialization.so /opt/ros/kinetic/lib/libxmlrpcpp.so /opt/ros/kinetic/lib/libxmlrpcpp.so /opt/ros/kinetic/lib/libxmlrpcpp.so /opt/ros/kinetic/lib/libxmlrpcpp.so /opt/ros/kinetic/lib/librosconsole.so /opt/ros/kinetic/lib/librosconsole.so /opt/ros/kinetic/lib/librosconsole.so /opt/ros/kinetic/lib/librosconsole.so /opt/ros/kinetic/lib/libroscpp.so /opt/ros/kinetic/lib/libroscpp.so /opt/ros/kinetic/lib/libroscpp.so /opt/ros/kinetic/lib/libroscpp.so /opt/ros/kinetic/lib/libbondcpp.so /opt/ros/kinetic/lib/libbondcpp.so /opt/ros/kinetic/lib/libbondcpp.so /opt/ros/kinetic/lib/libbondcpp.so /lib/x86_64-linux-gnu/libuuid.so.1.3.0 /lib/x86_64-linux-gnu/libuuid.so.1.3.0 /lib/x86_64-linux-gnu/libuuid.so.1.3.0 /lib/x86_64-linux-gnu/libuuid.so.1.3.0 /opt/ros/kinetic/lib/libnodeletlib.so /opt/ros/kinetic/lib/libnodeletlib.so /opt/ros/kinetic/lib/libnodeletlib.so /opt/ros/kinetic/lib/libnodeletlib.so /lib/x86_64-linux-gnu/ld-2.23.so /lib/x86_64-linux-gnu/libudev.so.1.6.4 /lib/x86_64-linux-gnu/libudev.so.1.6.4 /lib/x86_64-linux-gnu/libudev.so.1.6.4 /lib/x86_64-linux-gnu/ld-2.23.so /lib/x86_64-linux-gnu/ld-2.23.so [stack] [vvar] [vdso] [vsyscall] Failed to load nodelet '/floor_detection_nodeletof typehdl_graph_slam/FloorDetectionNodeletto managervelodyne_nodelet_manager'[0m Failed to load nodelet '/hdl_graph_slam_nodeletof typehdl_graph_slam/HdlGraphSlamNodeletto managervelodyne_nodelet_manager'[0m died [pid 487, exit code -6, cmd /opt/ros/kinetic/lib/nodelet/nodelet manager name:=velodyne_nodelet_manager log:=/home/z/.ros/log/40bdce56-3da1-11e8-ab99-28c63f080efd/velodyne_nodelet_manager-1.log]. 3f080efd/velodyne_nodelet_manager-1.log[0m [pid 491, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load hdl_graph_slam/FloorDetectionNodelet velodyne_nodelet_manager name:=floor_detection_nodelet log:=/home/z/.ros/log/40bdce56-3da1-11e8-ab99-28c63f080efd/floor_detection_nodelet-4.log]. 3f080efd/floor_detection_nodelet-4.log[0m [pid 504, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load hdl_graph_slam/HdlGraphSlamNodelet velodyne_nodelet_manager __name:=hdl_graph_slam_nodelet __log:=/home/z/.ros/log/40bdce56-3da1-11e8-ab99-28c63f080efd/hdl_graph_slam_nodelet-5.log].

Any ideas will be appreciated. Many thanks in advance. Kevin

@koide3 Hello, I met the same problem on Ubuntu 18.04:

ERROR: cannot launch node of type [hdl_graph_slam/map2odom_publisher.py]: hdl_graph_slam ROS path [0]=/opt/ros/melodic/share/ros ROS path [1]=/opt/ros/melodic/share [ INFO] [1601649002.363939515]: Initializing nodelet with 12 worker threads. [ERROR] [1601649002.382224582]: Failed to load nodelet [/floor_detection_nodelet] of type [hdl_graph_slam/FloorDetectionNodelet] even after refreshing the cache: According to the loaded plugin descriptions the class hdl_graph_slam/FloorDetectionNodelet with base class type nodelet::Nodelet does not exist. Declared types are SlamGMappingNodelet 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] [1601649002.382261051]: The error before refreshing the cache was: According to the loaded plugin descriptions the class hdl_graph_slam/FloorDetectionNodelet with base class type nodelet::Nodelet does not exist. Declared types are SlamGMappingNodelet 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 [FATAL] [1601649002.382398995]: Failed to load nodelet '/floor_detection_nodeletof typehdl_graph_slam/FloorDetectionNodeletto managervelodyne_nodelet_manager' [ERROR] [1601649002.392705206]: 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 SlamGMappingNodelet 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] [1601649002.392736366]: 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 SlamGMappingNodelet 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 [FATAL] [1601649002.392904336]: Failed to load nodelet '/prefiltering_nodeletof typehdl_graph_slam/PrefilteringNodeletto managervelodyne_nodelet_manager' [ERROR] [1601649002.402747336]: 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 SlamGMappingNodelet 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] [1601649002.402776471]: 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 SlamGMappingNodelet 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 [FATAL] [1601649002.402884761]: Failed to load nodelet '/hdl_graph_slam_nodeletof typehdl_graph_slam/HdlGraphSlamNodeletto managervelodyne_nodelet_manager' [ERROR] [1601649002.412819895]: 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 SlamGMappingNodelet 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] [1601649002.412849739]: 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 SlamGMappingNodelet 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 [FATAL] [1601649002.412973138]: Failed to load nodelet '/scan_matching_odometry_nodeletof typehdl_graph_slam/ScanMatchingOdometryNodeletto managervelodyne_nodelet_manager' [prefiltering_nodelet-3] process has died [pid 20783, exit code 255, cmd /opt/ros/melodic/lib/nodelet/nodelet load hdl_graph_slam/PrefilteringNodelet velodyne_nodelet_manager /velodyne_points:=/velodyne_points name:=prefiltering_nodelet __log:=/home/pechpher/.ros/log/532f4340-04b3-11eb-b0a8-54bf64531def/prefiltering_nodelet-3.log]. log file: /home/pechpher/.ros/log/532f4340-04b3-11eb-b0a8-54bf64531def/prefiltering_nodelet-3*.log [scan_matching_odometry_nodelet-4] process has died [pid 20785, exit code 255, cmd /opt/ros/melodic/lib/nodelet/nodelet load hdl_graph_slam/ScanMatchingOdometryNodelet velodyne_nodelet_manager name:=scan_matching_odometry_nodelet log:=/home/pechpher/.ros/log/532f4340-04b3-11eb-b0a8-54bf64531def/scan_matching_odometry_nodelet-4.log]. log file: /home/pechpher/.ros/log/532f4340-04b3-11eb-b0a8-54bf64531def/scan_matching_odometry_nodelet-4*.log [floor_detection_nodelet-5] process has died [pid 20787, exit code 255, cmd /opt/ros/melodic/lib/nodelet/nodelet load hdl_graph_slam/FloorDetectionNodelet velodyne_nodelet_manager name:=floor_detection_nodelet log:=/home/pechpher/.ros/log/532f4340-04b3-11eb-b0a8-54bf64531def/floor_detection_nodelet-5.log]. log file: /home/pechpher/.ros/log/532f4340-04b3-11eb-b0a8-54bf64531def/floor_detection_nodelet-5*.log [hdl_graph_slam_nodelet-6] process has died [pid 20793, exit code 255, cmd /opt/ros/melodic/lib/nodelet/nodelet load hdl_graph_slam/HdlGraphSlamNodelet velodyne_nodelet_manager __name:=hdl_graph_slam_nodelet log:=/home/pechpher/.ros/log/532f4340-04b3-11eb-b0a8-54bf64531def/hdl_graph_slam_nodelet-6.log]. log file: /home/pechpher/.ros/log/532f4340-04b3-11eb-b0a8-54bf64531def/hdl_graph_slam_nodelet-6*.log

koide3 / hdl_graph_slam

hdl_graph_slam hdl_graph_slam_xxx.launch FAILED #4

Using CSparse poseDim -1 landMarkDim -1 blockordering 0