aidadgy
commented
1 month ago Description: I am facing an issue when I run the _roslaunch ovmsckf subscriber.launch file with my custom configuration path. The process freezes at the stage shown in the terminal output below. Camera and IMU topics are being published successfully, despite some warnings when launching the stereo camera configuration.
_FLIR Camera Model: BFLY-U3-23S6C-C (stereo configuration) _ROS Version: Noetic_ _IMU: Xsens MTi 600 series__Since this is my first time configuring camera with ROS running OpenVINS, I'm unsure if the issue is with my configuration or a driver limitation.
launch
<!-- what config we are going to run (should match folder name) --> <arg name="verbosity" default="INFO" /> <!-- ALL, DEBUG, INFO, WARNING, ERROR, SILENT --> <arg name="config" default="euroc_mav" /> <!-- euroc_mav, tum_vi, rpng_aruco --> <arg name="config_path" default="$(find ov_msckf)/../config/$(arg config)/estimator_config.yaml" /> <!-- mono or stereo and what ros bag to play --> <arg name="max_cameras" default="2" /> <arg name="use_stereo" default="true" /> <arg name="bag_start" default="0" /> <!-- v1-2: 0, mh1: 40, mh2: 35, mh3: 17.5, mh4-5: 15 --> <arg name="bag_rate" default="1" /> <arg name="dataset" default="V1_01_easy" /> <!-- V1_01_easy, V1_02_medium, V2_02_medium --> <arg name="dobag" default="false" /> <!-- if we should play back the bag --> <arg name="bag" default="$(env HOME)/Downloads/$(arg dataset).bag" /><!-- saving trajectory path and timing information --> <arg name="dosave" default="false" /> <arg name="dotime" default="false" /> <arg name="path_est" default="/tmp/traj_estimate.txt" /> <arg name="path_time" default="/tmp/traj_timing.txt" /> <!-- if we should viz the groundtruth --> <arg name="dolivetraj" default="false" /> <arg name="path_gt" default="$(find ov_data)/$(arg config)/$(arg dataset).txt" /> <!-- MASTER NODE! --><node name="ov_msckf" pkg="ov_msckf" type="run_subscribe_msckf" output="screen" clear_params="true" required="true"> <!-- master configuration object --> <param name="verbosity" type="string" value="$(arg verbosity)" /> <param name="config_path" type="string" value="$(arg config_path)" /> <!-- world/filter parameters --> <param name="use_stereo" type="bool" value="$(arg use_stereo)" /> <param name="max_cameras" type="int" value="$(arg max_cameras)" /> <!-- timing statistics recording --> <param name="record_timing_information" type="bool" value="$(arg dotime)" /> <param name="record_timing_filepath" type="string" value="$(arg path_time)" /> </node> <!-- play the dataset --> <!-- <group if="$(arg dobag)"> <node pkg="rosbag" type="play" name="rosbag" args="-d 1 -r $(arg bag_rate) -s $(arg bag_start) $(arg bag)" required="true"/> </group> --> <!-- record the trajectory if enabled --> <!-- <group if="$(arg dosave)"> <node name="recorder_estimate" pkg="ov_eval" type="pose_to_file" output="screen" required="true"> <param name="topic" type="str" value="/ov_msckf/poseimu" /> <param name="topic_type" type="str" value="PoseWithCovarianceStamped" /> <param name="output" type="str" value="$(arg path_est)" /> </node> </group> --> <!-- path viz of aligned gt --> <!-- <group if="$(arg dolivetraj)"> <node name="live_align_trajectory" pkg="ov_eval" type="live_align_trajectory" output="log" clear_params="true"> <param name="alignment_type" type="str" value="posyaw" /> <param name="path_gt" type="str" value="$(arg path_gt)" /> </node> </group> -->Logging output roslaunch ov_msckf subscribe.launch config:=test_xr ... logging to /home/aqubu/.ros/log/7167949a-71cc-11ef-bb2b-0f226cf80f78/roslaunch-aqubuITE-AX-60911.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://aqubuITE-AX:35875/
SUMMARY
CLEAR PARAMETERS
- /ov_msckf/
PARAMETERS
- /ov_msckf/config_path: /home/aqubu/works...
