2080524785
commented
1 month ago Sorry, I don't why it It works fine now.
Closed 2080524785 closed 1 month ago
2080524785
commented
1 month ago Sorry, I don't why it It works fine now.
xukuanHIT
commented
1 month ago @2080524785 Hi, currently, in the Docker environment, we are using CUDA 12.1 and TensorRT 8.6. I think it’s possible that your NVIDIA driver and GPU don’t support these versions. We are also creating a point-only system to support a wider range of hardware
2080524785
commented
1 month ago @2080524785 Hi, currently, in the Docker environment, we are using CUDA 12.1 and TensorRT 8.6. I think it’s possible that your NVIDIA driver and GPU don’t support these versions. We are also creating a point-only system to support a wider range of hardware
Thank you for your reply, this should be my personal computer reason, I was able to work fine on the euroc dataset after multiple attempts. Also, I'd like to ask if this checkpoint-only part needs to be modified or if it hasn't been released yet.
xukuanHIT
commented
1 month ago It hasn't been released yet. Currently, the C++ code of PLNet relies on TensorRT 8.6 and Cuda 12.1, so in the point-only system, we will replace it with superpoint.
2080524785
commented
1 month ago It hasn't been released yet. Currently, the C++ code of PLNet relies on TensorRT 8.6 and Cuda 12.1, so in the point-only system, we will replace it with superpoint.
Thanks, I look forward to your work.
I used the docker pull environment to run Airslam, running on the Euroc dataset, but rizv didn't show the picture on it, and the process terminated after waiting for a while to only show a few frames of the runtime. Because I want to see the effect, I run on my own computer, and the graphics card is Nvidia RTX 1650. I would like to ask if this question is related to my low graphics card, or if there is something else.
bash outputstarted roslaunch server http://e5eda9553952:34165/
SUMMARY
PARAMETERS
NODES / rviz (rviz/rviz) visual_odometry (air_slam/visual_odometry)
ROS_MASTER_URI=http://localhost:11311
process[visual_odometry-1]: started with pid [12487] process[rviz-2]: started with pid [12488] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root' QStandardPaths: wrong ownership on runtime directory /tmp/runtime-root, 1000 instead of 0 [ INFO] [1727263562.583094810]: rviz version 1.14.20 [ INFO] [1727263562.583129521]: compiled against Qt version 5.12.8 [ INFO] [1727263562.583140695]: compiled against OGRE version 1.9.0 (Ghadamon) [ INFO] [1727263562.595139275]: Forcing OpenGl version 0. config_file = /workspace/catkin_ws/src/AirSLAM/configs/visual_odometry/vo_euroc.yaml config done [ INFO] [1727263562.837373237]: Stereo is NOT SUPPORTED [ INFO] [1727263562.837479186]: OpenGL device: llvmpipe (LLVM 12.0.0, 256 bits) [ INFO] [1727263562.837523815]: OpenGl version: 3.1 (GLSL 1.4). Error in FeatureDetector building map_builder done dataset done i ====== 0 One Frame Processinh Time: 2 ms. i ====== 1 One Frame Processinh Time: 2 ms. i ====== 2 One Frame Processinh Time: 2 ms. i ====== 3 One Frame Processinh Time: 3 ms. i ====== 4 One Frame Processinh Time: 1 ms. i ====== 5 [visual_odometry-1] process has died [pid 12487, exit code -11, cmd /workspace/catkin_ws/devel/lib/air_slam/visual_odometry __name:=visual_odometry __log:=/root/.ros/log/4b4d5338-7b24-11ef-95b3-0242ac110002/visual_odometry-1.log]. log file: /root/.ros/log/4b4d5338-7b24-11ef-95b3-0242ac110002/visual_odometry-1*.log
