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mzahana / mavros_apriltag_tracking

This package implements methods to enable a PX4-powered multi-rotor to track a moving vehicle.
BSD 3-Clause "New" or "Revised" License
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`lhs.cols() == rhs.rows() && "invalid matrix product" && "if you wanted a coeff-wise or a dot product use the respective explicit functions"' failed. #5

Open Areswangin opened 3 years ago

Areswangin commented 3 years ago

something wrong happened in kf_tracker_node at the beginning everthing was right until the camera saw the AprilTag the WARN is: WARN [ekf2] accel id changed, resetting IMU bias [ WARN] [1608694132.622066666, 91.300000000]: Filter is not initialized. Requires a measurement first. [ WARN] [1608694134.356203831, 92.300000000]: Filter is not initialized. Requires a measurement first. [ WARN] [1608694135.969268538, 93.300000000]: Filter is not initialized. Requires a measurement first. [ WARN] [1608694137.616753039, 94.300000000]: Filter is not initialized. Requires a measurement first. [ WARN] [1608694139.297956798, 95.300000000]: Filter is not initialized. Requires a measurement first. [WARN] [1608694140.634558, 96.148000]: No valid local pose TF for the required tag 0 [ INFO] [1608694140.642055454, 96.152000000]: KF state estimate is initialized. kf_tracker_node: /usr/include/eigen3/Eigen/src/Core/Product.h:97: Eigen::Product<Lhs, Rhs, Option>::Product(const Lhs&, const Rhs&) [with _Lhs = Eigen::Matrix<double, -1, -1>; _Rhs = Eigen::Matrix<double, -1, 1>; int Option = 0; Eigen::Product<Lhs, Rhs, Option>::Lhs = Eigen::Matrix<double, -1, -1>; Eigen::Product<Lhs, Rhs, Option>::Rhs = Eigen::Matrix<double, -1, 1>]: Assertion `lhs.cols() == rhs.rows() && "invalid matrix product" && "if you wanted a coeff-wise or a dot product use the respective explicit functions"' failed. [WARN] [1608694140.743216, 96.204000]: No valid local pose TF for the required tag 0 [WARN] [1608694140.908896, 96.270000]: No valid local pose TF for the required tag 0 [WARN] [1608694141.108050, 96.374000]: No valid local pose TF for the required tag 0 After that all the WARN was the same: No valid local pose TF for the required tag 0 My Eigen version is 3.3.4. Is there anything wrong with eigen?

mzahana commented 3 years ago

@Areswangin The docker installation should work fine as described in the instructions. Are you using the docker installation method, or you are doing it manually?

Areswangin commented 3 years ago

@mzahana I didn't use docker. Instead, I followed the Normal installation to install and use it. My system is Ubuntu18.04 + Ros melodic.

FrankvVeelen commented 2 years ago

Try replacing line 268 with:

kf_statepred.x(0,0)= zmeas.z(0) ; kf_statepred.x(1,0)= zmeas.z(1) ; kf_statepred.x(2,0)= zmeas.z(2) ;

souravsanyal06 commented 1 year ago

Hi. I used docker. I am also getting this message. The drone is not taking off.

kaoxirui commented 2 weeks ago

the dimension of kf_state_pred_.x.rows() is incorrect here replace with kf_state_pred_.x(0, 0) = z_meas_.z(0); kf_state_pred_.x(1, 0) = z_meas_.z(1); kf_state_pred_.x(2, 0) = z_meas_.z(2);

otherwise，the dimension of kf_state_pred_.x.rows() is three in function bool KFTracker::predict(void)，which caused the problem