- /ov_msckf/max_cameras: 2
- /ov_msckf/record_timing_filepath: /tmp/traj_timing.txt
- /ov_msckf/record_timing_information: False
- /ov_msckf/use_stereo: True
- /ov_msckf/verbosity: INFO
- /rosdistro: noetic
- /rosversion: 1.16.0
NODES / ov_msckf (ov_msckf/run_subscribe_msckf)
auto-starting new master process[master]: started with pid [60920] ROS_MASTER_URI=http://localhost:11311
setting /run_id to 7167949a-71cc-11ef-bb2b-0f226cf80f78 process[rosout-1]: started with pid [60931] started core service [/rosout] process[ov_msckf-2]: started with pid [60939] overriding node verbosity with value from ROS! Setting printing level to: INFO overriding node max_cameras with value from ROS! overriding node max_cameras with value from ROS! overriding node use_stereo with value from ROS! parameter T_imu_cam not found, trying T_cam_imu instead (will return T_imu_cam still)! parameter T_imu_cam not found, trying T_cam_imu instead (will return T_imu_cam still)! overriding node record_timing_information with value from ROS! overriding node record_timing_filepath with value from ROS! overriding node use_stereo with value from ROS! parameter T_imu_cam not found, trying T_cam_imu instead (will return T_imu_cam still)! parameter T_imu_cam not found, trying T_cam_imu instead (will return T_imu_cam still)! subscribing to IMU: /imu/data subscribing to cam (stereo): /stereo/right/image_raw subscribing to cam (stereo): /stereo/left/image_raw
after ctrl+c
^C[ov_msckf-2] killing on exit camera-imu timeoffset = -0.02110
cam0 intrinsics: 1180.291,1189.487,897.779,610.113 -0.32058,0.11265,-0.00370,0.01269
cam1 intrinsics: 1187.671,1196.000,1001.743,620.130 -0.34569,0.13851,-0.00375,-0.00654
T_C0toI: -0.047,-0.010,-0.999,-0.045, 0.999,-0.008,-0.047,0.066, -0.008,-1.000,0.010,0.000, 0.000,0.000,0.000,1.000
T_C1toI: 0.023,0.013,-1.000,-0.044, 1.000,-0.004,0.023,-0.081, -0.004,-1.000,-0.014,-0.000, 0.000,0.000,0.000,1.000
TIME: 9223372036854.775 seconds
terminate called after throwing an instance of 'boost::wrapexceptboost::lock_error' what(): boost: mutex lock failed in pthread_mutex_lock: Invalid argument [rosout-1] killing on exit ^C[master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done aqubu
Hello author, I am running an open source code, there is also a similar error, when the program is running after:/usr/include/boost/thread/pthread/recursive_mutex.hpp:108: void boost::recursive_mutex::lock(): Assertion `!posix::pthread_mutex_lock(&m)' failed., how do you solve your error, the umbilical cord can receive your reply
mo-aqeel
Description: I am facing an issue when I run the _roslaunch ovmsckf subscriber.launch file with my custom configuration path. The process freezes at the stage shown in the terminal output below. Camera and IMU topics are being published successfully, despite some warnings when launching the stereo camera configuration.
Since this is my first time configuring camera with ROS running OpenVINS, I'm unsure if the issue is with my configuration or a driver limitation.
launch
Logging output roslaunch ov_msckf subscribe.launch config:=test_xr ... logging to /home/aqubu/.ros/log/7167949a-71cc-11ef-bb2b-0f226cf80f78/roslaunch-aqubuITE-AX-60911.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://aqubuITE-AX:35875/
SUMMARY
CLEAR PARAMETERS
PARAMETERS
NODES / ov_msckf (ov_msckf/run_subscribe_msckf)
auto-starting new master process[master]: started with pid [60920] ROS_MASTER_URI=http://localhost:11311
setting /run_id to 7167949a-71cc-11ef-bb2b-0f226cf80f78 process[rosout-1]: started with pid [60931] started core service [/rosout] process[ov_msckf-2]: started with pid [60939] overriding node verbosity with value from ROS! Setting printing level to: INFO overriding node max_cameras with value from ROS! overriding node max_cameras with value from ROS! overriding node use_stereo with value from ROS! parameter T_imu_cam not found, trying T_cam_imu instead (will return T_imu_cam still)! parameter T_imu_cam not found, trying T_cam_imu instead (will return T_imu_cam still)! overriding node record_timing_information with value from ROS! overriding node record_timing_filepath with value from ROS! overriding node use_stereo with value from ROS! parameter T_imu_cam not found, trying T_cam_imu instead (will return T_imu_cam still)! parameter T_imu_cam not found, trying T_cam_imu instead (will return T_imu_cam still)! subscribing to IMU: /imu/data subscribing to cam (stereo): /stereo/right/image_raw subscribing to cam (stereo): /stereo/left/image_raw
after ctrl+c
^C[ov_msckf-2] killing on exit camera-imu timeoffset = -0.02110
cam0 intrinsics: 1180.291,1189.487,897.779,610.113 -0.32058,0.11265,-0.00370,0.01269
cam1 intrinsics: 1187.671,1196.000,1001.743,620.130 -0.34569,0.13851,-0.00375,-0.00654
T_C0toI: -0.047,-0.010,-0.999,-0.045, 0.999,-0.008,-0.047,0.066, -0.008,-1.000,0.010,0.000, 0.000,0.000,0.000,1.000
T_C1toI: 0.023,0.013,-1.000,-0.044, 1.000,-0.004,0.023,-0.081, -0.004,-1.000,-0.014,-0.000, 0.000,0.000,0.000,1.000
TIME: 9223372036854.775 seconds
terminate called after throwing an instance of 'boost::wrapexcept'
what(): boost: mutex lock failed in pthread_mutex_lock: Invalid argument
[rosout-1] killing on exit
^C[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
aqubu