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tum-vision / dvo_slam

Dense Visual Odometry and SLAM
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Can I use Kinect V2? #54

Open YuQingL opened 7 years ago

YuQingL commented 7 years ago

@christiankerl I have tried dvo_slam from: https://github.com/songuke/dvo_slam. I compiled the dvo_slam package in ROS Indigo on Ubuntu 14.04 successfully. Used TUM RGB-D benchmark, I can see right point clouds and camera positions in rviz.

I Installed Kinect v2 driver according to https://github.com/code-iai/iai_kinect2. I changed the code and then stored the 640*480 resolution of color and depth images, when connected to the hand-hold kinectv2. Used these pictures, I see wrong phenomenon in rviz after runing dvo_slam. In the rivz window, the point clouds is bad and very vague. I don't know why. Is the picture that I use the hand-hold kinect v2 to create not compatible with dvo_slam? When shooting objects,dose it have to follow a certain rule?

Can you help me? thanks a lot~

wudanhxh commented 7 years ago

Hi,I run the dvo_slam according to https://github.com/songuke/dvo_slam in ROS Indigo on Ubuntu 14.04. However,when I execute: roslaunch launch/benchmark.launch dataset:=/home/wll/dvo_slam-jade-devel/example/launch/rgbd_dataset_freiburg1_xyz the following errors occurred: [benchmark-2] process has died [pid 28029, exit code -11, cmd /home/wll/dvo_slam-jade-devel/devel/lib/dvo_benchmark/benchmark name:=benchmark log:=/home/wll/.ros/log/aa1a8182-c12e-11e6-8b0b-74e54347b077/benchmark-2.log]. log file: /home/wll/.ros/log/aa1a8182-c12e-11e6-8b0b-74e54347b077/benchmark-2*.log Could you help me out?Thanks！

songuke commented 7 years ago

It is unclear what causes this error. Please upload the content of the log file.

2016-12-13 20:28 GMT+08:00 wudanhxh notifications@github.com:

Hi,I run the dvo_slam according to https://github.com/songuke/dvo_slam in ROS Indigo on Ubuntu 14.04. However,when I execute: roslaunch launch/benchmark.launch dataset:=/home/wll/dvo_slam- jade-devel/example/launch/rgbd_dataset_freiburg1_xyz the following errors occurred: [benchmark-2] process has died [pid 28029, exit code -11, cmd /home/wll/dvo_slam-jade-devel/devel/lib/dvo_benchmark/benchmark name:=benchmark log:=/home/wll/.ros/log/aa1a8182-c12e-11e6-8b0b- 74e54347b077/benchmark-2.log]. log file: /home/wll/.ros/log/aa1a8182-c12e-11e6-8b0b-74e54347b077/ benchmark-2*.log Could you help me out?Thanks！

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wudanhxh commented 7 years ago

@songuke Thank you for your reply.

I did not find the benchmark-2*.log in the folder.Only the following four log files: master.log rosout-1-stdout.log roslaunch-wll-Lenovo-G480-27987.log rosout.log

