Hello Koide3,

Failed after use gicp as registration method, please take a look. Just changed the launch: param name="ndt_neighbor_search_method" value="GICP_OMP"

SUMMARY

PARAMETERS

/globalmap_server_nodelet/downsample_resolution: 0.1
/globalmap_server_nodelet/globalmap_pcd: /home/Andy/Hun...
/hdl_localization_nodelet/cool_time_duration: 2.0
/hdl_localization_nodelet/downsample_resolution: 0.2
/hdl_localization_nodelet/init_ori_w: 1.0
/hdl_localization_nodelet/init_ori_x: 0.0
/hdl_localization_nodelet/init_ori_y: 0.0
/hdl_localization_nodelet/init_ori_z: 0.0
/hdl_localization_nodelet/init_pos_x: 0.0
/hdl_localization_nodelet/init_pos_y: 0.0
/hdl_localization_nodelet/init_pos_z: 0.0
/hdl_localization_nodelet/invert_imu: False
/hdl_localization_nodelet/ndt_neighbor_search_method: GICP_OMP
/hdl_localization_nodelet/ndt_resolution: 1.0
/hdl_localization_nodelet/odom_child_frame_id: rslidar
/hdl_localization_nodelet/specify_init_pose: True
/hdl_localization_nodelet/use_imu: False
/rosdistro: melodic
/rosversion: 1.14.10

NODES / globalmap_server_nodelet (nodelet/nodelet) hdl_localization_nodelet (nodelet/nodelet) velodyne_nodelet_manager (nodelet/nodelet)

ROS_MASTER_URI=http://localhost:11311

process[velodyne_nodelet_manager-1]: started with pid [30408] process[globalmap_server_nodelet-2]: started with pid [30409] process[hdl_localization_nodelet-3]: started with pid [30410] [ INFO] [1607161930.052632541]: Initializing nodelet with 12 worker threads. [ INFO] [1607161930.185192853]: search_method GICP_OMP is selected [ INFO] [1607161930.185621808]: initialize pose estimator with specified parameters!! [ INFO] [1607161930.241544730]: globalmap received! nodelet: /build/pcl-OilVEB/pcl-1.8.1+dfsg1/kdtree/include/pcl/kdtree/impl/kdtree_flann.hpp:136: int pcl::KdTreeFLANN<PointT, Dist>::nearestKSearch(const PointT&, int, std::vector&, std::vector&) const [with PointT = pcl::PointXYZI; Dist = flann::L2_Simple]: Assertion `pointrepresentation->isValid (point) && "Invalid (NaN, Inf) point coordinates given to nearestKSearch!"' failed. [velodyne_nodelet_manager-1] process has died [pid 30408, exit code -6, cmd /opt/ros/melodic/lib/nodelet/nodelet manager name:=velodyne_nodelet_manager log:=/home/Andy/.ros/log/a885c078-36cf-11eb-8db8-983b8fd5befc/velodyne_nodelet_manager-1.log]. log file: /home/Andy/.ros/log/a885c078-36cf-11eb-8db8-983b8fd5befc/velodyne_nodelet_manager-1.log [globalmap_server_nodelet-2] process has finished cleanly log file: /home/Andy/.ros/log/a885c078-36cf-11eb-8db8-983b8fd5befc/globalmap_server_nodelet-2.log [hdl_localization_nodelet-3] process has finished cleanly log file: /home/Andy/.ros/log/a885c078-36cf-11eb-8db8-983b8fd5befc/hdl_localization_nodelet-3*.log all processes on machine have died, roslaunch will exit shutting down processing monitor... ... shutting down processing monitor complete done

koide3 / hdl_localization

failed after use gicp as registration method #57

SUMMARY