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robotics-upo / dll

DLL: Direct Lidar Localization
BSD 3-Clause "New" or "Revised" License
189 stars 40 forks source link

open map file failed #1

Closed huangsiyuan0717 closed 2 years ago

huangsiyuan0717 commented 2 years ago

Thanks for your great works! I want to run your code just used roslaunch dll airsim1.launch and changed the true path about the .bag. But I meet the following error Screenshot from 2021-11-30 10-16-11 Could you help me how to solve the problem? Thanks.

rainlord commented 2 years ago

I have same problem,the error information as fellow:

Error opening file /home/rainlord/dll/src/dll/maps/airsim.grid for reading Computing 3D occupancy grid. This will take some time... [ INFO] [1638263511.286347741, 1614448809.978247876]: Progress: 0.000000 % [ INFO] [1638263511.789044040, 1614448810.482229351]: Progress: 0.019001 % [ INFO] [1638263512.292825757, 1614448810.985993930]: Progress: 0.035217 % [ INFO] [1638263512.796762398, 1614448811.490009305]: Progress: 0.048543 % [ INFO] [1638263513.300690475, 1614448811.993904791]: Progress: 0.059205 % [ INFO] [1638263513.804591100, 1614448812.497789987]: Progress: 0.068026 % [ INFO] [1638263514.308714082, 1614448813.001865535]: Progress: 0.075208 % [ INFO] [1638263514.812258713, 1614448813.505409181]: Progress: 0.081393 % [ INFO] [1638263515.314943587, 1614448814.008123549]: Progress: 0.086948 % [ INFO] [1638263515.818153376, 1614448814.511367153]: Progress: 0.091565 % [ INFO] [1638263516.321867688, 1614448815.015003674]: Progress: 0.095946 % [ INFO] [1638263516.825773661, 1614448815.519028287]: Progress: 0.100190 % [ INFO] [1638263517.329986940, 1614448816.023191437]: Progress: 0.103897 % [ INFO] [1638263517.833798387, 1614448816.526980049]: Progress: 0.107746 % [ INFO] [1638263518.337697799, 1614448817.030848795]: Progress: 0.111296 % [ INFO] [1638263518.841427378, 1614448817.534529917]: Progress: 0.114800 % [ INFO] [1638263519.345393546, 1614448818.038604218]: Progress: 0.118143 % [ INFO] [1638263519.849615224, 1614448818.542774668]: Progress: 0.121496 % [ INFO] [1638263520.353369646, 1614448819.046519077]: Progress: 0.124933 % [ INFO] [1638263520.857642919, 1614448819.550771997]: Progress: 0.128104 % [ INFO] [1638263521.361206641, 1614448820.054424197]: Progress: 0.131254 % [ INFO] [1638263521.865086399, 1614448820.558300866]: Progress: 0.134433 % [ INFO] [1638263522.369310195, 1614448821.062524966]: Progress: 0.137512 % [ INFO] [1638263522.873370398, 1614448821.566516118]: Progress: 0.140516 % [ INFO] [1638263523.377197609, 1614448822.070399784]: Progress: 0.143532 % [ INFO] [1638263523.881139444, 1614448822.574365432]: Progress: 0.146297 % [ INFO] [1638263524.385056844, 1614448823.078203575]: Progress: 0.149227 % [ INFO] [1638263524.889458146, 1614448823.582557357]: Progress: 0.151940 % [ INFO] [1638263525.393107866, 1614448824.086291708]: Progress: 0.154807 % [ INFO] [1638263525.897183784, 1614448824.590307025]: Progress: 0.157636 % [ INFO] [1638263526.401254538, 1614448825.094383502]: Progress: 0.160353 % [ INFO] [1638263526.905093702, 1614448825.598239179]: Progress: 0.163230 % [ INFO] [1638263527.409032045, 1614448826.102145781]: Progress: 0.166036 % [ INFO] [1638263527.912968808, 1614448826.606107943]: Progress: 0.168908 % [ INFO] [1638263528.416964996, 1614448827.110229955]: Progress: 0.171781 % [ INFO] [1638263528.920990732, 