The detail of the roslaunch-wll-Lenovo-G480-27987.log is as follows: [roslaunch][INFO] 2016-12-13 22:32:01,765: Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt [roslaunch][INFO] 2016-12-13 22:32:01,777: Done checking log file disk usage. Usage is <1GB. [roslaunch][INFO] 2016-12-13 22:32:01,777: roslaunch starting with args ['/opt/ros/indigo/bin/roslaunch', 'launch/benchmark.launch', 'dataset:=/home/wll/data/rgbd_dataset_freiburg1_xyz/'] [roslaunch][INFO] 2016-12-13 22:32:01,777: roslaunch env is {'MANDATORY_PATH': '/usr/share/gconf/ubuntu.mandatory.path', 'ROS_DISTRO': 'indigo', 'ROS_LOG_FILENAME': '/home/wll/.ros/log/e947a01c-c140-11e6-8473-74e54347b077/roslaunch-wll-Lenovo-G480-30470.log', 'XDG_GREETER_DATA_DIR': '/var/lib/lightdm-data/wll', 'GNOME_DESKTOP_SESSION_ID': 'this-is-deprecated', 'UPSTART_EVENTS': 'started starting', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'PKG_CONFIG_PATH': '/home/wll/dvo_slam-jade-devel/devel/lib/pkgconfig:/opt/ros/indigo/lib/pkgconfig', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/wll/dvo_slam-jade-devel/devel/share/common-lisp', 'CPATH': '/home/wll/dvo_slam-jade-devel/devel/include:/opt/ros/indigo/include', 'LOGNAME': 'wll', 'USER': 'wll', 'PATH': '/opt/ros/indigo/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games', 'XDG_VTNR': '7', 'GNOME_KEYRING_CONTROL': '/run/user/1000/keyring-Asu94n', 'CMAKE_PREFIX_PATH': '/home/wll/dvo_slam-jade-devel/devel:/opt/ros/indigo', 'LD_LIBRARY_PATH': '/home/wll/dvo_slam-jade-devel/devel/lib:/opt/ros/indigo/lib', 'LANG': 'zh_CN.UTF-8', 'TERM': 'xterm', 'SHELL': '/bin/bash', 'XDG_SESSION_PATH': '/org/freedesktop/DisplayManager/Session0', 'XAUTHORITY': '/home/wll/.Xauthority', 'LANGUAGE': 'zh_CN:zh', 'COMPIZ_CONFIG_PROFILE': 'ubuntu', 'SHLVL': '1', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'QT_QPA_PLATFORMTHEME': 'appmenu-qt5', 'JOB': 'gnome-session', 'TEXTDOMAIN': 'im-config', 'UPSTART_INSTANCE': '', 'CLUTTER_IM_MODULE': 'xim', 'WINDOWID': '71303180', 'SESSIONTYPE': 'gnome-session', 'XMODIFIERS': '@im=fcitx', 'ROS_ETC_DIR': '/opt/ros/indigo/etc/ros', 'GPG_AGENT_INFO': '/run/user/1000/keyring-Asu94n/gpg:0:1', 'HOME': '/home/wll', 'QT4_IM_MODULE': 'fcitx', 'SELINUX_INIT': 'YES', 'XDG_RUNTIME_DIR': '/run/user/1000', 'INSTANCE': 'Unity', 'PYTHONPATH': '/home/wll/dvo_slam-jade-devel/devel/lib/python2.7/dist-packages:/opt/ros/indigo/lib/python2.7/dist-packages', 'SSH_AUTH_SOCK': '/run/user/1000/keyring-Asu94n/ssh', 'VTE_VERSION': '3409', 'ROS_ROOT': '/opt/ros/indigo/share/ros', 'GDMSESSION': 'ubuntu', 'IM_CONFIG_PHASE': '1', 'UPSTART_JOB': 'unity-settings-daemon', 'TEXTDOMAINDIR': '/usr/share/locale/', 'GNOME_KEYRING_PID': '1488', 'XDG_SEAT_PATH': '/org/freedesktop/DisplayManager/Seat0', 'ROS_PACKAGE_PATH': '/home/wll/dvo_slam-jade-devel/src:/opt/ros/indigo/share:/opt/ros/indigo/stacks', 'XDG_CURRENT_DESKTOP': 'Unity', 'XDG_SESSION_ID': 'c2', 'DBUS_SESSION_BUSADDRESS': 'unix:abstract=/tmp/dbus-eb3GWjT98U', '': '/opt/ros/indigo/bin/roslaunch', 'DEFAULTS_PATH': '/usr/share/gconf/ubuntu.default.path', 'GTK_IM_MODULE': 'fcitx', 'DESKTOP_SESSION': 'ubuntu', 'UPSTART_SESSION': 'unix:abstract=/com/ubuntu/upstart-session/1000/1491', 'XDG_CONFIG_DIRS': '/etc/xdg/xdg-ubuntu:/usr/share/upstart/xdg:/etc/xdg', 'GTK_MODULES': 'overlay-scrollbar:unity-gtk-module', 'OLDPWD': '/home/wll/dvo_slam-jade-devel', 'GDM_LANG': 'zh_CN', 'XDG_DATA_DIRS': '/usr/share/ubuntu:/usr/share/gnome:/usr/local/share/:/usr/share/', 'PWD': '/home/wll/dvo_slam-jade-devel/example', 'QT_IM_MODULE': 'xim', 'ROS_MASTER_URI': 'http://localhost:11311', 'COLORTERM': 'gnome-terminal', 'DISPLAY': ':0', '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: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:.arj=01;31:.taz=01;31:.lzh=01;31:.lzma=01;31:.tlz=01;31:.txz=01;31:.zip=01;31:.z=01;31:.Z=01;31:.dz=01;31:.gz=01;31:.lz=01;31:.xz=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:.ace=01;31:.zoo=01;31:.cpio=01;31:.7z=01;31:.rz=01;31:.jpg=01;35:.jpeg=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:.axv=01;35:.anx=01;35:.ogv=01;35:.ogx=01;35:.aac=00;36:.au=00;36:.flac=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:.axa=00;36:.oga=00;36:.spx=00;36:.xspf=00;36:', 'XDG_SEAT': 'seat0'} [roslaunch][INFO] 2016-12-13 22:32:01,778: starting in server mode [roslaunch.parent][INFO] 2016-12-13 22:32:01,778: starting roslaunch parent run [roslaunch][INFO] 2016-12-13 22:32:01,778: loading roscore config file /opt/ros/indigo/etc/ros/roscore.xml [roslaunch][INFO] 2016-12-13 22:32:01,889: Added core node of type [rosout/rosout] in namespace [/] [roslaunch.config][INFO] 2016-12-13 22:32:01,889: loading config file launch/benchmark.launch [roslaunch][INFO] 2016-12-13 22:32:01,902: Added node of type [dvo_benchmark/benchmark] in namespace [/] [roslaunch][INFO] 2016-12-13 22:32:01,902: ... selected machine [] for node of type [dvo_benchmark/benchmark] [roslaunch.pmon][INFO] 2016-12-13 22:32:01,922: start_process_monitor: creating ProcessMonitor [roslaunch.pmon][INFO] 2016-12-13 22:32:01,922: created process monitor <ProcessMonitor(ProcessMonitor-1, initial daemon)> [roslaunch.pmon][INFO] 2016-12-13 22:32:01,922: start_process_monitor: ProcessMonitor started [roslaunch.parent][INFO] 2016-12-13 22:32:01,922: starting parent XML-RPC server [roslaunch.server][INFO] 2016-12-13 22:32:01,923: starting roslaunch XML-RPC server [roslaunch.server][INFO] 2016-12-13 22:32:01,923: waiting for roslaunch XML-RPC server to initialize [xmlrpc][INFO] 2016-12-13 22:32:01,923: XML-RPC server binding to 0.0.0.0:0 [xmlrpc][INFO] 2016-12-13 22:32:01,924: Started XML-RPC server [http://wll-Lenovo-G480:35278/] [xmlrpc][INFO] 2016-12-13 22:32:01,924: xml rpc node: starting XML-RPC server [roslaunch][INFO] 2016-12-13 22:32:01,935: started roslaunch server http://wll-Lenovo-G480:35278/ [roslaunch.parent][INFO] 2016-12-13 22:32:01,936: ... parent XML-RPC server started [roslaunch][INFO] 2016-12-13 22:32:01,936: master.is_running[http://localhost:11311] [roslaunch][INFO] 2016-12-13 22:32:01,937: auto-starting new master [roslaunch][INFO] 2016-12-13 22:32:01,937: create_master_process: rosmaster, /opt/ros/indigo/share/ros, 11311, 3, None [roslaunch][INFO] 2016-12-13 22:32:01,937: process[master]: launching with args [['rosmaster', '--core', '-p', '11311', '-w', '3']] [roslaunch.pmon][INFO] 2016-12-13 22:32:01,937: ProcessMonitor.register[master] [roslaunch.pmon][INFO] 2016-12-13 22:32:01,937: ProcessMonitor.register[master] complete [roslaunch][INFO] 2016-12-13 22:32:01,937: process[master]: starting os process [roslaunch][INFO] 2016-12-13 22:32:01,937: process[master]: start w/ args [['rosmaster', '--core', '-p', '11311', '-w', '3', 'log:=/home/wll/.ros/log/e947a01c-c140-11e6-8473-74e54347b077/master.log']] [roslaunch][INFO] 2016-12-13 22:32:01,937: process[master]: cwd will be [/home/wll/.ros] [roslaunch][INFO] 2016-12-13 22:32:01,940: process[master]: started with pid [30482] [roslaunch][INFO] 2016-12-13 22:32:01,941: master.is_running[http://localhost:11311] [roslaunch][INFO] 2016-12-13 22:32:02,042: master.is_running[http://localhost:11311] [roslaunch][INFO] 2016-12-13 22:32:02,142: master.is_running[http://localhost:11311] [roslaunch][INFO] 2016-12-13 22:32:02,146: master.is_running[http://localhost:11311] [roslaunch][INFO] 2016-12-13 22:32:02,147: ROS_MASTER_URI=http://localhost:11311 [roslaunch][INFO] 2016-12-13 22:32:02,149: setting /run_id to e947a01c-c140-11e6-8473-74e54347b077 [roslaunch][INFO] 2016-12-13 22:32:02,150: setting /roslaunch/uris/host_wll_lenovo_g48035278' to http://wll-Lenovo-G480:35278/ [roslaunch][INFO] 2016-12-13 22:32:02,152: ... preparing to launch node of type [rosout/rosout] [roslaunch][INFO] 2016-12-13 22:32:02,152: create_node_process: package[rosout] type[rosout] 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] 2016-12-13 22:32:02,153: process[rosout-1]: env[{'WINDOWID': '71303180', 'QT_QPA_PLATFORMTHEME': 'appmenu-qt5', 'ROS_DISTRO': 'indigo', 'XDG_GREETER_DATA_DIR': '/var/lib/lightdm-data/wll', 'GNOME_DESKTOP_SESSION_ID': 'this-is-deprecated', 'UPSTART_EVENTS': 'started starting', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'XDG_SEAT_PATH': '/org/freedesktop/DisplayManager/Seat0', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/wll/dvo_slam-jade-devel/devel/share/common-lisp', 'CPATH': '/home/wll/dvo_slam-jade-devel/devel/include:/opt/ros/indigo/include', 'LOGNAME': 'wll', 'USER': 'wll', 'PATH': '/opt/ros/indigo/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games', 'XDG_VTNR': '7', 'GNOME_KEYRING_CONTROL': '/run/user/1000/keyring-Asu94n', 'CMAKE_PREFIX_PATH': '/home/wll/dvo_slam-jade-devel/devel:/opt/ros/indigo', 'LD_LIBRARY_PATH': '/home/wll/dvo_slam-jade-devel/devel/lib:/opt/ros/indigo/lib', 'LANG': 'zh_CN.UTF-8', 'TERM': 'xterm', 'SHELL': '/bin/bash', 'XDG_SESSION_PATH': '/org/freedesktop/DisplayManager/Session0', 'XAUTHORITY': '/home/wll/.Xauthority', 'LANGUAGE': 'zh_CN:zh', 'SHLVL': '1', 'MANDATORY_PATH': '/usr/share/gconf/ubuntu.mandatory.path', 'JOB': 'gnome-session', 'ROS_LOG_FILENAME': '/home/wll/.ros/log/e947a01c-c140-11e6-8473-74e54347b077/roslaunch-wll-Lenovo-G480-30470.log', 'UPSTART_INSTANCE': '', 'COMPIZ_CONFIG_PROFILE': 'ubuntu', 'TEXTDOMAIN': 'im-config', 'CLUTTER_IM_MODULE': 'xim', 'XMODIFIERS': '@im=fcitx', 'ROS_MASTER_URI': 'http://localhost:11311', 'GPG_AGENT_INFO': '/run/user/1000/keyring-Asu94n/gpg:0:1', 'HOME': '/home/wll', 'QT4_IM_MODULE': 'fcitx', 'SELINUX_INIT': 'YES', 'SSH_AUTH_SOCK': '/run/user/1000/keyring-Asu94n/ssh', 'XDG_RUNTIME_DIR': '/run/user/1000', 'PYTHONPATH': '/home/wll/dvo_slam-jade-devel/devel/lib/python2.7/dist-packages:/opt/ros/indigo/lib/python2.7/dist-packages', 'SESSIONTYPE': 'gnome-session', 'VTE_VERSION': '3409', 'ROS_ROOT': '/opt/ros/indigo/share/ros', 'GDMSESSION': 'ubuntu', 'IM_CONFIG_PHASE': '1', 'UPSTART_JOB': 'unity-settings-daemon', 'TEXTDOMAINDIR': '/usr/share/locale/', 'XDG_DATA_DIRS': '/usr/share/ubuntu:/usr/share/gnome:/usr/local/share/:/usr/share/', 'PKG_CONFIG_PATH': '/home/wll/dvo_slam-jade-devel/devel/lib/pkgconfig:/opt/ros/indigo/lib/pkgconfig', 'ROS_PACKAGE_PATH': '/home/wll/dvo_slam-jade-devel/src:/opt/ros/indigo/share:/opt/ros/indigo/stacks', 'XDG_CURRENT_DESKTOP': 'Unity', 'XDG_SESSION_ID': 'c2', 'DBUS_SESSION_BUSADDRESS': 'unix:abstract=/tmp/dbus-eb3GWjT98U', '': '/opt/ros/indigo/bin/roslaunch', 'DEFAULTS_PATH': '/usr/share/gconf/ubuntu.default.path', 'GTK_IM_MODULE': 'fcitx', 'DESKTOP_SESSION': 'ubuntu', 'UPSTART_SESSION': 'unix:abstract=/com/ubuntu/upstart-session/1000/1491', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'GNOME_KEYRING_PID': '1488', 