[roslaunch][INFO] 2024-09-25 19:17:36,458: Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt [roslaunch][INFO] 2024-09-25 19:17:36,469: Done checking log file disk usage. Usage is <1GB. [roslaunch][INFO] 2024-09-25 19:17:36,470: roslaunch starting with args ['/opt/ros/noetic/bin/roslaunch', 'air_slam', 'vo_euroc.launch'] [roslaunch][INFO] 2024-09-25 19:17:36,470: roslaunch env is environ({'ROS_VERSION': '1', 'NV_LIBCUBLAS_VERSION': '12.1.3.1-1', 'NVIDIA_VISIBLE_DEVICES': 'all', 'NV_NVML_DEV_VERSION': '12.1.105-1', 'NV_CUDNN_PACKAGE_NAME': 'libcudnn8', 'NV_LIBNCCL_DEV_PACKAGE': 'libnccl-dev=2.17.1-1+cuda12.1', 'NV_LIBNCCL_DEV_PACKAGE_VERSION': '2.17.1-1', 'PKG_CONFIG_PATH': '/workspace/catkin_ws/devel/lib/pkgconfig:/opt/ros/noetic/lib/pkgconfig', 'ROS_PYTHON_VERSION': '3', 'HOSTNAME': 'e5eda9553952', 'NVIDIA_REQUIRE_CUDA': 'cuda>=12.1 brand=tesla,driver>=470,driver<471 brand=unknown,driver>=470,driver<471 brand=nvidia,driver>=470,driver<471 brand=nvidiartx,driver>=470,driver<471 brand=geforce,driver>=470,driver<471 brand=geforcertx,driver>=470,driver<471 brand=quadro,driver>=470,driver<471 brand=quadrortx,driver>=470,driver<471 brand=titan,driver>=470,driver<471 brand=titanrtx,driver>=470,driver<471 brand=tesla,driver>=525,driver<526 brand=unknown,driver>=525,driver<526 brand=nvidia,driver>=525,driver<526 brand=nvidiartx,driver>=525,driver<526 brand=geforce,driver>=525,driver<526 brand=geforcertx,driver>=525,driver<526 brand=quadro,driver>=525,driver<526 brand=quadrortx,driver>=525,driver<526 brand=titan,driver>=525,driver<526 brand=titanrtx,driver>=525,driver<526', 'NV_LIBCUBLAS_DEV_PACKAGE': 'libcublas-dev-12-1=12.1.3.1-1', 'NV_NVTX_VERSION': '12.1.105-1', 'NV_CUDA_CUDART_DEV_VERSION': '12.1.105-1', 'NV_LIBCUSPARSE_VERSION': '12.1.0.106-1', 'NV_LIBNPP_VERSION': '12.1.0.40-1', 'NCCL_VERSION': '2.17.1-1', 'ROS_PACKAGE_PATH': '/workspace/catkin_ws/src:/opt/ros/noetic/share', 'ROSLISP_PACKAGE_DIRECTORIES': '/workspace/catkin_ws/devel/share/common-lisp', 'PWD': '/workspace/catkin_ws', 'NV_CUDNN_PACKAGE': 'libcudnn8=8.9.0.131-1+cuda12.1', 'NVIDIA_DRIVER_CAPABILITIES': 'compute,utility', 'NV_NVPROF_DEV_PACKAGE': 'cuda-nvprof-12-1=12.1.105-1', 'NV_LIBNPP_PACKAGE': 'libnpp-12-1=12.1.0.40-1', 'NV_LIBNCCL_DEV_PACKAGE_NAME': 'libnccl-dev', 'NV_LIBCUBLAS_DEV_VERSION': '12.1.3.1-1', 'NVIDIA_PRODUCT_NAME': 'CUDA', 'NV_LIBCUBLAS_DEV_PACKAGE_NAME': 'libcublas-dev-12-1', 'NV_CUDA_CUDART_VERSION': '12.1.105-1', 'HOME': '/root', 'ROS_ETC_DIR': '/opt/ros/noetic/etc/ros', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:.tar=01;31:.tgz=01;31:.arc=01;31:.arj=01;31:.taz=01;31:.lha=01;31:.lz4=01;31:.lzh=01;31:.lzma=01;31:.tlz=01;31:.txz=01;31:.tzo=01;31:.t7z=01;31:.zip=01;31:.z=01;31:.dz=01;31:.gz=01;31:.lrz=01;31:.lz=01;31:.lzo=01;31:.xz=01;31:.zst=01;31:.tzst=01;31:.bz2=01;31:.bz=01;31:.tbz=01;31:.tbz2=01;31:.tz=01;31:.deb=01;31:.rpm=01;31:.jar=01;31:.war=01;31:.ear=01;31:.sar=01;31:.rar=01;31:.alz=01;31:.ace=01;31:.zoo=01;31:.cpio=01;31:.7z=01;31:.rz=01;31:.cab=01;31:.wim=01;31:.swm=01;31:.dwm=01;31:.esd=01;31:.jpg=01;35:.jpeg=01;35:.mjpg=01;35:.mjpeg=01;35:.gif=01;35:.bmp=01;35:.pbm=01;35:.pgm=01;35:.ppm=01;35:.tga=01;35:.xbm=01;35:.xpm=01;35:.tif=01;35:.tiff=01;35:.png=01;35:.svg=01;35:.svgz=01;35:.mng=01;35:.pcx=01;35:.mov=01;35:.mpg=01;35:.mpeg=01;35:.m2v=01;35:.mkv=01;35:.webm=01;35:.ogm=01;35:.mp4=01;35:.m4v=01;35:.mp4v=01;35:.vob=01;35:.qt=01;35:.nuv=01;35:.wmv=01;35:.asf=01;35:.rm=01;35:.rmvb=01;35:.flc=01;35:.avi=01;35:.fli=01;35:.flv=01;35:.gl=01;35:.dl=01;35:.xcf=01;35:.xwd=01;35:.yuv=01;35:.cgm=01;35:.emf=01;35:.ogv=01;35:.ogx=01;35:.aac=00;36:.au=00;36:.flac=00;36:.m4a=00;36:.mid=00;36:.midi=00;36:.mka=00;36:.mp3=00;36:.mpc=00;36:.ogg=00;36:.ra=00;36:.wav=00;36:.oga=00;36:.opus=00;36:.spx=00;36:.xspf=00;36:', 'CUDA_VERSION': '12.1.1', 'NV_LIBCUBLAS_PACKAGE': 'libcublas-12-1=12.1.3.1-1', 'NV_CUDA_NSIGHT_COMPUTE_DEV_PACKAGE': 'cuda-nsight-compute-12-1=12.1.1-1', 'CMAKE_PREFIX_PATH': '/workspace/catkin_ws/devel:/opt/ros/noetic', 'NV_LIBNPP_DEV_PACKAGE': 'libnpp-dev-12-1=12.1.0.40-1', 'NV_LIBCUBLAS_PACKAGE_NAME': 'libcublas-12-1', 'NV_LIBNPP_DEV_VERSION': '12.1.0.40-1', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'PYTHONPATH': '/opt/ros/noetic/lib/python3/dist-packages', 'TERM': 'xterm', 'NV_LIBCUSPARSE_DEV_VERSION': '12.1.0.106-1', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'LIBRARY_PATH': '/usr/local/cuda/lib64/stubs', 'NV_CUDNN_VERSION': '8.9.0.131', 'DISPLAY': ':0', 'SHLVL': '1', 'NV_CUDA_LIB_VERSION': '12.1.1-1', 'NVARCH': 'x86_64', 'ROS_MASTER_URI': 'http://localhost:11311', 'NV_CUDNN_PACKAGE_DEV': 'libcudnn8-dev=8.9.0.131-1+cuda12.1', 'NV_CUDA_COMPAT_PACKAGE': 'cuda-compat-12-1', 'NV_LIBNCCL_PACKAGE': 'libnccl2=2.17.1-1+cuda12.1', 'LD_LIBRARY_PATH': '/workspace/catkin_ws/devel/lib:/opt/ros/noetic/lib:/usr/local/nvidia/lib:/usr/local/nvidia/lib64', 'NV_CUDA_NSIGHT_COMPUTE_VERSION': '12.1.1-1', 'NV_NVPROF_VERSION': '12.1.105-1', 'PATH': '/opt/ros/noetic/bin:/usr/local/nvidia/bin:/usr/local/cuda/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin', 'NV_LIBNCCL_PACKAGE_NAME': 'libnccl2', 'NV_LIBNCCL_PACKAGE_VERSION': '2.17.1-1', 'ROS_ROOT': '/opt/ros/noetic/share/ros', 'ROSDISTRO': 'noetic', 'OLDPWD': '/workspace', '': '/opt/ros/noetic/bin/roslaunch', 'LC_CTYPE': 'C.UTF-8', 'ROS_LOG_FILENAME': '/root/.ros/log/4b4d5338-7b24-11ef-95b3-0242ac110002/roslaunch-e5eda9553952-11374.log'}) [roslaunch][INFO] 2024-09-25 19:17:36,470: starting in server mode [roslaunch.parent][INFO] 2024-09-25 19:17:36,470: starting roslaunch parent run [roslaunch][INFO] 2024-09-25 19:17:36,470: loading roscore config file /opt/ros/noetic/etc/ros/roscore.xml [roslaunch][INFO] 2024-09-25 19:17:36,643: Added core node of type [rosout/rosout] in namespace [/] [roslaunch.config][INFO] 2024-09-25 19:17:36,644: loading config file /workspace/catkin_ws/src/AirSLAM/launch/visual_odometry/vo_euroc.launch [roslaunch][INFO] 2024-09-25 19:17:36,671: Added node of type [air_slam/visual_odometry] in namespace [/] [roslaunch][INFO] 2024-09-25 19:17:36,671: Added node of type [rviz/rviz] in namespace [/] [roslaunch][INFO] 2024-09-25 19:17:36,671: ... selected machine [] for node of type [air_slam/visual_odometry] [roslaunch][INFO] 2024-09-25 19:17:36,671: ... selected machine [] for node of type [rviz/rviz] [roslaunch.pmon][INFO] 2024-09-25 19:17:36,679: start_process_monitor: creating ProcessMonitor [roslaunch.pmon][INFO] 2024-09-25 19:17:36,679: created process monitor <ProcessMonitor(ProcessMonitor-1, initial daemon)> [roslaunch.pmon][INFO] 2024-09-25 19:17:36,680: start_process_monitor: ProcessMonitor started [roslaunch.parent][INFO] 2024-09-25 19:17:36,680: starting parent XML-RPC server [roslaunch.server][INFO] 2024-09-25 19:17:36,680: starting roslaunch XML-RPC server [roslaunch.server][INFO] 2024-09-25 19:17:36,680: waiting for roslaunch XML-RPC server to initialize [xmlrpc][INFO] 2024-09-25 19:17:36,681: XML-RPC server binding to 0.0.0.0:0 [xmlrpc][INFO] 2024-09-25 19:17:36,681: Started XML-RPC server [http://e5eda9553952:45001/] [xmlrpc][INFO] 2024-09-25 19:17:36,681: xml rpc node: starting XML-RPC server [roslaunch][INFO] 2024-09-25 19:17:36,693: started roslaunch server http://e5eda9553952:45001/ [roslaunch.parent][INFO] 2024-09-25 19:17:36,693: ... parent XML-RPC server started [roslaunch][INFO] 2024-09-25 19:17:36,693: master.is_running[http://localhost:11311] [roslaunch][INFO] 2024-09-25 19:17:36,695: master.is_running[http://localhost:11311] [roslaunch][INFO] 2024-09-25 19:17:36,696: ROS_MASTER_URI=http://localhost:11311 [roslaunch][INFO] 2024-09-25 19:17:36,698: setting /roslaunch/uris/host_e5eda9553952__45001' to http://e5eda9553952:45001/ [roslaunch][INFO] 2024-09-25 19:17:36,699: load_parameters starting ... [roslaunch][INFO] 2024-09-25 19:17:36,727: ... load_parameters complete [roslaunch][INFO] 2024-09-25 19:17:36,727: launch_nodes: launching local nodes ... [roslaunch][INFO] 2024-09-25 19:17:36,728: ... preparing to launch node of type [air_slam/visual_odometry] [roslaunch][INFO] 2024-09-25 19:17:36,728: create_node_process: package[air_slam] type[visual_odometry] machine[Machine(name[] env_loader[None] address[localhost] ssh_port[22] user[None] assignable[True] timeout[10.0])] master_uri[http://localhost:11311] [roslaunch][INFO] 2024-09-25 19:17:36,728: process[visual_odometry-1]: env[{'ROS_VERSION': '1', 'NV_LIBCUBLAS_VERSION': '12.1.3.1-1', 'NVIDIA_VISIBLE_DEVICES': 'all', 'NV_NVML_DEV_VERSION': '12.1.105-1', 'NV_CUDNN_PACKAGE_NAME': 'libcudnn8', 'NV_LIBNCCL_DEV_PACKAGE': 'libnccl-dev=2.17.1-1+cuda12.1', 'NV_LIBNCCL_DEV_PACKAGE_VERSION': '2.17.1-1', 'PKG_CONFIG_PATH': '/workspace/catkin_ws/devel/lib/pkgconfig:/opt/ros/noetic/lib/pkgconfig', 'ROS_PYTHON_VERSION': '3', 'HOSTNAME': 'e5eda9553952', 'NVIDIA_REQUIRE_CUDA': 'cuda>=12.1 brand=tesla,driver>=470,driver<471 brand=unknown,driver>=470,driver<471 brand=nvidia,driver>=470,driver<471 brand=nvidiartx,driver>=470,driver<471 brand=geforce,driver>=470,driver<471 brand=geforcertx,driver>=470,driver<471 brand=quadro,driver>=470,driver<471 brand=quadrortx,driver>=470,driver<471 brand=titan,driver>=470,driver<471 brand=titanrtx,driver>=470,driver<471 brand=tesla,driver>=525,driver<526 brand=unknown,driver>=525,driver<526 brand=nvidia,driver>=525,driver<526 brand=nvidiartx,driver>=525,driver<526 brand=geforce,driver>=525,driver<526 brand=geforcertx,driver>=525,driver<526 brand=quadro,driver>=525,driver<526 brand=quadrortx,driver>=525,driver<526 brand=titan,driver>=525,driver<526 brand=titanrtx,driver>=525,driver<526', 'NV_LIBCUBLAS_DEV_PACKAGE': 'libcublas-dev-12-1=12.1.3.1-1', 'NV_NVTX_VERSION': '12.1.105-1', 'NV_CUDA_CUDART_DEV_VERSION': '12.1.105-1', 'NV_LIBCUSPARSE_VERSION': '12.1.0.106-1', 'NV_LIBNPP_VERSION': '12.1.0.40-1', 'NCCL_VERSION': '2.17.1-1', 'ROS_PACKAGE_PATH': '/workspace/catkin_ws/src:/opt/ros/noetic/share', 'ROSLISP_PACKAGE_DIRECTORIES': '/workspace/catkin_ws/devel/share/common-lisp', 'PWD': '/workspace/catkin_ws', 'NV_CUDNN_PACKAGE': 'libcudnn8=8.9.0.131-1+cuda12.1', 'NVIDIA_DRIVER_CAPABILITIES': 'compute,utility', 'NV_NVPROF_DEV_PACKAGE': 'cuda-nvprof-12-1=12.1.105-1', 'NV_LIBNPP_PACKAGE': 'libnpp-12-1=12.1.0.40-1', 'NV_LIBNCCL_DEV_PACKAGE_NAME': 'libnccl-dev', 'NV_LIBCUBLAS_DEV_VERSION': '12.1.3.1-1', 'NVIDIA_PRODUCT_NAME': 'CUDA', 'NV_LIBCUBLAS_DEV_PACKAGE_NAME': 'libcublas-dev-12-1', 'NV_CUDA_CUDART_VERSION': '12.1.105-1', 'HOME': '/root', 'ROS_ETC_DIR': '/opt/ros/noetic/etc/ros', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:.tar=01;31:.tgz=01;31:.arc=01;31:.arj=01;31:.taz=01;31:.lha=01;31:.lz4=01;31:.lzh=01;31:.lzma=01;31:.tlz=01;31:.txz=01;31:.tzo=01;31:.t7z=01;31:.zip=01;31:.z=01;31:.dz=01;31:.gz=01;31:.lrz=01;31:.lz=01;31:.lzo=01;31:.xz=01;31:.zst=01;31:.tzst=01;31:.bz2=01;31:.bz=01;31:.tbz=01;31:.tbz2=01;31:.tz=01;31:.deb=01;31:.rpm=01;31:.jar=01;31:.war=01;31:.ear=01;31:.sar=01;31:.rar=01;31:.alz=01;31:.ace=01;31:.zoo=01;31:.cpio=01;31:.7z=01;31:.rz=01;31:.cab=01;31:.wim=01;31:.swm=01;31:.dwm=01;31:.esd=01;31:.jpg=01;35:.jpeg=01;35:.mjpg=01;35:.mjpeg=01;35:.gif=01;35:.bmp=01;35:.pbm=01;35:.pgm=01;35:.ppm=01;35:.tga=01;35:.xbm=01;35:.xpm=01;35:.tif=01;35:.tiff=01;35:.png=01;35:.svg=01;35:.svgz=01;35:.mng=01;35:.pcx=01;35:.mov=01;35:.mpg=01;35:.mpeg=01;35:.m2v=01;35:.mkv=01;35:.webm=01;35:.ogm=01;35:.mp4=01;35:.m4v=01;35:.mp4v=01;35:.vob=01;35:.qt=01;35:.nuv=01;35:.wmv=01;35:.asf=01;35:.rm=01;35:.rmvb=01;35:.flc=01;35:.avi=01;35:.fli=01;35:.flv=01;35:.gl=01;35:.dl=01;35:.xcf=01;35:.xwd=01;35:.yuv=01;35:.cgm=01;35:.emf=01;35:.ogv=01;35:.ogx=01;35:.aac=00;36:.au=00;36:.flac=00;36:.m4a=00;36:.mid=00;36:.midi=00;36:.mka=00;36:.mp3=00;36:.mpc=00;36:.ogg=00;36:.ra=00;36:.wav=00;36:.oga=00;36:.opus=00;36:.spx=00;36:.xspf=00;36:', 'CUDA_VERSION': '12.1.1', 'NV_LIBCUBLAS_PACKAGE': 'libcublas-12-1=12.1.3.1-1', 'NV_CUDA_NSIGHT_COMPUTE_DEV_PACKAGE': 'cuda-nsight-compute-12-1=12.1.1-1', 'CMAKE_PREFIX_PATH': '/workspace/catkin_ws/devel:/opt/ros/noetic', 'NV_LIBNPP_DEV_PACKAGE': 'libnpp-dev-12-1=12.1.0.40-1', 'NV_LIBCUBLAS_PACKAGE_NAME': 'libcublas-12-1', 'NV_LIBNPP_DEV_VERSION': '12.1.0.40-1', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'PYTHONPATH': '/opt/ros/noetic/lib/python3/dist-packages', 'TERM': 'xterm', 'NV_LIBCUSPARSE_DEV_VERSION': '12.1.0.106-1', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'LIBRARY_PATH': '/usr/local/cuda/lib64/stubs', 'NV_CUDNN_VERSION': '8.9.0.131', 'DISPLAY': ':0', 'SHLVL': '1', 'NV_CUDA_LIB_VERSION': '12.1.1-1', 'NVARCH': 'x86_64', 'ROS_MASTER_URI': 'http://localhost:11311', 'NV_CUDNN_PACKAGE_DEV': 'libcudnn8-dev=8.9.0.131-1+cuda12.1', 'NV_CUDA_COMPAT_PACKAGE': 'cuda-compat-12-1', 'NV_LIBNCCL_PACKAGE': 'libnccl2=2.17.1-1+cuda12.1', 'LD_LIBRARY_PATH': '/workspace/catkin_ws/devel/lib:/opt/ros/noetic/lib:/usr/local/nvidia/lib:/usr/local/nvidia/lib64', 'NV_CUDA_NSIGHT_COMPUTE_VERSION': '12.1.1-1', 'NV_NVPROF_VERSION': '12.1.105-1', 'PATH': '/opt/ros/noetic/bin:/usr/local/nvidia/bin:/usr/local/cuda/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin', 'NV_LIBNCCL_PACKAGE_NAME': 'libnccl2', 'NV_LIBNCCL_PACKAGE_VERSION': '2.17.1-1', 'ROS_ROOT': '/opt/ros/noetic/share/ros', 'ROSDISTRO': 'noetic', 'OLDPWD': '/workspace', '': '/opt/ros/noetic/bin/roslaunch', 'LC_CTYPE': 'C.UTF-8', 'ROS_LOG_FILENAME': '/root/.ros/log/4b4d5338-7b24-11ef-95b3-0242ac110002/roslaunch-e5eda9553952-11374.log'}] [roslaunch][INFO] 2024-09-25 19:17:36,755: process[visual_odometry-1]: args[['/workspace/catkin_ws/devel/lib/air_slam/visual_odometry', 'name:=visual_odometry']] [roslaunch][INFO] 2024-09-25 19:17:36,755: ... created process [visual_odometry-1] [roslaunch.pmon][INFO] 2024-09-25 19:17:36,755: ProcessMonitor.register[visual_odometry-1] [roslaunch.pmon][INFO] 2024-09-25 19:17:36,755: ProcessMonitor.register[visual_odometry-1] complete [roslaunch][INFO] 2024-09-25 19:17:36,755: ... registered process [visual_odometry-1] [roslaunch][INFO] 2024-09-25 19:17:36,755: process[visual_odometry-1]: starting os process [roslaunch][INFO] 2024-09-25 19:17:36,756: process[visual_odometry-1]: start w/ args [['/workspace/catkin_ws/devel/lib/air_slam/visual_odometry', 'name:=visual_odometry', 'log:=/root/.ros/log/4b4d5338-7b24-11ef-95b3-0242ac110002/visual_odometry-1.log']] [roslaunch][INFO] 2024-09-25 19:17:36,756: process[visual_odometry-1]: cwd will be [/root/.ros] [roslaunch][INFO] 2024-09-25 19:17:36,762: process[visual_odometry-1]: started with pid [11399] [roslaunch][INFO] 2024-09-25 19:17:36,762: ... successfully launched [visual_odometry-1] [roslaunch][INFO] 2024-09-25 19:17:36,762: ... preparing to launch node of type [rviz/rviz] [roslaunch][INFO] 2024-09-25 19:17:36,762: create_node_process: package[rviz] type[rviz] machine[Machine(name[] env_loader[None] address[localhost] ssh_port[22] user[None] assignable[True] timeout[10.0])] master_uri[http://localhost:11311] [roslaunch][INFO] 2024-09-25 19:17:36,763: process[rviz-2]: env[{'ROS_VERSION': '1', 'NV_LIBCUBLAS_VERSION': '12.1.3.1-1', 'NVIDIA_VISIBLE_DEVICES': 'all', 'NV_NVML_DEV_VERSION': '12.1.105-1', 'NV_CUDNN_PACKAGE_NAME': 'libcudnn8', 'NV_LIBNCCL_DEV_PACKAGE': 'libnccl-dev=2.17.1-1+cuda12.1', 'NV_LIBNCCL_DEV_PACKAGE_VERSION': '2.17.1-1', 'PKG_CONFIG_PATH': '/workspace/catkin_ws/devel/lib/pkgconfig:/opt/ros/noetic/lib/pkgconfig', 'ROS_PYTHON_VERSION': '3', 'HOSTNAME': 'e5eda9553952', 'NVIDIA_REQUIRE_CUDA': 'cuda>=12.1 brand=tesla,driver>=470,driver<471 brand=unknown,driver>=470,driver<471 brand=nvidia,driver>=470,driver<471 brand=nvidiartx,driver>=470,driver<471 brand=geforce,driver>=470,driver<471 brand=geforcertx,driver>=470,driver<471 brand=quadro,driver>=470,driver<471 brand=quadrortx,driver>=470,driver<471 brand=titan,driver>=470,driver<471 brand=titanrtx,driver>=470,driver<471 brand=tesla,driver>=525,driver<526 brand=unknown,driver>=525,driver<526 brand=nvidia,driver>=525,driver<526 brand=nvidiartx,driver>=525,driver<526 brand=geforce,driver>=525,driver<526 brand=geforcertx,driver>=525,driver<526 brand=quadro,driver>=525,driver<526 brand=quadrortx,driver>=525,driver<526 brand=titan,driver>=525,driver<526 brand=titanrtx,driver>=525,driver<526', 'NV_LIBCUBLAS_DEV_PACKAGE': 'libcublas-dev-12-1=12.1.3.1-1', 'NV_NVTX_VERSION': '12.1.105-1', 'NV_CUDA_CUDART_DEV_VERSION': '12.1.105-1', 'NV_LIBCUSPARSE_VERSION': '12.1.0.106-1', 'NV_LIBNPP_VERSION': '12.1.0.40-1', 'NCCL_VERSION': '2.17.1-1', 'ROS_PACKAGE_PATH': '/workspace/catkin_ws/src:/opt/ros/noetic/share', 'ROSLISP_PACKAGE_DIRECTORIES': '/workspace/catkin_ws/devel/share/common-lisp', 'PWD': '/workspace/catkin_ws', 'NV_CUDNN_PACKAGE': 'libcudnn8=8.9.0.131-1+cuda12.1', 'NVIDIA_DRIVER_CAPABILITIES': 'compute,utility', 'NV_NVPROF_DEV_PACKAGE': 'cuda-nvprof-12-1=12.1.105-1', 'NV_LIBNPP_PACKAGE': 'libnpp-12-1=12.1.0.40-1', 'NV_LIBNCCL_DEV_PACKAGE_NAME': 'libnccl-dev', 'NV_LIBCUBLAS_DEV_VERSION': '12.1.3.1-1', 'NVIDIA_PRODUCT_NAME': 'CUDA', 'NV_LIBCUBLAS_DEV_PACKAGE_NAME': 'libcublas-dev-12-1', 'NV_CUDA_CUDART_VERSION': '12.1.105-1', 'HOME': '/root', 'ROS_ETC_DIR': '/opt/ros/noetic/etc/ros', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:.tar=01;31:.tgz=01;31:.arc=01;31:.arj=01;31:.taz=01;31:.lha=01;31:.lz4=01;31:.lzh=01;31:.lzma=01;31:.tlz=01;31:.txz=01;31:.tzo=01;31:.t7z=01;31:.zip=01;31:.z=01;31:.dz=01;31:.gz=01;31:.lrz=01;31:.lz=01;31:.lzo=01;31:.xz=01;31:.zst=01;31:.tzst=01;31:.bz2=01;31:.bz=01;31:.tbz=01;31:.tbz2=01;31:.tz=01;31:.deb=01;31:.rpm=01;31:.jar=01;31:.war=01;31:.ear=01;31:.sar=01;31:.rar=01;31:.alz=01;31:.ace=01;31:.zoo=01;31:.cpio=01;31:.7z=01;31:.rz=01;31:.cab=01;31:.wim=01;31:.swm=01;31:.dwm=01;31:.esd=01;31:.jpg=01;35:.jpeg=01;35:.mjpg=01;35:.mjpeg=01;35:.gif=01;35:.bmp=01;35:.pbm=01;35:.pgm=01;35:.ppm=01;35:.tga=01;35:.xbm=01;35:.xpm=01;35:.tif=01;35:.tiff=01;35:.png=01;35:.svg=01;35:.svgz=01;35:.mng=01;35:.pcx=01;35:.mov=01;35:.mpg=01;35:.mpeg=01;35:.m2v=01;35:.mkv=01;35:.webm=01;35:.ogm=01;35:.mp4=01;35:.m4v=01;35:.mp4v=01;35:.vob=01;35:.qt=01;35:.nuv=01;35:.wmv=01;35:.asf=01;35:.rm=01;35:.rmvb=01;35:.flc=01;35:.avi=01;35:.fli=01;35:.flv=01;35:.gl=01;35:.dl=01;35:.xcf=01;35:.xwd=01;35:.yuv=01;35:.cgm=01;35:.emf=01;35:.ogv=01;35:.ogx=01;35:.aac=00;36:.au=00;36:.flac=00;36:.m4a=00;36:.mid=00;36:.midi=00;36:.mka=00;36:.mp3=00;36:.mpc=00;36:.ogg=00;36:.ra=00;36:.wav=00;36:.oga=00;36:.opus=00;36:.spx=00;36:*.xspf=00;36:', 'CUDA_VERSION': '12.1.1', 'NV_LIBCUBLAS_PACKAGE': 'libcublas-12-1=12.1.3.1-1', 'NV_CUDA_NSIGHT_COMPUTE_DEV_PACKAGE': 'cuda-nsight-compute-12-1=12.1.1-1', 'CMAKE_PREFIX_PATH': '/workspace/catkin_ws/devel:/opt/ros/noetic', 'NV_LIBNPP_DEV_PACKAGE': 'libnpp-dev-12-1=12.1.0.40-1', 'NV_LIBCUBLAS_PACKAGE_NAME': 'libcublas-12-1', 'NV_LIBNPP_DEV_VERSION': '12.1.0.40-1', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'PYTHONPATH': '/opt/ros/noetic/lib/python3/dist-packages', 'TERM': 'xterm', 'NV_LIBCUSPARSE_DEV_VERSION': '12.1.0.106-1', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'LIBRARY_PATH': '/usr/local/cuda/lib64/stubs', 'NV_CUDNN_VERSION': '8.9.0.131', 'DISPLAY': ':0', 'SHLVL': '1', 'NV_CUDA_LIB_VERSION': '12.1.1-1', 'NVARCH': 'x86_64', 'ROS_MASTER_URI': 'http://localhost:11311', 'NV_CUDNN_PACKAGE_DEV': 'libcudnn8-dev=8.9.0.131-1+cuda12.1', 'NV_CUDA_COMPAT_PACKAGE': 'cuda-compat-12-1', 'NV_LIBNCCL_PACKAGE': 'libnccl2=2.17.1-1+cuda12.1', 'LD_LIBRARY_PATH': '/workspace/catkin_ws/devel/lib:/opt/ros/noetic/lib:/usr/local/nvidia/lib:/usr/local/nvidia/lib64', 'NV_CUDA_NSIGHT_COMPUTE_VERSION': '12.1.1-1', 'NV_NVPROF_VERSION': '12.1.105-1', 'PATH': '/opt/ros/noetic/bin:/usr/local/nvidia/bin:/usr/local/cuda/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin', 'NV_LIBNCCL_PACKAGE_NAME': 'libnccl2', 'NV_LIBNCCL_PACKAGE_VERSION': '2.17.1-1', 'ROS_ROOT': '/opt/ros/noetic/share/ros', 'ROSDISTRO': 'noetic', 'OLDPWD': '/workspace', '': '/opt/ros/noetic/bin/roslaunch', 'LC_CTYPE': 'C.UTF-8', 'ROS_LOG_FILENAME': '/root/.ros/log/4b4d5338-7b24-11ef-95b3-0242ac110002/roslaunch-e5eda9553952-11374.log'}] [roslaunch][INFO] 2024-09-25 19:17:36,765: process[rviz-2]: args[['/opt/ros/noetic/lib/rviz/rviz', '-d', '/workspace/catkin_ws/src/AirSLAM/rviz/vo.rviz', '__name:=rviz']] [roslaunch][INFO] 2024-09-25 19:17:36,765: ... created process [rviz-2] [roslaunch.pmon][INFO] 2024-09-25 19:17:36,765: ProcessMonitor.register[rviz-2] [roslaunch.pmon][INFO] 2024-09-25 19:17:36,765: ProcessMonitor.register[rviz-2] complete [roslaunch][INFO] 2024-09-25 19:17:36,765: ... registered process [rviz-2] [roslaunch][INFO] 2024-09-25 19:17:36,765: process[rviz-2]: starting os process [roslaunch][INFO] 2024-09-25 19:17:36,765: process[rviz-2]: start w/ args [['/opt/ros/noetic/lib/rviz/rviz', '-d', '/workspace/catkin_ws/src/AirSLAM/rviz/vo.rviz', 'name:=rviz', 'log:=/root/.ros/log/4b4d5338-7b24-11ef-95b3-0242ac110002/rviz-2.log']] [roslaunch][INFO] 2024-09-25 19:17:36,765: process[rviz-2]: cwd will be [/root/.ros] [roslaunch][INFO] 2024-09-25 19:17:36,773: process[rviz-2]: started with pid [11400] [roslaunch][INFO] 2024-09-25 19:17:36,773: ... successfully launched [rviz-2] [roslaunch][INFO] 2024-09-25 19:17:36,773: ... launch_nodes complete [roslaunch.pmon][INFO] 2024-09-25 19:17:36,774: registrations completed <ProcessMonitor(ProcessMonitor-1, started daemon 140314676979456)> [roslaunch.parent][INFO] 2024-09-25 19:17:36,774: ... roslaunch parent running, waiting for process exit [roslaunch][INFO] 2024-09-25 19:17:36,774: spin [roslaunch][ERROR] 2024-09-25 19:19:57,251: [visual_odometry-1] process has died [pid 11399, exit code -11, cmd /workspace/catkin_ws/devel/lib/air_slam/visual_odometry __name:=visual_odometry log:=/root/.ros/log/4b4d5338-7b24-11ef-95b3-0242ac110002/visual_odometry-1.log]. log file: /root/.ros/log/4b4d5338-7b24-11ef-95b3-0242ac110002/visual_odometry-1*.log [roslaunch.pmon][INFO] 2024-09-25 19:19:57,251: ProcessMonitor.unregister[visual_odometry-1] starting [roslaunch.pmon][INFO] 2024-09-25 19:19:57,251: ProcessMonitor.unregister[visual_odometry-1] complete [roslaunch.pmon][INFO] 2024-09-25 19:20:31,585: ProcessMonitor.shutdown <ProcessMonitor(ProcessMonitor-1, started daemon 140314676979456)> [roslaunch.pmon][INFO] 2024-09-25 19:20:31,638: ProcessMonitor._post_run <ProcessMonitor(ProcessMonitor-1, started daemon 140314676979456)> [roslaunch.pmon][INFO] 2024-09-25 19:20:31,639: ProcessMonitor._post_run <ProcessMonitor(ProcessMonitor-1, started daemon 140314676979456)>: remaining procs are [<roslaunch.nodeprocess.LocalProcess object at 0x7f9da88ecac0>] [roslaunch.pmon][INFO] 2024-09-25 19:20:31,639: ProcessMonitor exit: killing rviz-2 [roslaunch][INFO] 2024-09-25 19:20:31,639: [rviz-2] killing on exit [roslaunch][INFO] 2024-09-25 19:20:31,640: process[rviz-2]: killing os process with pid[11400] pgid[11400] [roslaunch][INFO] 2024-09-25 19:20:31,640: [rviz-2] sending SIGINT to pgid [11400] [roslaunch][INFO] 2024-09-25 19:20:31,640: [rviz-2] sent SIGINT to pgid [11400] [roslaunch][INFO] 2024-09-25 19:20:33,844: process[rviz-2]: SIGINT killed with return value 0 [roslaunch.pmon][INFO] 2024-09-25 19:20:33,845: ProcessMonitor exit: cleaning up data structures and signals [roslaunch.pmon][INFO] 2024-09-25 19:20:33,845: ProcessMonitor exit: pmon has shutdown [roslaunch][INFO] 2024-09-25 19:20:33,845: process monitor is done spinning, initiating full shutdown [roslaunch][INFO] 2024-09-25 19:20:33,845: runner.stop() [roslaunch][INFO] 2024-09-25 19:20:33,845: shutting down processing monitor... [roslaunch][INFO] 2024-09-25 19:20:33,845: shutting down processing monitor <ProcessMonitor(ProcessMonitor-1, stopped daemon 140314676979456)> [roslaunch.pmon][INFO] 2024-09-25 19:20:33,845: ProcessMonitor.shutdown <ProcessMonitor(ProcessMonitor-1, stopped daemon 140314676979456)> [roslaunch][INFO] 2024-09-25 19:20:33,845: ... shutting down processing monitor complete [roslaunch][INFO] 2024-09-25 19:20:33,845: done [roslaunch.pmon][INFO] 2024-09-25 19:20:33,846: ProcessMonitor.shutdown <ProcessMonitor(ProcessMonitor-1, stopped daemon 140314676979456)> [rospy.core][INFO] 2024-09-25 19:20:33,846: signal_shutdown [atexit]