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oranfire / SVIO

a tightly-coupled optimization-based RGB-D VIO system
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libgomp: Thread creation failed: Resource temporarily unavailable #1

Open SEULiulh opened 10 months ago

SEULiulh commented 10 months ago

Thank you for your great work. I met a problem when I ran the code:**roslaunch /home/llh/SLAM/SVIO/src/launch/svio_euroc_run.launch**, the error in the terminator was: libgomp: Thread creation failed: Resource temporarily unavailable LineTracker: mean line number/frame is -1207946752.000000, mean track number/frame is 0.000000 time for frontend: 82.650235ms(mean), 0.000000ms(variance) time for sliding-window optimization: 0.283147ms(mean), 0.000000ms(variance) time for ceres-solver: -nanms(mean), -nanms(std) In sliding-window-based optimization, residuals count -nan(mean)/-nan(std), variables count -nan(mean)/-nan(std), variables' dimension is -nan(mean)/-nan(std) end terminate called without an active exception [svio_stereo_node-1] process has died [pid 10899, exit code -6, cmd /home/llh/SLAM/SVIO/devel/lib/svio/svio_stereo_node /home/llh/SLAM/SVIO/src/svio/../config/euroc.yaml __name:=svio_stereo_node __log:=/home/llh/.ros/log/9d9c268e-afbc-11ee-a9b4-04421a04ce17/svio_stereo_node-1.log]. log file: /home/llh/.ros/log/9d9c268e-afbc-11ee-a9b4-04421a04ce17/svio_stereo_node-1*.log ^C[rviz-2] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done

The settings of my computer are: System: Ubuntu18.04 CPU: Intel Core i7-11700KF @3.60GHz When I ran ulimit -a, I got these information: core file size (blocks, -c) 0 data seg size (kbytes, -d) unlimited scheduling priority (-e) 0 file size (blocks, -f) unlimited pending signals (-i) 127569 max locked memory (kbytes, -l) 65536 max memory size (kbytes, -m) unlimited open files (-n) 1024 pipe size (512 bytes, -p) 8 POSIX message queues (bytes, -q) 819200 real-time priority (-r) 0 stack size (kbytes, -s) 32388608 cpu time (seconds, -t) unlimited max user processes (-u) 10240 virtual memory (kbytes, -v) unlimited file locks (-x) unlimited How can I solve it?

oranfire commented 10 months ago

I have not encountered this problem before. It seems that the program crashes when creating new threads. Note that in the function frontend_sync(), three threads are created to process point, line and plane features in parallel. However, it should not trigger this problem since three threads is not too much...

Here is the output of ulimit -a on my computer. It seems similar to yours.

core file size          (blocks, -c) 0
data seg size           (kbytes, -d) unlimited
scheduling priority             (-e) 0
file size               (blocks, -f) unlimited
pending signals                 (-i) 127612
max locked memory       (kbytes, -l) 65536
max memory size         (kbytes, -m) unlimited
open files                      (-n) 1048576
pipe size            (512 bytes, -p) 8
POSIX message queues     (bytes, -q) 819200
real-time priority              (-r) 0
stack size              (kbytes, -s) 8192
cpu time               (seconds, -t) unlimited
max user processes              (-u) 127612
virtual memory          (kbytes, -v) unlimited
file locks                      (-x) unlimited