'OLDPWD': '/home/wll/dvo_slam-jade-devel', '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: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:.arj=01;31:.taz=01;31:.lzh=01;31:.lzma=01;31:.tlz=01;31:.txz=01;31:.zip=01;31:.z=01;31:.Z=01;31:.dz=01;31:.gz=01;31:.lz=01;31:.xz=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:.ace=01;31:.zoo=01;31:.cpio=01;31:.7z=01;31:.rz=01;31:.jpg=01;35:.jpeg=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:.axv=01;35:.anx=01;35:.ogv=01;35:.ogx=01;35:.aac=00;36:.au=00;36:.flac=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:.axa=00;36:.oga=00;36:.spx=00;36:.xspf=00;36:', 'GDM_LANG': 'zh_CN', 'GTK_MODULES': 'overlay-scrollbar:unity-gtk-module', 'INSTANCE': 'Unity', 'PWD': '/home/wll/dvo_slam-jade-devel/example', 'QT_IM_MODULE': 'xim', 'ROS_ETC_DIR': '/opt/ros/indigo/etc/ros', 'COLORTERM': 'gnome-terminal', 'DISPLAY': ':0', 'XDG_CONFIG_DIRS': '/etc/xdg/xdg-ubuntu:/usr/share/upstart/xdg:/etc/xdg', 'XDG_SEAT': 'seat0'}] [roslaunch][INFO] 2016-12-13 22:32:02,195: process[rosout-1]: args[[u'/opt/ros/indigo/lib/rosout/rosout', u'name:=rosout']] [roslaunch][INFO] 2016-12-13 22:32:02,195: ... created process [rosout-1] [roslaunch.pmon][INFO] 2016-12-13 22:32:02,195: ProcessMonitor.register[rosout-1] [roslaunch.pmon][INFO] 2016-12-13 22:32:02,195: ProcessMonitor.register[rosout-1] complete [roslaunch][INFO] 2016-12-13 22:32:02,195: ... registered process [rosout-1] [roslaunch][INFO] 2016-12-13 22:32:02,195: process[rosout-1]: starting os process [roslaunch][INFO] 2016-12-13 22:32:02,196: process[rosout-1]: start w/ args [[u'/opt/ros/indigo/lib/rosout/rosout', u'name:=rosout', u'log:=/home/wll/.ros/log/e947a01c-c140-11e6-8473-74e54347b077/rosout-1.log']] [roslaunch][INFO] 2016-12-13 22:32:02,196: process[rosout-1]: cwd will be [/home/wll/.ros] [roslaunch][INFO] 2016-12-13 22:32:02,215: process[rosout-1]: started with pid [30495] [roslaunch][INFO] 2016-12-13 22:32:02,215: ... successfully launched [rosout-1] [roslaunch][INFO] 2016-12-13 22:32:02,216: load_parameters starting ... [roslaunch][INFO] 2016-12-13 22:32:02,233: ... load_parameters complete [roslaunch][INFO] 2016-12-13 22:32:02,233: launch_nodes: launching local nodes ... [roslaunch][INFO] 2016-12-13 22:32:02,233: ... preparing to launch node of type [dvo_benchmark/benchmark] [roslaunch][INFO] 2016-12-13 22:32:02,233: create_node_process: package[dvo_benchmark] type[benchmark] 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] 2016-12-13 22:32:02,233: process[benchmark-2]: env[{'WINDOWID': '71303180', 'QT_QPA_PLATFORMTHEME': 'appmenu-qt5', 'ROS_DISTRO': 'indigo', 'XDG_GREETER_DATA_DIR': '/var/lib/lightdm-data/wll', 'GNOME_DESKTOP_SESSION_ID': 'this-is-deprecated', 'UPSTART_EVENTS': 'started starting', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'XDG_SEAT_PATH': '/org/freedesktop/DisplayManager/Seat0', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/wll/dvo_slam-jade-devel/devel/share/common-lisp', 'CPATH': '/home/wll/dvo_slam-jade-devel/devel/include:/opt/ros/indigo/include', 'LOGNAME': 'wll', 'USER': 'wll', 'PATH': '/opt/ros/indigo/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games', 'XDG_VTNR': '7', 'GNOME_KEYRING_CONTROL': '/run/user/1000/keyring-Asu94n', 'CMAKE_PREFIX_PATH': '/home/wll/dvo_slam-jade-devel/devel:/opt/ros/indigo', 'LD_LIBRARY_PATH': '/home/wll/dvo_slam-jade-devel/devel/lib:/opt/ros/indigo/lib', 'LANG': 'zh_CN.UTF-8', 'TERM': 'xterm', 'SHELL': '/bin/bash', 'XDG_SESSION_PATH': '/org/freedesktop/DisplayManager/Session0', 'XAUTHORITY': '/home/wll/.Xauthority', 'LANGUAGE': 'zh_CN:zh', 'SHLVL': '1', 'MANDATORY_PATH': '/usr/share/gconf/ubuntu.mandatory.path', 'JOB': 'gnome-session', 'ROS_LOG_FILENAME': '/home/wll/.ros/log/e947a01c-c140-11e6-8473-74e54347b077/roslaunch-wll-Lenovo-G480-30470.log', 'UPSTART_INSTANCE': '', 'COMPIZ_CONFIG_PROFILE': 'ubuntu', 'TEXTDOMAIN': 'im-config', 'CLUTTER_IM_MODULE': 'xim', 'XMODIFIERS': '@im=fcitx', 'ROS_MASTER_URI': 'http://localhost:11311', 'GPG_AGENT_INFO': '/run/user/1000/keyring-Asu94n/gpg:0:1', 'HOME': '/home/wll', 'QT4_IM_MODULE': 'fcitx', 'SELINUX_INIT': 'YES', 'SSH_AUTH_SOCK': '/run/user/1000/keyring-Asu94n/ssh', 'XDG_RUNTIME_DIR': '/run/user/1000', 'PYTHONPATH': '/home/wll/dvo_slam-jade-devel/devel/lib/python2.7/dist-packages:/opt/ros/indigo/lib/python2.7/dist-packages', 'SESSIONTYPE': 'gnome-session', u'ROSCONSOLE_CONFIG_FILE': u'/home/wll/dvo_slam-jade-devel/example/launch/benchmark_logging.config', 'VTE_VERSION': '3409', 'ROS_ROOT': '/opt/ros/indigo/share/ros', 'GDMSESSION': 'ubuntu', 'IM_CONFIG_PHASE': '1', 'UPSTART_JOB': 'unity-settings-daemon', 'TEXTDOMAINDIR': '/usr/share/locale/', 'XDG_DATA_DIRS': '/usr/share/ubuntu:/usr/share/gnome:/usr/local/share/:/usr/share/', 'PKG_CONFIG_PATH': '/home/wll/dvo_slam-jade-devel/devel/lib/pkgconfig:/opt/ros/indigo/lib/pkgconfig', 'ROS_PACKAGE_PATH': '/home/wll/dvo_slam-jade-devel/src:/opt/ros/indigo/share:/opt/ros/indigo/stacks', u'ROSCONSOLE_FORMAT': u'${logger}: { ${message} }', 'XDG_CURRENT_DESKTOP': 'Unity', 'XDG_SESSION_ID': 'c2', 'DBUS_SESSION_BUSADDRESS': 'unix:abstract=/tmp/dbus-eb3GWjT98U', '': '/opt/ros/indigo/bin/roslaunch', 'DEFAULTS_PATH': '/usr/share/gconf/ubuntu.default.path', 'GTK_IM_MODULE': 'fcitx', 'DESKTOP_SESSION': 'ubuntu', 'UPSTART_SESSION': 'unix:abstract=/com/ubuntu/upstart-session/1000/1491', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'GNOME_KEYRING_PID': '1488', 'OLDPWD': '/home/wll/dvo_slam-jade-devel', '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: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:.arj=01;31:.taz=01;31:.lzh=01;31:.lzma=01;31:.tlz=01;31:.txz=01;31:.zip=01;31:.z=01;31:.Z=01;31:.dz=01;31:.gz=01;31:.lz=01;31:.xz=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:.ace=01;31:.zoo=01;31:.cpio=01;31:.7z=01;31:.rz=01;31:.jpg=01;35:.jpeg=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:.axv=01;35:.anx=01;35:.ogv=01;35:.ogx=01;35:.aac=00;36:.au=00;36:.flac=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:.axa=00;36:.oga=00;36:.spx=00;36:.xspf=00;36:', 'GDM_LANG': 'zh_CN', 'GTK_MODULES': 'overlay-scrollbar:unity-gtk-module', 'INSTANCE': 'Unity', 'PWD': '/home/wll/dvo_slam-jade-devel/example', 'QT_IM_MODULE': 'xim', 'ROS_ETC_DIR': '/opt/ros/indigo/etc/ros', 'COLORTERM': 'gnome-terminal', 'DISPLAY': ':0', 'XDG_CONFIG_DIRS': '/etc/xdg/xdg-ubuntu:/usr/share/upstart/xdg:/etc/xdg', 'XDG_SEAT': 'seat0'}] [roslaunch][INFO] 2016-12-13 22:32:02,235: process[benchmark-2]: args[[u'/home/wll/dvo_slam-jade-devel/devel/lib/dvo_benchmark/benchmark', u'name:=benchmark']] [roslaunch][INFO] 2016-12-13 22:32:02,235: ... created process [benchmark-2] [roslaunch.pmon][INFO] 2016-12-13 22:32:02,235: ProcessMonitor.register[benchmark-2] [roslaunch.pmon][INFO] 2016-12-13 22:32:02,235: ProcessMonitor.register[benchmark-2] complete [roslaunch][INFO] 2016-12-13 22:32:02,235: ... registered process [benchmark-2] [roslaunch][INFO] 2016-12-13 22:32:02,235: process[benchmark-2]: starting os process [roslaunch][INFO] 2016-12-13 22:32:02,235: process[benchmark-2]: start w/ args [[u'/home/wll/dvo_slam-jade-devel/devel/lib/dvo_benchmark/benchmark', u'name:=benchmark', u'__log:=/home/wll/.ros/log/e947a01c-c140-11e6-8473-74e54347b077/benchmark-2.log']] [roslaunch][INFO] 2016-12-13 22:32:02,235: process[benchmark-2]: cwd will be [/home/wll/.ros] [roslaunch][INFO] 2016-12-13 22:32:02,241: process[benchmark-2]: started with pid [30498] [roslaunch][INFO] 2016-12-13 22:32:02,241: ... successfully launched [benchmark-2] [roslaunch][INFO] 2016-12-13 22:32:02,241: ... launch_nodes complete [roslaunch.pmon][INFO] 2016-12-13 22:32:02,241: registrations completed <ProcessMonitor(ProcessMonitor-1, started daemon -1231467712)> [roslaunch.parent][INFO] 2016-12-13 22:32:02,242: ... roslaunch parent running, waiting for process exit [roslaunch][INFO] 2016-12-13 22:32:02,242: spin [roslaunch][ERROR] 2016-12-13 22:32:03,626: [benchmark-2] process has died [pid 30498, exit code -11, cmd /home/wll/dvo_slam-jade-devel/devel/lib/dvo_benchmark/benchmark name:=benchmark __log:=/home/wll/.ros/log/e947a01c-c140-11e6-8473-74e54347b077/benchmark-2.log]. log file: /home/wll/.ros/log/e947a01c-c140-11e6-8473-74e54347b077/benchmark-2*.log [roslaunch.pmon][INFO] 2016-12-13 22:32:03,627: ProcessMonitor.unregister[benchmark-2] starting [roslaunch.pmon][INFO] 2016-12-13 22:32:03,627: ProcessMonitor.unregister[benchmark-2] complete [roslaunch.pmon][INFO] 2016-12-13 22:32:06,514: ProcessMonitor.shutdown <ProcessMonitor(ProcessMonitor-1, started daemon -1231467712)> [roslaunch.pmon][INFO] 2016-12-13 22:32:06,535: ProcessMonitor._post_run <ProcessMonitor(ProcessMonitor-1, started daemon -1231467712)> [roslaunch.pmon][INFO] 2016-12-13 22:32:06,536: ProcessMonitor._post_run <ProcessMonitor(ProcessMonitor-1, started daemon -1231467712)>: remaining procs are [<roslaunch.nodeprocess.LocalProcess object at 0xb6a0bb2c>, <roslaunch.nodeprocess.LocalProcess object at 0xb69f750c>] [roslaunch.pmon][INFO] 2016-12-13 22:32:06,537: ProcessMonitor exit: killing rosout-1 [roslaunch][INFO] 2016-12-13 22:32:06,537: [rosout-1] killing on exit [roslaunch][INFO] 2016-12-13 22:32:06,537: process[rosout-1]: killing os process with pid[30495] pgid[30495] [roslaunch][INFO] 2016-12-13 22:32:06,537: [rosout-1] sending SIGINT to pgid [30495] [roslaunch][INFO] 2016-12-13 22:32:06,538: [rosout-1] sent SIGINT to pgid [30495] [roslaunch][INFO] 2016-12-13 22:32:06,738: process[rosout-1]: SIGINT killed with return value 0 [roslaunch.pmon][INFO] 2016-12-13 22:32:06,738: ProcessMonitor exit: killing master [roslaunch][INFO] 2016-12-13 22:32:06,739: [master] killing on exit [roslaunch][INFO] 2016-12-13 22:32:06,739: process[master]: killing os process with pid[30482] pgid[30482] [roslaunch][INFO] 2016-12-13 22:32:06,739: [master] sending SIGINT to pgid [30482] [roslaunch][INFO] 2016-12-13 22:32:06,739: [master] sent SIGINT to pgid [30482] [roslaunch][INFO] 2016-12-13 22:32:06,939: process[master]: SIGINT killed with return value 0 [roslaunch.pmon][INFO] 2016-12-13 22:32:06,940: ProcessMonitor exit: cleaning up data structures and signals [roslaunch.pmon][INFO] 2016-12-13 22:32:06,940: ProcessMonitor exit: pmon has shutdown [roslaunch][INFO] 2016-12-13 22:32:06,980: process monitor is done spinning, initiating full shutdown [roslaunch][INFO] 2016-12-13 22:32:06,980: runner.stop() [roslaunch][INFO] 2016-12-13 22:32:06,980: shutting down processing monitor... [roslaunch][INFO] 2016-12-13 22:32:06,980: shutting down processing monitor <ProcessMonitor(ProcessMonitor-1, stopped daemon -1231467712)> [roslaunch.pmon][INFO] 2016-12-13 22:32:06,980: ProcessMonitor.shutdown <ProcessMonitor(ProcessMonitor-1, stopped daemon -1231467712)> [roslaunch][INFO] 2016-12-13 22:32:06,980: ... shutting down processing monitor complete [roslaunch][INFO] 2016-12-13 22:32:06,981: done [roslaunch.pmon][INFO] 2016-12-13 22:32:06,981: ProcessMonitor.shutdown <ProcessMonitor(ProcessMonitor-1, stopped daemon -1231467712)> [rospy.core][INFO] 2016-12-13 22:32:06,981: signal_shutdown [atexit]