1614448827.614186375]: Progress: 0.174769 % [ INFO] [1638263529.425091057, 1614448828.118317057]: Progress: 0.177671 % [ INFO] [1638263529.929396458, 1614448828.622563941]: Progress: 0.180669 % [ INFO] [1638263530.433309763, 1614448829.126411405]: Progress: 0.183738 % [ INFO] [1638263530.937391254, 1614448829.630562845]: Progress: 0.186935 % [ INFO] [1638263531.441211337, 1614448830.134414036]: Progress: 0.190179 % [ INFO] [1638263531.945423461, 1614448830.638542755]: Progress: 0.193405 % [ INFO] [1638263532.449416136, 1614448831.142626743]: Progress: 0.196781 % [ INFO] [1638263532.953336662, 1614448831.646433322]: Progress: 0.200237 % [ INFO] [1638263533.457499010, 1614448832.150668792]: Progress: 0.203757 % [ INFO] [1638263533.961450464, 1614448832.654666422]: Progress: 0.207361 % [ INFO] [1638263534.465625068, 1614448833.158765825]: Progress: 0.211065 % [ INFO] [1638263534.969702295, 1614448833.662888086]: Progress: 0.214986 % [ INFO] [1638263535.473458487, 1614448834.166687395]: Progress: 0.218933 % [ INFO] [1638263535.977570062, 1614448834.670733225]: Progress: 0.222955 % [ INFO] [1638263536.481371289, 1614448835.174542811]: Progress: 0.227152 % [ INFO] [1638263536.985477112, 1614448835.678626785]: Progress: 0.231394 % [ INFO] [1638263537.489661338, 1614448836.182870713]: Progress: 0.236026 % [ INFO] [1638263537.993312594, 1614448836.686549707]: Progress: 0.240867 % [ INFO] [1638263538.497426522, 1614448837.190570102]: Progress: 0.245883 % [ INFO] [1638263539.001405715, 1614448837.694561011]: Progress: 0.250855 % [ INFO] [1638263539.505614925, 1614448838.198711472]: Progress: 0.256059 % [ INFO] [1638263540.009610329, 1614448838.702796012]: Progress: 0.261309 % [ INFO] [1638263540.513397140, 1614448839.206570648]: Progress: 0.266256 % [ INFO] [1638263541.017586856, 1614448839.710756967]: Progress: 0.271211 % [ INFO] [1638263541.521775240, 1614448840.214857652]: Progress: 0.276025 % [ INFO] [1638263542.025902960, 1614448840.719096351]: Progress: 0.280787 % [ INFO] [1638263542.530246123, 1614448841.223390025]: Progress: 0.285594 % [ INFO] [1638263543.034459572, 1614448841.727534330]: Progress: 0.290225 % [ INFO] [1638263543.538571080, 1614448842.231685887]: Progress: 0.294892 % [ INFO] [1638263544.042238839, 1614448842.735386785]: Progress: 0.299492 % [ INFO] [1638263544.546130906, 1614448843.239351599]: Progress: 0.303937 % [ INFO] [1638263545.050170159, 1614448843.743429326]: Progress: 0.308342 % [ INFO] [1638263545.554006996, 1614448844.247233858]: Progress: 0.312668 % [ INFO] [1638263546.058315735, 1614448844.751448973]: Progress: 0.316733 % [ INFO] [1638263546.562174183, 1614448845.255313261]: Progress: 0.320879 % [ INFO] [1638263547.066455159, 1614448845.759571306]: Progress: 0.324868 % [ INFO] [1638263547.570432706, 1614448846.263652739]: Progress: 0.328677 % [ INFO] [1638263548.074435256, 1614448846.767587252]: Progress: 0.332587 % [ INFO] [1638263548.578501413, 1614448847.271745617]: Progress: 0.336297 % [ INFO] [1638263549.082134028, 1614448847.775325955]: Progress: 0.339843 % [ INFO] [1638263549.586282166, 1614448848.279466288]: Progress: 0.343308 % [ INFO] [1638263550.090517865, 1614448848.783677000]: Progress: 0.346710 % [ INFO] [1638263550.594236684, 1614448849.287450377]: Progress: 0.349867 % [ INFO] [1638263551.098234321, 1614448849.791411416]: Progress: 0.353133 % [ INFO] [1638263551.602165418, 1614448850.295354822]: Progress: 0.356362 % [ INFO] [1638263552.106221931, 1614448850.799426673]: Progress: 0.359514 % [ INFO] [1638263552.610508987, 1614448851.303719621]: Progress: 0.362710 % [ INFO] [1638263553.114359200, 1614448851.807506783]: Progress: 0.365975 % [ INFO] [1638263553.618422123, 1614448852.311607076]: Progress: 0.369245 % [ INFO] [1638263554.122460001, 1614448852.815659246]: Progress: 0.372661 % [ INFO] [1638263554.626581803, 1614448853.319746827]: Progress: 0.376133 % [ INFO] [1638263555.130617201, 1614448853.823706504]: Progress: 0.379738 % [ INFO] [1638263555.634533424, 1614448854.327771759]: Progress: 0.383354 % [ INFO] [1638263556.138836199, 1614448854.831980511]: Progress: 0.387253 % [ INFO] [1638263556.642781702, 1614448855.335945852]: Progress: 0.391248 % [ INFO] [1638263557.146878063, 1614448855.840048223]: Progress: 0.395496 % [ INFO] [1638263557.650919217, 1614448856.344150991]: 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INFO] [1638263564.707270293, 1614448863.400456381]: Progress: 0.545077 % [ INFO] [1638263565.211353637, 1614448863.904562936]: Progress: 0.551678 % [ INFO] [1638263565.715276929, 1614448864.408496397]: Progress: 0.557413 % [ INFO] [1638263566.219432843, 1614448864.912569456]: Progress: 0.562392 % [ INFO] [1638263566.723178753, 1614448865.416319934]: Progress: 0.567074 % [ INFO] [1638263567.227292151, 1614448865.920481802]: Progress: 0.571150 % [ INFO] [1638263567.731378200, 1614448866.424452917]: Progress: 0.575106 % [ INFO] [1638263568.235298529, 1614448866.928495180]: Progress: 0.578888 % [ INFO] [1638263568.739387949, 1614448867.432500744]: Progress: 0.582545 % [ INFO] [1638263569.243116578, 1614448867.936287336]: Progress: 0.586029 % [ INFO] [1638263569.747068979, 1614448868.440220538]: Progress: 0.589262 % [ INFO] [1638263570.251198878, 1614448868.944315555]: Progress: 0.592737 % [ INFO] [1638263570.754907955, 1614448869.448100274]: Progress: 0.596160 % [ INFO] 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INFO] [1638263698.253096404, 1614448996.946311191]: Progress: 1.758180 % [ INFO] [1638263698.757263509, 1614448997.450413627]: Progress: 1.761828 % [ INFO] [1638263699.261175462, 1614448997.954360288]: Progress: 1.765369 % [ INFO] [1638263699.765074694, 1614448998.458200795]: Progress: 1.768852 % [ INFO] [1638263700.269305912, 1614448998.962468480]: Progress: 1.772074 % [ INFO] [1638263700.772994804, 1614448999.466151781]: Progress: 1.775382 % [ INFO] [1638263701.277212660, 1614448999.970332575]: Progress: 1.778658 % [ INFO] [1638263701.781214720, 1614449000.474403817]: Progress: 1.781978 % [ INFO] [1638263702.285249636, 1614449000.978355244]: Progress: 1.785276 % [bag_player-2] process has finished cleanly log file: /home/rainlord/.ros/log/88cbbc1a-51bd-11ec-931b-d46d6d821ecd/bag_player-2*.log

fercabe commented 2 years ago

Hi Siyuan,

The problem is that the corresponding .grid file does not exist. In that case, DLL compute the Distance Transform Grid automatically and stores it in the same path of the map. This process is done ONLY ONCE, next time DLL will detect the .grid file and will load it.

Generating the .grid taaaaaaaaaaakes time, but it is only done once. You can see how the process advances in the "Processing: X.xxx %" line in the terminal. Just be patient :)

We are working hard to speed up the grid computation, but for now is a brute force task.

Regards, Fernando