Open jiahuiLiuliu opened 3 years ago
Yes I also saw this issue, but was unsure what caused it since it originates from the VINS-Fusion codebase. I don't have a solution at this point, and I only saw the issue maybe once every 50 or so runs. Can you use gdb and provide a backtrack (bt) to where this fails? Thanks!
Thanks for your response. I think this issue maybe caused by the reason that the same ros node registered twice, because sometimes would appear this warnning:
[ WARN] [1623306906.784923813]: Shutdown request received.
[ WARN] [1623306906.786901073]: Reason given for shutdown: [[/loop_fusion_node] Reason: new node registered with same name]
When I used this command: export ROS_MASTER_URI=http://localhost:10086, the issue occured low frequency. I will use gdb to locate the problem, if I find any information, I will notify you in time.
And anotherr question that I want ask for advise.
First I run posegraph.launch, but it stopps at
"[POSEGRAPH]: waiting for camera info topic..."
then I modified one line code: //ros::Subscriber sub_image = n.subscribe("/cam0/image_raw", 2000, image_callback); ros::Subscriber sub_image = n.subscribe("/ov_msckf/loop_depth_colored", 2000, image_callback); Could you tell me is it right or not I use the information "/ov_msckf/loop_depth_colored"?
Thanks again for sharing the system.
You might need to use the new topics if you are using the latest version of the main open_vins repo. See issue #4. The camera topic needs to be the cam0 topic that openvins uses.
I haved changed the launch,But openvins didn't need to play the rosbag,it reads dataset from the launch, should I play the rosbag for the posegraph specially? Thanks again.
In my case, it was because "point_2d_norm" is not appropriately cleared in function KeyFrame::findConnection. In this reason, the error occurs in
reduceVector(matched_2d_cur_norm, status);
After adding "point_2d_norm.clear()" in the KeyFrame::findConnection, the error was cleared in my case.
Hi, sorry to disturb you. When I run the thread of loop fusion node,the thread often hang up randomly, like this:
so, could you give me some advise? thanks very much.