As a beginner,I'm sorry to trouble you.Thanks!

songuke commented 7 years ago

I'm not sure what happens after seeing this log.

But there's something you can try

2016-12-13 23:10 GMT+08:00 wudanhxh notifications@github.com:

@songuke https://github.com/songuke Thank you for your reply.

I did not find the benchmark-2*.log in the folder.Only the following four log files: master.log rosout-1-stdout.log roslaunch-wll-Lenovo-G480-27987.log rosout.log

The detail of the roslaunch-wll-Lenovo-G480-27987.log is as follows: [roslaunch][INFO] 2016-12-13 22:32:01,765: Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt [roslaunch][INFO] 2016-12-13 22:32:01,777: Done checking log file disk usage. Usage is <1GB. [roslaunch][INFO] 2016-12-13 22:32:01,777: roslaunch starting with args ['/opt/ros/indigo/bin/roslaunch', 'launch/benchmark.launch', 'dataset:=/home/wll/data/rgbd_dataset_freiburg1_xyz/'] [roslaunch][INFO] 2016-12-13 22:32:01,777: roslaunch env is {'MANDATORY_PATH': '/usr/share/gconf/ubuntu.mandatory.path', 'ROS_DISTRO': 'indigo', 'ROS_LOG_FILENAME': '/home/wll/.ros/log/e947a01c- c140-11e6-8473-74e54347b077/roslaunch-wll-Lenovo-G480-30470.log', 'XDG_GREETER_DATA_DIR': '/var/lib/lightdm-data/wll', 'GNOME_DESKTOP_SESSION_ID': 'this-is-deprecated', 'UPSTART_EVENTS': 'started starting', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'PKG_CONFIG_PATH': '/home/wll/dvo_slam-jade-devel/devel/lib/pkgconfig:/opt/ros/indigo/lib/pkgconfig', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/wll/dvo_slam-jade- devel/devel/share/common-lisp', 'CPATH': '/home/wll/dvo_slam-jade- devel/devel/include:/opt/ros/indigo/include', 'LOGNAME': 'wll', 'USER': 'wll', 'PATH': '/opt/ros/indigo/bin:/usr/local/sbin:/usr/local/bin:/ usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games', 'XDG_VTNR': '7', 'GNOME_KEYRING_CONTROL': '/run/user/1000/keyring-Asu94n', 'CMAKE_PREFIX_PATH': '/home/wll/dvo_slam-jade-devel/devel:/opt/ros/indigo', 'LD_LIBRARY_PATH': '/home/wll/dvo_slam-jade-devel/devel/lib:/opt/ros/indigo/lib', 'LANG': 'zh_CN.UTF-8', 'TERM': 'xterm', 'SHELL': '/bin/bash', 'XDG_SESSION_PATH': '/org/freedesktop/DisplayManager/Session0', 'XAUTHORITY': '/home/wll/.Xauthority', 'LANGUAGE': 'zh_CN:zh', 'COMPIZ_CONFIG_PROFILE': 'ubuntu', 'SHLVL': '1', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'QT_QPA_PLATFORMTHEME': 'appmenu-qt5', 'JOB': 'gnome-session', 'TEXTDOMAIN': 'im-config', 'UPSTART_INSTANCE': '', 'CLUTTER_IM_MODULE': 'xim', 'WINDOWID': '71303180', 'SESSIONTYPE': 'gnome-session', 'XMODIFIERS': '@im https://github.com/im=fcitx', 'ROS_ETC_DIR': '/opt/ros/indigo/etc/ros', 'GPG_AGENT_INFO': '/run/user/1000/keyring-Asu94n/gpg:0:1', 'HOME': '/home/wll', 'QT4_IM_MODULE': 'fcitx', 'SELINUX_INIT': 'YES', 'XDG_RUNTIME_DIR': '/run/user/1000', 'INSTANCE': 'Unity', 'PYTHONPATH': '/home/wll/dvo_slam-jade-devel/devel/lib/python2.7/ dist-packages:/opt/ros/indigo/lib/python2.7/dist-packages', 'SSH_AUTH_SOCK': '/run/user/1000/keyring-Asu94n/ssh', 'VTE_VERSION': '3409', 'ROS_ROOT': '/opt/ros/indigo/share/ros', 'GDMSESSION': 'ubuntu', 'IM_CONFIG_PHASE': '1', 'UPSTART_JOB': 'unity-settings-daemon', 'TEXTDOMAINDIR': '/usr/share/locale/', 'GNOME_KEYRING_PID': '1488', 'XDG_SEAT_PATH': '/org/freedesktop/DisplayManager/Seat0', 'ROS_PACKAGE_PATH': '/home/wll/dvo_slam-jade-devel/src:/opt/ros/indigo/share:/opt/ros/indigo/stacks', 'XDG_CURRENT_DESKTOP': 'Unity', 'XDG_SESSION_ID': 'c2', 'DBUS_SESSION_BUS_ADDRESS': 'unix:abstract=/tmp/dbus-eb3GWjT98U', '

