mpkuse
commented
4 years ago Did you load the rviz file. Make sure the topics are published. Try using rqt_graph and rostopic echo ... Hope it helps
Open why-freedom opened 4 years ago
mpkuse
commented
4 years ago Did you load the rviz file. Make sure the topics are published. Try using rqt_graph and rostopic echo ... Hope it helps
Hello, when I run mynteye_vinsfusion.launch, there is the problem
why@why-desktop:~/SLAM_WS/Kidnap$ roslaunch cerebro mynteye_vinsfusion.launch ... logging to /home/why/.ros/log/338daad0-ea89-11e9-b4a5-7085c2882345/roslaunch-why-desktop-26401.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://why-desktop:45089/
SUMMARY
PARAMETERS
NODES / cerebro_node (cerebro/cerebro_node) keyframe_pose_graph_slam_node (solve_keyframe_pose_graph/keyframe_pose_graph_slam) my_desc_server (cerebro/whole_image_desc_compute_server.py) rosbag (rosbag/play) vins_estimator (vins/vins_node)
auto-starting new master process[master]: started with pid [26413] ROS_MASTER_URI=http://localhost:11311
setting /run_id to 338daad0-ea89-11e9-b4a5-7085c2882345 process[rosout-1]: started with pid [26428] started core service [/rosout] process[rosbag-2]: started with pid [26432] process[vins_estimator-3]: started with pid [26440] process[cerebro_node-4]: started with pid [26454] process[my_desc_server-5]: started with pid [26459] process[keyframe_pose_graph_slam_node-6]: started with pid [26464] [ WARN] [1570621061.983622030]: [cerebro_node] loadStateFromDisk cmdline parameter was not found, so I will not loadStateFromDisk() [ WARN] [1570621061.988763392]: [cerebro_node] saveStateToDisk cmdline parameter was not found, so I will not saveStateToDisk() [ WARN] [1570621061.999904135]: Config File Name : /home/why/SLAM_WS/Kidnap/src/cerebro/config/vinsfusion/mynteye/mynteye_stereo_imu_config.yaml Using TensorFlow backend. [cerebro_node-4] process has died [pid 26454, exit code -11, cmd /home/why/SLAM_WS/Kidnap/devel/lib/cerebro/cerebro_node name:=cerebro_node __log:=/home/why/.ros/log/338daad0-ea89-11e9-b4a5-7085c2882345/cerebro_node-4.log]. log file: /home/why/.ros/log/338daad0-ea89-11e9-b4a5-7085c2882345/cerebro_node-4*.log 2019-10-09 19:37:43.230471: I tensorflow/core/platform/cpu_feature_guard.cc:141] Your CPU supports instructions that this TensorFlow binary was not compiled to use: AVX2 FMA 2019-10-09 19:37:43.302617: I tensorflow/stream_executor/cuda/cuda_gpu_executor.cc:998] successful NUMA node read from SysFS had negative value (-1), but there must be at least one NUMA node, so returning NUMA node zero 2019-10-09 19:37:43.303406: I tensorflow/compiler/xla/service/service.cc:150] XLA service 0x5ecd360 executing computations on platform CUDA. Devices: 2019-10-09 19:37:43.303423: I tensorflow/compiler/xla/service/service.cc:158] StreamExecutor device (0): GeForce GTX 1050, Compute Capability 6.1 2019-10-09 19:37:43.322800: I tensorflow/core/platform/profile_utils/cpu_utils.cc:94] CPU Frequency: 3600000000 Hz 2019-10-09 19:37:43.323171: I tensorflow/compiler/xla/service/service.cc:150] XLA service 0x5f34f00 executing computations on platform Host. Devices: 2019-10-09 19:37:43.323191: I tensorflow/compiler/xla/service/service.cc:158] StreamExecutor device (0):,
2019-10-09 19:37:43.323420: I tensorflow/core/common_runtime/gpu/gpu_device.cc:1433] Found device 0 with properties:
name: GeForce GTX 1050 major: 6 minor: 1 memoryClockRate(GHz): 1.493
pciBusID: 0000:01:00.0
totalMemory: 1.95GiB freeMemory: 544.44MiB
2019-10-09 19:37:43.323439: I tensorflow/core/common_runtime/gpu/gpu_device.cc:1512] Adding visible gpu devices: 0
2019-10-09 19:37:43.324262: I tensorflow/core/common_runtime/gpu/gpu_device.cc:984] Device interconnect StreamExecutor with strength 1 edge matrix:
2019-10-09 19:37:43.324279: I tensorflow/core/common_runtime/gpu/gpu_device.cc:990] 0
2019-10-09 19:37:43.324286: I tensorflow/core/common_runtime/gpu/gpu_device.cc:1003] 0: N
2019-10-09 19:37:43.324389: I tensorflow/core/common_runtime/gpu/gpu_device.cc:1115] Created TensorFlow device (/job:localhost/replica:0/task:0/device:GPU:0 with 398 MB memory) -> physical GPU (device: 0, name: GeForce GTX 1050, pci bus id: 0000:01:00.0, compute capability: 6.1)
Traceback (most recent call last):
File "/home/why/SLAM_WS/Kidnap/src/cerebro/scripts/whole_image_desc_compute_server.py", line 733, in
gpu_netvlad = JSONModelImageDescriptor( kerasmodel_file=kerasmodel_file, im_rows=fs_image_height, im_cols=fs_image_width, im_chnls=fs_image_chnls )
File "/home/why/SLAM_WS/Kidnap/src/cerebro/scripts/whole_image_desc_compute_server.py", line 372, in init
assert os.path.isdir( LOG_DIR ), "The LOG_DIR doesnot exist, or there is a permission issue. LOG_DIR="+LOG_DIR
AssertionError: The LOG_DIR doesnot exist, or there is a permission issue. LOG_DIR=/models.keras/June2019/centeredinput-m1to1-240x320x1mobilenetv2-block_9_addK16allpairloss
[my_desc_server-5] process has died [pid 26459, exit code 1, cmd /home/why/SLAM_WS/Kidnap/src/cerebro/scripts/whole_image_desc_compute_server.py name:=my_desc_server log:=/home/why/.ros/log/338daad0-ea89-11e9-b4a5-7085c2882345/my_desc_server-5.log].
log file: /home/why/.ros/log/338daad0-ea89-11e9-b4a5-7085c2882345/my_desc_server-5*.log
^C[keyframe_pose_graph_slam_node-6] killing on exit
[vins_estimator-3] killing on exit
[rosbag-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete