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rpng / MINS

An efficient and robust multisensor-aided inertial navigation system with online calibration that is capable of fusing IMU, camera, LiDAR, GPS/GNSS, and wheel sensors. Use cases: VINS/VIO, GPS-INS, LINS/LIO, multi-sensor fusion for localization and mapping (SLAM). This repository also provides multi-sensor simulation and data.
GNU General Public License v3.0
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Random crash of program #6

Closed lnexenl closed 10 months ago

lnexenl commented 11 months ago

Hi, I find that MINS really works well, but sometimes it crashes my system, causing a reboot of my PC (no matter where I execute the program: inside or outside docker container). Have you ever met such problem? I am curious whether it's a common problem or it only happens on my PC. I guess this problem might be caused by invalid memory access.

WoosikLee2510 commented 11 months ago

I haven't seen a random crash caused by MINS so far. I used 2 PCs to run evaluations(in the paper) and 1 for build and other compatibility tests.

What's the config you are running? What combinations of sensors are you using? Are you running simulation, rosbag, or subsruber?

lnexenl commented 11 months ago

I am running rosbag with some private bags including 1 cams and 1 IMU. I also launch rviz in the launch file. Maybe rviz is related to the crash? I will conduct some tests on another PC later.

lnexenl commented 10 months ago

I run MINS 20 times continuously on my another PC, it doesn't crash. I believe there is definitely some problem with my PC.

WoosikLee2510 commented 10 months ago

Thanks for the check.