*': '/opt/ros/indigo/bin/roslaunch', 'DEFAULTS_PATH': '/usr/share/gconf/ubuntu.default.path', 'GTK_IM_MODULE': 'fcitx', 'DESKTOP_SESSION': 'ubuntu', 'UPSTART_SESSION': 'unix:abstract=/com/ubuntu/upstart-session/1000/1491', 'XDG_CONFIG_DIRS': '/etc/xdg/xdg-ubuntu:/usr/share/upstart/xdg:/etc/xdg', 'GTK_MODULES': 'overlay-scrollbar:unity-gtk-module', 'OLDPWD': '/home/wll/dvo_slam-jade-devel', 'GDM_LANG': 'zh_CN', 'XDG_DATA_DIRS': '/usr/share/ubuntu:/usr/share/gnome:/usr/local/share/:/usr/share/', 'PWD': '/home/wll/dvo_slam-jade-devel/example', 'QT_IM_MODULE': 'xim', 'ROS_MASTER_URI': 'http://localhost:11311 http://localhost:11311', 'COLORTERM': 'gnome-terminal', 'DISPLAY': ':0', '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: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:.arj=01;31:.taz=01;31:.lzh=01;31:.lzma=01;31:.tlz=01;31:.txz=01;31:.zip=01;31:.z=01;31:.Z=01;31:.dz=01;31:.gz=01;31:.lz=01;31:.xz=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:.ace=01;31:.zoo=01;31:.cpio=01;31:.7z=01;31:.rz=01;31:.jpg=01;35:.jpeg=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:.axv=01;35:.anx=01;35:.ogv=01;35:.ogx=01;35:.aac=00;36:.au=00;36:.flac=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:.axa=00;36:.oga=00;36:.spx=00;36:.xspf=00;36:', 'XDG_SEAT': 'seat0'} [roslaunch][INFO] 2016-12-13 22:32:01,778: starting in server mode [roslaunch.parent][INFO] 2016-12-13 22:32:01,778: starting roslaunch parent run [roslaunch][INFO] 2016-12-13 22:32:01,778: loading roscore config file /opt/ros/indigo/etc/ros/roscore.xml [roslaunch][INFO] 2016-12-13 22:32:01,889: Added core node of type [rosout/rosout] in namespace [/] [roslaunch.config][INFO] 2016-12-13 22:32:01,889: loading config file launch/benchmark.launch [roslaunch][INFO] 2016-12-13 22:32:01,902: Added node of type [dvo_benchmark/benchmark] in namespace [/] [roslaunch][INFO] 2016-12-13 22:32:01,902: ... selected machine [] for node of type [dvo_benchmark/benchmark] [roslaunch.pmon][INFO] 2016-12-13 22:32:01,922: start_process_monitor: creating ProcessMonitor [roslaunch.pmon][INFO] 2016-12-13 22:32:01,922: created process monitor <ProcessMonitor(ProcessMonitor-1, initial daemon)> [roslaunch.pmon][INFO] 2016-12-13 22:32:01,922: start_process_monitor: ProcessMonitor started [roslaunch.parent][INFO] 2016-12-13 22:32:01,922: starting parent XML-RPC server [roslaunch.server][INFO] 2016-12-13 22:32:01,923: starting roslaunch XML-RPC server [roslaunch.server][INFO] 2016-12-13 22:32:01,923: waiting for roslaunch XML-RPC server to initialize [xmlrpc][INFO] 2016-12-13 22:32:01,923: XML-RPC server binding to 0.0.0.0:0 http://0.0.0.0:0 [xmlrpc][INFO] 2016-12-13 22:32:01,924: Started XML-RPC server [http://wll-Lenovo-G480:35278/ http://wll-Lenovo-G480:35278/] [xmlrpc][INFO] 2016-12-13 22:32:01,924: xml rpc node: starting XML-RPC server [roslaunch][INFO] 2016-12-13 22:32:01,935: started roslaunch server http://wll-Lenovo-G480:35278/ http://wll-Lenovo-G480:35278/ [roslaunch.parent][INFO] 2016-12-13 22:32:01,936: ... parent XML-RPC server started [roslaunch][INFO] 2016-12-13 22:32:01,936: master.is_running[http://localhost:11311 http://localhost:11311] [roslaunch][INFO] 2016-12-13 22:32:01,937: auto-starting new master [roslaunch][INFO] 2016-12-13 22:32:01,937: create_master_process: rosmaster, /opt/ros/indigo/share/ros, 11311, 3, None [roslaunch][INFO] 2016-12-13 22:32:01,937: process[master]: launching with args [['rosmaster', '--core', '-p', '11311', '-w', '3']] [roslaunch.pmon][INFO] 2016-12-13 22:32:01,937: ProcessMonitor.register[master] [roslaunch.pmon][INFO] 2016-12-13 22:32:01,937: ProcessMonitor.register[master] complete [roslaunch][INFO] 2016-12-13 22:32:01,937: process[master]: starting os process [roslaunch][INFO] 2016-12-13 22:32:01,937: process[master]: start w/ args [['rosmaster', '--core', '-p', '11311', '-w', '3', 'log:=/home/wll/.ros/log/e947a01c-c140-11e6-8473-74e54347b077/master.log']] [roslaunch][INFO] 2016-12-13 22:32:01,937: process[master]: cwd will be [/home/wll/.ros] [roslaunch][INFO] 2016-12-13 22:32:01,940: process[master]: started with pid [30482] [roslaunch][INFO] 2016-12-13 22:32:01,941: master.is_running[http://localhost:11311 http://localhost:11311] [roslaunch][INFO] 2016-12-13 22:32:02,042: master.is_running[http://localhost:11311 http://localhost:11311] [roslaunch][INFO] 2016-12-13 22:32:02,142: master.is_running[http://localhost:11311 http://localhost:11311] [roslaunch][INFO] 2016-12-13 22:32:02,146: master.is_running[http://localhost:11311 http://localhost:11311] [roslaunch][INFO] 2016-12-13 22:32:02,147: ROS_MASTER_URI=http://localhost:11311 http://localhost:11311 [roslaunch][INFO] 2016-12-13 22:32:02,149: setting /run_id to e947a01c-c140-11e6-8473-74e54347b077 [roslaunch][INFO] 2016-12-13 22:32:02,150: setting /roslaunch/uris/host_wll_lenovo_g48035278' to http://wll-Lenovo-G480:35278/ http://wll-Lenovo-G480:35278/ [roslaunch][INFO] 2016-12-13 22:32:02,152: ... preparing to launch node of type [rosout/rosout] [roslaunch][INFO] 2016-12-13 22:32:02,152: create_node_process: package[rosout] type[rosout] machine[Machine(name[] env_loader[None] address[localhost] ssh_port[22] user[None] assignable[True] timeout[10.0])] master_uri[http://localhost:11311 http://localhost:11311] [roslaunch][INFO] 2016-12-13 22:32:02,153: process[rosout-1]: env[{'WINDOWID': '71303180', 'QT_QPA_PLATFORMTHEME': 'appmenu-qt5', 'ROS_DISTRO': 'indigo', 'XDG_GREETER_DATA_DIR': '/var/lib/lightdm-data/wll', 'GNOME_DESKTOP_SESSION_ID': 'this-is-deprecated', 'UPSTART_EVENTS': 'started starting', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'XDG_SEAT_PATH': '/org/freedesktop/DisplayManager/Seat0', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/wll/dvo_slam-jade-devel/devel/share/common-lisp', 'CPATH': '/home/wll/dvo_slam-jade-devel/devel/include:/opt/ros/indigo/include', 'LOGNAME': 'wll', 'USER': 'wll', 'PATH': '/opt/ros/indigo/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games', 'XDG_VTNR': '7', 'GNOME_KEYRING_CONTROL': '/run/user/1000/keyring-Asu94n', 'CMAKE_PREFIX_PATH': '/home/wll/dvo_slam-jade-devel/devel:/opt/ros/indigo', 'LD_LIBRARY_PATH': '/home/wll/dvo_slam-jade-devel/devel/lib:/opt/ros/indigo/lib', 'LANG': 'zh_CN.UTF-8', 'TERM': 'xterm', 'SHELL': '/bin/bash', 'XDG_SESSION_PATH': '/org/freedesktop/DisplayManager/Session0', 'XAUTHORITY': '/home/wll/.Xauthority', 'LANGUAGE': 'zh_CN:zh', 'SHLVL': '1', 'MANDATORY_PATH': '/usr/share/gconf/ubuntu.mandatory.path', 'JOB': 'gnome-session', 'ROS_LOG_FILENAME': '/home/wll/.ros/log/e947a01c-c140-11e6-8473-74e54347b077/roslaunch-wll-Lenovo-G480-30470.log', 'UPSTART_INSTANCE': '', 'COMPIZ_CONFIG_PROFILE': 'ubuntu', 'TEXTDOMAIN': 'im-config', 'CLUTTER_IM_MODULE': 'xim', 'XMODIFIERS': '@im https://github.com/im=fcitx', 'ROS_MASTER_URI': 'http://localhost:11311 http://localhost:11311', 'GPG_AGENT_INFO': '/run/user/1000/keyring-Asu94n/gpg:0:1', 'HOME': '/home/wll', 'QT4_IM_MODULE': 'fcitx', 'SELINUX_INIT': 'YES', 'SSH_AUTH_SOCK': '/run/user/1000/keyring-Asu94n/ssh', 'XDG_RUNTIME_DIR': '/run/user/1000', 'PYTHONPATH': '/home/wll/dvo_slam-jade-devel/devel/lib/python2.7/dist-packages:/opt/ros/indigo/lib/python2.7/dist-packages', 'SESSIONTYPE': 'gnome-session', 'VTE_VERSION': '3409', 'ROS_ROOT': '/opt/ros/indigo/share/ros', 'GDMSESSION': 'ubuntu', 'IM_CONFIG_PHASE': '1', 'UPSTART_JOB': 'unity-settings-daemon', 'TEXTDOMAINDIR': '/usr/share/locale/', 'XDG_DATA_DIRS': '/usr/share/ubuntu:/usr/share/gnome:/usr/local/share/:/usr/share/', 'PKG_CONFIG_PATH': '/home/wll/dvo_slam-jade-devel/devel/lib/pkgconfig:/opt/ros/indigo/lib/pkgconfig', 'ROS_PACKAGE_PATH': '/home/wll/dvo_slam-jade-devel/src:/opt/ros/indigo/share:/opt/ros/indigo/stacks', 'XDG_CURRENT_DESKTOP': 'Unity', 'XDG_SESSION_ID': 'c2', 'DBUS_SESSION_BUS_ADDRESS': 'unix:abstract=/tmp/dbus-eb3GWjT98U', '': '/opt/ros/indigo/bin/roslaunch', 'DEFAULTS_PATH': '/usr/share/gconf/ubuntu.default.path', 'GTK_IM_MODULE': 'fcitx', 'DESKTOP_SESSION': 'ubuntu', 'UPSTART_SESSION': 'unix:abstract=/com/ubuntu/upstart-session/1000/1491', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'GNOME_KEYRING_PID': '1488', 'OLDPWD': '/home/wll/dvo_slam-jade-devel', '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: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:.arj=01;31: .taz=01;31:.lzh=01;31:.lzma=01;31:.tlz=01;31:.txz=01;31:.zip=01;31: .z=01;31:.Z=01;31:.dz=01;31:.gz=01;31:.lz=01;31:.xz=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: .ace=01;31:.zoo=01;31:.cpio=01;31:.7z=01;31:.rz=01;31:.jpg=01;35: .jpeg=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:.axv=01;35:.anx=01;35:.ogv=01;35:.ogx=01;35: .aac=00;36:.au=00;36:.flac=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:.axa=00;36: .oga=00;36:.spx=00;36:.xspf=00;36:', 'GDM_LANG': 'zh_CN', 'GTK_MODULES': 'overlay-scrollbar:unity-gtk-module', 'INSTANCE': 'Unity', 'PWD': '/home/wll/dvo_slam-jade-devel/example', 'QT_IM_MODULE': 'xim', 'ROS_ETC_DIR': '/opt/ros/indigo/etc/ros', 'COLORTERM': 'gnome-terminal', 'DISPLAY': ':0', 'XDG_CONFIG_DIRS': '/etc/xdg/xdg-ubuntu:/usr/share/upstart/xdg:/etc/xdg', 'XDG_SEAT': 'seat0'}] [roslaunch][INFO] 2016-12-13 22:32:02,195: process[rosout-1]: args[[u'/opt/ros/indigo/lib/rosout/rosout', u'name:=rosout']] [roslaunch][INFO] 2016-12-13 22:32:02,195: ... created process [rosout-1] [roslaunch.pmon][INFO] 2016-12-13 22:32:02,195: ProcessMonitor.register[ rosout-1] [roslaunch.pmon][INFO] 2016-12-13 22:32:02,195: ProcessMonitor.register[rosout-1] complete [roslaunch][INFO] 2016-12-13 22:32:02,195: ... registered process [rosout-1] [roslaunch][INFO] 2016-12-13 22:32:02,195: process[rosout-1]: starting os process [roslaunch][INFO] 2016-12-13 22:32:02,196: process[rosout-1]: start w/ args [[u'/opt/ros/indigo/lib/rosout/rosout', u'name:=rosout', u'__log:=/home/wll/.ros/log/e947a01c-c140-11e6-8473- 74e54347b077/rosout-1.log']] [roslaunch][INFO] 2016-12-13 22:32:02,196: process[rosout-1]: cwd will be [/home/wll/.ros] [roslaunch][INFO] 2016-12-13 22:32:02,215: process[rosout-1]: started with pid [30495] [roslaunch][INFO] 2016-12-13 22:32:02,215: ... successfully launched [rosout-1] [roslaunch][INFO] 2016-12-13 22:32:02,216: load_parameters starting ... [roslaunch][INFO] 2016-12-13 22:32:02,233: ... load_parameters complete [roslaunch][INFO] 2016-12-13 22:32:02,233: launch_nodes: launching local nodes ... [roslaunch][INFO] 2016-12-13 22:32:02,233: ... preparing to launch node of type [dvo_benchmark/benchmark] [roslaunch][INFO] 2016-12-13 22:32:02,233: create_node_process: package[dvo_benchmark] type[benchmark] 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] 2016-12-13 22:32:02,233: process[benchmark-2]: env[{'WINDOWID': '71303180', 'QT_QPA_PLATFORMTHEME': 'appmenu-qt5', 'ROS_DISTRO': 'indigo', 'XDG_GREETER_DATA_DIR': '/var/lib/lightdm-data/wll', 'GNOME_DESKTOP_SESSION_ID': 'this-is-deprecated', 'UPSTART_EVENTS': 'started starting', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'XDG_SEAT_PATH': '/org/freedesktop/DisplayManager/Seat0', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/wll/dvo_slam-jade- devel/devel/share/common-lisp', 'CPATH': '/home/wll/dvo_slam-jade- devel/devel/include:/opt/ros/indigo/include', 'LOGNAME': 'wll', 'USER': 'wll', 'PATH': '/opt/ros/indigo/bin:/usr/local/sbin:/usr/local/bin:/ usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games', 'XDG_VTNR': '7', 'GNOME_KEYRING_CONTROL': '/run/user/1000/keyring-Asu94n', 'CMAKE_PREFIX_PATH': '/home/wll/dvo_slam-jade-devel/devel:/opt/ros/indigo', 'LD_LIBRARY_PATH': '/home/wll/dvo_slam-jade-devel/devel/lib:/opt/ros/indigo/lib', 'LANG': 'zh_CN.UTF-8', 'TERM': 'xterm', 'SHELL': '/bin/bash', 'XDG_SESSION_PATH': '/org/freedesktop/DisplayManager/Session0', 'XAUTHORITY': '/home/wll/.Xauthority', 'LANGUAGE': 'zh_CN:zh', 'SHLVL': '1', 'MANDATORY_PATH': '/usr/share/gconf/ubuntu.mandatory.path', 'JOB': 'gnome-session', 'ROS_LOG_FILENAME': '/home/wll/.ros/log/e947a01c- c140-11e6-8473-74e54347b077/roslaunch-wll-Lenovo-G480-30470.log', 'UPSTART_INSTANCE': '', 'COMPIZ_CONFIG_PROFILE': 'ubuntu', 'TEXTDOMAIN': 'im-config', 'CLUTTER_IM_MODULE': 'xim', 'XMODIFIERS': '@im https://github.com/im=fcitx', 'ROS_MASTER_URI': 'http://localhost:11311', 'GPG_AGENT_INFO': '/run/user/1000/keyring-Asu94n/gpg:0:1', 'HOME': '/home/wll', 'QT4_IM_MODULE': 'fcitx', 'SELINUX_INIT': 'YES', 'SSH_AUTH_SOCK': '/run/user/1000/keyring-Asu94n/ssh', 'XDG_RUNTIME_DIR': '/run/user/1000', 'PYTHONPATH': '/home/wll/dvo_slam-jade- devel/devel/lib/python2.7/dist-packages:/opt/ros/indigo/lib/python2.7/dist-packages', 'SESSIONTYPE': 'gnome-session', u'ROSCONSOLE_CONFIG_FILE': u'/home/wll/dvo_slam-jade-devel/example/launch/benchmark_logging.config', 'VTE_VERSION': '3409', 'ROS_ROOT': '/opt/ros/indigo/share/ros', 'GDMSESSION': 'ubuntu', 'IM_CONFIG_PHASE': '1', 'UPSTART_JOB': 'unity-settings-daemon', 'TEXTDOMAINDIR': '/usr/share/locale/', 'XDG_DATA_DIRS': '/usr/share/ubuntu:/usr/share/ gnome:/usr/local/share/:/usr/share/', 'PKG_CONFIG_PATH': '/home/wll/dvo_slam-jade-devel/devel/lib/pkgconfig:/opt/ros/indigo/lib/pkgconfig', 'ROS_PACKAGE_PATH': '/home/wll/dvo_slam-jade-devel/src:/opt/ros/indigo/share:/opt/ros/indigo/stacks', u'ROSCONSOLE_FORMAT': u'${logger}: { ${message} }', 'XDG_CURRENT_DESKTOP': 'Unity', 'XDG_SESSION_ID': 'c2', 'DBUS_SESSION_BUSADDRESS': 'unix:abstract=/tmp/dbus-eb3GWjT98U', '': '/opt/ros/indigo/bin/roslaunch', 'DEFAULTS_PATH': '/usr/share/gconf/ubuntu.default.path', 'GTK_IM_MODULE': 'fcitx', 'DESKTOP_SESSION': 'ubuntu', 'UPSTART_SESSION': 'unix:abstract=/com/ubuntu/upstart-session/1000/1491', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'GNOME_KEYRING_PID': '1488', 'OLDPWD': '/home/wll/dvo_slam-jade-devel', '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: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:.arj=01;31: .taz=01;31:.lzh=01;31:.lzma=01;31:.tlz=01;31:.txz=01;31:.zip=01;31: .z=01;31:.Z=01;31:.dz=01;31:.gz=01;31:.lz=01;31:.xz=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: .ace=01;31:.zoo=01;31:.cpio=01;31:.7z=01;31:.rz=01;31:.jpg=01;35: .jpeg=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:.axv=01;35:.anx=01;35:.ogv=01;35:.ogx=01;35: .aac=00;36:.au=00;36:.flac=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:.axa=00;36: .oga=00;36:.spx=00;36:*.xspf=00;36:', 'GDM_LANG': 'zh_CN', 'GTK_MODULES': 'overlay-scrollbar:unity-gtk-module', 'INSTANCE': 'Unity', 'PWD': '/home/wll/dvo_slam-jade-devel/example', 'QT_IM_MODULE': 'xim', 'ROS_ETC_DIR': '/opt/ros/indigo/etc/ros', 'COLORTERM': 'gnome-terminal', 'DISPLAY': ':0', 'XDG_CONFIG_DIRS': '/etc/xdg/xdg-ubuntu:/usr/share/upstart/xdg:/etc/xdg', 'XDG_SEAT': 'seat0'}] [roslaunch][INFO] 2016-12-13 22:32:02,235: process[benchmark-2]: args[[u'/home/wll/dvo_slam-jade-devel/devel/lib/dvo_benchmark/benchmark', u'__name:=benchmark']] [roslaunch][INFO] 2016-12-13 22:32:02,235: ... created process [benchmark-2] [roslaunch.pmon][INFO] 2016-12-13 22:32:02,235: ProcessMonitor.register[ benchmark-2] [roslaunch.pmon][INFO] 2016-12-13 22:32:02,235: ProcessMonitor.register[benchmark-2] complete [roslaunch][INFO] 2016-12-13 22:32:02,235: ... registered process [benchmark-2]

os process [roslaunch][INFO] 2016-12-13 22:32:02,235: process[benchmark-2]: start w/ args [[u'/home/wll/dvo_slam-jade-devel/devel/lib/dvo_benchmark/benchmark', u'name:=benchmark', u'log:=/home/wll/.ros/log/e947a01c-c140-11e6-8473- 74e54347b077/benchmark-2.log']] [roslaunch][INFO] 2016-12-13 22:32:02,235: process[benchmark-2]: cwd will be [/home/wll/.ros]

with pid [30498] [roslaunch][INFO] 2016-12-13 22:32:02,241: ... successfully launched [benchmark-2] [roslaunch][INFO] 2016-12-13 22:32:02,241: ... launch_nodes complete [roslaunch.pmon][INFO] 2016-12-13 22:32:02,241: registrations completed <ProcessMonitor(ProcessMonitor-1, started daemon -1231467712)> [roslaunch.parent][INFO] 2016-12-13 22:32:02,242: ... roslaunch parent running, waiting for process exit [roslaunch][INFO] 2016-12-13 22:32:02,242: spin [roslaunch][ERROR] 2016-12-13 22:32:03,626: [benchmark-2] process has died [pid 30498, exit code -11, cmd /home/wll/dvo_slam-jade-devel/ devel/lib/dvo_benchmark/benchmark name:=benchmark log:=/home/wll/.ros/log/e947a01c-c140-11e6-8473- 74e54347b077/benchmark-2.log]. log file: /home/wll/.ros/log/e947a01c-c140-11e6-8473-74e54347b077/ benchmark-2*.log [roslaunch.pmon][INFO] 2016-12-13 22:32:03,627: ProcessMonitor.unregister[benchmark-2] starting [roslaunch.pmon][INFO] 2016-12-13 22:32:03,627: ProcessMonitor.unregister[benchmark-2] complete [roslaunch.pmon][INFO] 2016-12-13 22:32:06,514: ProcessMonitor.shutdown <ProcessMonitor(ProcessMonitor-1, started daemon -1231467712)> [roslaunch.pmon][INFO] 2016-12-13 22:32:06,535: ProcessMonitor._post_run <ProcessMonitor(ProcessMonitor-1, started daemon -1231467712)> [roslaunch.pmon][INFO] 2016-12-13 22:32:06,536: ProcessMonitor._post_run <ProcessMonitor(ProcessMonitor-1, started daemon -1231467712)>: remaining procs are [<roslaunch.nodeprocess.LocalProcess object at 0xb6a0bb2c>, <roslaunch.nodeprocess.LocalProcess object at 0xb69f750c>] [roslaunch.pmon][INFO] 2016-12-13 22:32:06,537: ProcessMonitor exit: killing rosout-1 [roslaunch][INFO] 2016-12-13 22:32:06,537: [rosout-1] killing on exit [roslaunch][INFO] 2016-12-13 22:32:06,537: process[rosout-1]: killing os process with pid[30495] pgid[30495] [roslaunch][INFO] 2016-12-13 22:32:06,537: [rosout-1] sending SIGINT to pgid [30495] [roslaunch][INFO] 2016-12-13 22:32:06,538: [rosout-1] sent SIGINT to pgid [30495]

killed with return value 0 [roslaunch.pmon][INFO] 2016-12-13 22:32:06,738: ProcessMonitor exit: killing master [roslaunch][INFO] 2016-12-13 22:32:06,739: [master] killing on exit [roslaunch][INFO] 2016-12-13 22:32:06,739: process[master]: killing os process with pid[30482] pgid[30482] [roslaunch][INFO] 2016-12-13 22:32:06,739: [master] sending SIGINT to pgid [30482] [roslaunch][INFO] 2016-12-13 22:32:06,739: [master] sent SIGINT to pgid [30482] [roslaunch][INFO] 2016-12-13 22:32:06,939: process[master]: SIGINT killed with return value 0 [roslaunch.pmon][INFO] 2016-12-13 22:32:06,940: ProcessMonitor exit: cleaning up data structures and signals [roslaunch.pmon][INFO] 2016-12-13 22:32:06,940: ProcessMonitor exit: pmon has shutdown [roslaunch][INFO] 2016-12-13 22:32:06,980: process monitor is done spinning, initiating full shutdown [roslaunch][INFO] 2016-12-13 22:32:06,980: runner.stop() [roslaunch][INFO] 2016-12-13 22:32:06,980: shutting down processing monitor... [roslaunch][INFO] 2016-12-13 22:32:06,980: shutting down processing monitor <ProcessMonitor(ProcessMonitor-1, stopped daemon -1231467712)> [roslaunch.pmon][INFO] 2016-12-13 22:32:06,980: ProcessMonitor.shutdown <ProcessMonitor(ProcessMonitor-1, stopped daemon -1231467712)> [roslaunch][INFO] 2016-12-13 22:32:06,980: ... shutting down processing monitor complete [roslaunch][INFO] 2016-12-13 22:32:06,981: done [roslaunch.pmon][INFO] 2016-12-13 22:32:06,981: ProcessMonitor.shutdown <ProcessMonitor(ProcessMonitor-1, stopped daemon -1231467712)> [rospy.core][INFO] 2016-12-13 22:32:06,981: signal_shutdown [atexit]

As a beginner,I'm sorry to trouble you.Thanks!

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wudanhxh commented 7 years ago

1.The trajectory.txt is empty. The input data : rgbd_dataset_freiburg1_xyz.I have created an assoc.txt file with the associate.py script. 2.The detail of the other log files: rosout.log 1481639522.619735127 Node Startup

rosout-1-stdout.log: logging to /home/wll/.ros/log/e947a01c-c140-11e6-8473-74e54347b077/rosout.log re-publishing aggregated messages to /rosout_agg subscribed to /rosout

master.log [rosmaster.main][INFO] 2016-12-13 22:32:02,082: initialization complete, waiting for shutdown [rosmaster.main][INFO] 2016-12-13 22:32:02,083: Starting ROS Master Node [xmlrpc][INFO] 2016-12-13 22:32:02,085: XML-RPC server binding to 0.0.0.0:11311 [xmlrpc][INFO] 2016-12-13 22:32:02,085: Started XML-RPC server [http://wll-Lenovo-G480:11311/] [xmlrpc][INFO] 2016-12-13 22:32:02,085: xml rpc node: starting XML-RPC server [rosmaster.master][INFO] 2016-12-13 22:32:02,085: Master initialized: port[11311], uri[http://wll-Lenovo-G480:11311/] [rosmaster.master][INFO] 2016-12-13 22:32:02,149: +PARAM [/run_id] by /roslaunch [rosmaster.master][INFO] 2016-12-13 22:32:02,151: +PARAM [/roslaunch/uris/host_wll_lenovo_g480__35278] by /roslaunch [rosmaster.master][INFO] 2016-12-13 22:32:02,223: +PARAM [/benchmark/constraint_search_radius] by /roslaunch [rosmaster.master][INFO] 2016-12-13 22:32:02,223: +PARAM [/benchmark/constraint_min_entropy_ratio_coarse] by /roslaunch [rosmaster.master][INFO] 2016-12-13 22:32:02,223: +PARAM [/benchmark/graph_opt_dense_graph] by /roslaunch [rosmaster.master][INFO] 2016-12-13 22:32:02,223: +PARAM [/benchmark/finest_level] by /roslaunch [rosmaster.master][INFO] 2016-12-13 22:32:02,223: +PARAM [/benchmark/graph_opt_outlier_weight_threshold] by /roslaunch [rosmaster.master][INFO] 2016-12-13 22:32:02,223: +PARAM [/benchmark/show_groundtruth] by /roslaunch [rosmaster.master][INFO] 2016-12-13 22:32:02,223: +PARAM [/benchmark/min_eq_sys_constraint_ratio] by /roslaunch [rosmaster.master][INFO] 2016-12-13 22:32:02,224: +PARAM [/benchmark/reconstruction] by /roslaunch [rosmaster.master][INFO] 2016-12-13 22:32:02,224: +PARAM [/benchmark/max_translational_distance] by /roslaunch [rosmaster.master][INFO] 2016-12-13 22:32:02,224: +PARAM [/benchmark/min_intensity_deriv] by /roslaunch [rosmaster.master][INFO] 2016-12-13 22:32:02,224: +PARAM [/benchmark/use_weighting] by /roslaunch [rosmaster.master][INFO] 2016-12-13 22:32:02,224: +PARAM [/benchmark/graph_opt_min_distance] by /roslaunch [rosmaster.master][INFO] 2016-12-13 22:32:02,224: +PARAM [/benchmark/graph_opt_robust] by /roslaunch [rosmaster.master][INFO] 2016-12-13 22:32:02,224: +PARAM [/benchmark/min_depth_deriv] by /roslaunch [rosmaster.master][INFO] 2016-12-13 22:32:02,224: +PARAM [/benchmark/use_multithreading] by /roslaunch [rosmaster.master][INFO] 2016-12-13 22:32:02,224: +PARAM [/benchmark/show_estimate] by /roslaunch [rosmaster.master][INFO] 2016-12-13 22:32:02,225: +PARAM [/benchmark/scale_estimator_param] by /roslaunch [rosmaster.master][INFO] 2016-12-13 22:32:02,225: +PARAM [/benchmark/graph_opt_iterations] by /roslaunch [rosmaster.master][INFO] 2016-12-13 22:32:02,225: +PARAM [/rosdistro] by /roslaunch [rosmaster.master][INFO] 2016-12-13 22:32:02,225: +PARAM [/benchmark/constraint_min_eq_sys_constraint_ratio] by /roslaunch [rosmaster.master][INFO] 2016-12-13 22:32:02,225: +PARAM [/benchmark/influence_function_param] by /roslaunch [rosmaster.master][INFO] 2016-12-13 22:32:02,225: +PARAM [/benchmark/estimate_trajectory] by /roslaunch [rosmaster.master][INFO] 2016-12-13 22:32:02,225: +PARAM [/benchmark/graph_opt_final_dense_graph] by /roslaunch [rosmaster.master][INFO] 2016-12-13 22:32:02,225: +PARAM [/benchmark/camera_file] by /roslaunch [rosmaster.master][INFO] 2016-12-13 22:32:02,226: +PARAM [/rosversion] by /roslaunch [rosmaster.master][INFO] 2016-12-13 22:32:02,226: +PARAM [/benchmark/min_entropy_ratio] by /roslaunch [rosmaster.master][INFO] 2016-12-13 22:32:02,226: +PARAM [/benchmark/render_video] by /roslaunch [rosmaster.master][INFO] 2016-12-13 22:32:02,226: +PARAM [/benchmark/max_iterations] by /roslaunch [rosmaster.master][INFO] 2016-12-13 22:32:02,226: +PARAM [/benchmark/graph_opt_final_iterations] by /roslaunch [rosmaster.master][INFO] 2016-12-13 22:32:02,226: +PARAM [/benchmark/graph_opt_final_outlier_weight_threshold] by /roslaunch [rosmaster.master][INFO] 2016-12-13 22:32:02,226: +PARAM [/benchmark/groundtruth_file] by /roslaunch [rosmaster.master][INFO] 2016-12-13 22:32:02,226: +PARAM [/benchmark/video_folder] by /roslaunch [rosmaster.master][INFO] 2016-12-13 22:32:02,226: +PARAM [/benchmark/keep_alive] by /roslaunch [rosmaster.master][INFO] 2016-12-13 22:32:02,226: +PARAM [/benchmark/use_initial_estimate] by /roslaunch [rosmaster.master][INFO] 2016-12-13 22:32:02,227: +PARAM [/benchmark/graph_opt_remove_outliers] by /roslaunch [rosmaster.master][INFO] 2016-12-13 22:32:02,227: +PARAM [/benchmark/lambda] by /roslaunch [rosmaster.master][INFO] 2016-12-13 22:32:02,227: +PARAM [/benchmark/mu] by /roslaunch [rosmaster.master][INFO] 2016-12-13 22:32:02,227: +PARAM [/benchmark/graph_opt_final_remove_outliers] by /roslaunch [rosmaster.master][INFO] 2016-12-13 22:32:02,227: +PARAM [/benchmark/max_rotational_distance] by /roslaunch [rosmaster.master][INFO] 2016-12-13 22:32:02,227: +PARAM [/benchmark/coarsest_level] by /roslaunch [rosmaster.master][INFO] 2016-12-13 22:32:02,227: +PARAM [/benchmark/graph_opt_final] by /roslaunch [rosmaster.master][INFO] 2016-12-13 22:32:02,227: +PARAM [/benchmark/precision] by /roslaunch [rosmaster.master][INFO] 2016-12-13 22:32:02,228: +PARAM [/benchmark/scale_estimator] by /roslaunch [rosmaster.master][INFO] 2016-12-13 22:32:02,228: +PARAM [/benchmark/trajectory_file] by /roslaunch [rosmaster.master][INFO] 2016-12-13 22:32:02,228: +PARAM [/benchmark/constraint_min_entropy_ratio_fine] by /roslaunch [rosmaster.master][INFO] 2016-12-13 22:32:02,228: +PARAM [/benchmark/rgbdpair_file] by /roslaunch [rosmaster.master][INFO] 2016-12-13 22:32:02,228: +PARAM [/benchmark/influence_function] by /roslaunch [rosmaster.master][INFO] 2016-12-13 22:32:02,617: +SERVICE [/rosout/get_loggers] /rosout http://wll-Lenovo-G480:49821/ [rosmaster.master][INFO] 2016-12-13 22:32:02,618: +SERVICE [/rosout/set_logger_level] /rosout http://wll-Lenovo-G480:49821/ [rosmaster.master][INFO] 2016-12-13 22:32:02,620: +PUB [/rosout_agg] /rosout http://wll-Lenovo-G480:49821/ [rosmaster.master][INFO] 2016-12-13 22:32:02,623: +SUB [/rosout] /rosout http://wll-Lenovo-G480:49821/ [rosmaster.master][INFO] 2016-12-13 22:32:03,327: +PUB [/rosout] /benchmark http://wll-Lenovo-G480:44574/ [rosmaster.master][INFO] 2016-12-13 22:32:03,328: +SERVICE [/benchmark/get_loggers] /benchmark http://wll-Lenovo-G480:44574/ [rosmaster.master][INFO] 2016-12-13 22:32:03,328: +SERVICE [/benchmark/set_logger_level] /benchmark http://wll-Lenovo-G480:44574/ [rosmaster.master][INFO] 2016-12-13 22:32:03,385: publisherUpdate[/rosout] -> http://wll-Lenovo-G480:49821/ [rosmaster.master][INFO] 2016-12-13 22:32:06,640: -PUB [/rosout_agg] /rosout http://wll-Lenovo-G480:49821/ [rosmaster.master][INFO] 2016-12-13 22:32:06,641: -SUB [/rosout] /rosout http://wll-Lenovo-G480:49821/ [rosmaster.master][INFO] 2016-12-13 22:32:06,642: -SERVICE [/rosout/get_loggers] /rosout rosrpc://wll-Lenovo-G480:40507 [rosmaster.master][INFO] 2016-12-13 22:32:06,643: -SERVICE [/rosout/set_logger_level] /rosout rosrpc://wll-Lenovo-G480:40507 [rosmaster.main][INFO] 2016-12-13 22:32:06,739: keyboard interrupt, will exit [rosmaster.main][INFO] 2016-12-13 22:32:06,739: stopping master... [rospy.core][INFO] 2016-12-13 22:32:06,739: signal_shutdown [atexit]