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SRRG console to run SLAM systems
BSD 3-Clause "New" or "Revised" License
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Failed to run srrg2_proslam Stereo/RGB-D Examples #2

Open TurtleZhong opened 4 years ago

TurtleZhong commented 4 years ago

Hi, Thanks your nice work but I got some probles when we try to run srrg2_proslam Stereo/RGB-D Examples. I download the tum datasets from your google drive link, and modify the json path in tum.conf file. Then I try to run 

rosrun srrg2_executor srrg2_shell -dlc srrg2_dynamic_libraries.txt -c /home/m/work/srrg2/srrg2_proslam/configurations/tum.conf -vt shared

but we got this in terminal

ready
ConfigurableVisualShell::startCallback|Clearing screen... 
ConfigurableVisualShell::startCallback|ready to go
virtual srrg2_core::BaseSensorMessagePtr srrg2_core::MessageSortedSource::getMessage(): source ova
CommandRunRunner::~CommandRunRunner|job done

and a qt widget named slam_canvas with waiting... in the center.

It seems that the system have not read the images but I check the conf path and json path is correctly.

I'm looking forward to your reply.

platform: Ubuntu 16.04 kernel: 4.15.0-101-generic ros: Kinetic gcc-version: 5.4.0


╭─m@m-pc ~/ws_srrg2 
╰─$ rosrun srrg2_executor srrg2_shell -dlc srrg2_dynamic_libraries.txt -c /home/m/work/srrg2/srrg2_proslam/configurations/tum.conf -vt shared
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_viewer_ros_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_viewer_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_solver_core_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_viewer_core_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_proslam_sensor_processing_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_qgl_viewport_ros_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_proslam_tracking_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_configurable_shell_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_viewer_core_ros_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_solver_types2d_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_config_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_solver_linear_solvers_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_matchable_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_slam_interfaces_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_property_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_point_cloud_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_solver_calib_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_solver_sparse_block_matrix_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_qgl_viewport_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_solver_factor_graph_utils_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_solver_projective_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_data_structures_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_proslam_mapping_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_messages_ros_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_g2o_converter_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_image_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_messages_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_proslam_registration_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_system_utils_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_converters_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_solver_types3d_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_boss_library.so ] FOUND
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_viewer_ros_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_viewer_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_solver_core_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_viewer_core_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_proslam_sensor_processing_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_qgl_viewport_ros_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_proslam_tracking_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_configurable_shell_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_viewer_core_ros_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_solver_types2d_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_config_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_solver_linear_solvers_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_matchable_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_slam_interfaces_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_property_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_point_cloud_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_solver_calib_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_solver_sparse_block_matrix_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_qgl_viewport_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_solver_factor_graph_utils_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_solver_projective_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_data_structures_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_proslam_mapping_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_messages_ros_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_g2o_converter_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_image_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_messages_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_proslam_registration_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_system_utils_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_converters_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_solver_types3d_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_boss_library.so]OK
loaded config paths from file [srrg2_dynamic_libraries.txt]
srrg2_shell|viewer requested, creating a qt-server

(process:19636): Gtk-WARNING **: Locale not supported by C library.
    Using the fallback 'C' locale.
srrg2_shell|creating a shared Qt-based viewer 
ConfigurableShell::ConfigurableShell|installed signal handler [0]
srrg2_shell|starting processing thread
ConfigurableShell::run|shell is in batch_mode
opening file [/home/m/work/srrg2/srrg2_proslam/configurations/tum.conf]
COMMANDS
      add_canvas        <canvas_name> <name/ptr>, add a new canvas
      cd                changes the working directory
      clear             deletes everything
      create            <class_name>,  creates a new instance
      dl_config         dl_config <filename>, dynamically loads a library from a stub file
      dlopen            dlopen <library filename>, dynamically loads a library
      erase             <class_name/ptr>, erases an instance
      exec              <class_name/ptr> [<args>], executes a module a command
      fg                resumes a running process
      help              lists available commands
      instances         [<type prefix>] shows the available instances
      kill              kills a running session
      ls                lists the files in the current directory
      ls_canvases       lists all canvases
      names             lists the named objects in the manager
      open              open <filename>, opens a file
      pwd               prints working directory
      quit              terminares shell
      rm_canvas         <canvas_name>, remove a canvas
      run               <source> <sink> [--pause], runs a pipeline by pushing all messages from source to sink with visual
      set               <class_name>, sets a field in a config
      set_name          <name/ptr> <new_name>,  sets the name of an object 
      show              <name/ptr>,  shows the fields of an object 
      types             [<type prefix>] lists available types
      write             <filename>, writes a conf file
ConfigurableShell::run|shell is in interactive_mode
SRRG> add_canvas slam_canvas slam
ViewerManagerShared::getCanvas|created a context with name slam_canvas
adding new canvas slam_canvas (0x7efd84001c80) for module slam
SRRG> run sync slam
ConfigurableVisualShell::startCallback|waiting for viewer to start ... ViewerManagerShared::bindViewport|context slam_canvas has been binded to viewport [21988992]
ready
ConfigurableVisualShell::startCallback|Clearing screen... 
ConfigurableVisualShell::startCallback|ready to go
virtual srrg2_core::BaseSensorMessagePtr srrg2_core::MessageSortedSource::getMessage(): source ova
CommandRunRunner::~CommandRunRunner|job done
SRRG>
istinj commented 4 years ago

Hello, have you attached a viewer to the slam module before running the pipeline? You should do add_canvas <MY_CANVAS_NAME> slam. This attaches a gl canvas to the object called slam (which is the MultiGraphSlam3d class - you can check this typing names in the shell).

Furthermore, please check that the topics indicated in the config file correspond to the one of the dataset.

Hope this helps.