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wh200720041 / ssl_slam

SSL_SLAM: Lightweight 3-D Localization and Mapping for Solid-State LiDAR IEEE RA-L 2021
GNU General Public License v3.0
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Error when run with real L515 sensor #3

Open tuencfs opened 4 years ago

tuencfs commented 4 years ago

I got the error when run with L515 camera

`roslaunch floam_ssl floam_ssl_L515.launch ... logging to /home/tuencns/.ros/log/e908b6a2-f686-11ea-9a82-8cec4ba2a7d4/roslaunch-tuecomputer-5760.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://tuecomputer:45045/

SUMMARY

PARAMETERS

NODES /camera/ realsense2_camera (nodelet/nodelet) realsense2_camera_manager (nodelet/nodelet) / floam_ssl_laser_mapping_node (floam_ssl/floam_ssl_laser_mapping_node) floam_ssl_laser_processing_node (floam_ssl/floam_ssl_laser_processing_node) floam_ssl_odom_estimation_node (floam_ssl/floam_ssl_odom_estimation_node) rviz (rviz/rviz) /floam_ssl/ trajectory_server_floam_ssl (hector_trajectory_server/hector_trajectory_server)

auto-starting new master process[master]: started with pid [5770] ROS_MASTER_URI=http://localhost:11311

setting /run_id to e908b6a2-f686-11ea-9a82-8cec4ba2a7d4 process[rosout-1]: started with pid [5783] started core service [/rosout] process[camera/realsense2_camera_manager-2]: started with pid [5800] process[camera/realsense2_camera-3]: started with pid [5801] process[floam_ssl_laser_processing_node-4]: started with pid [5802] process[floam_ssl_odom_estimation_node-5]: started with pid [5808] process[floam_ssl_laser_mapping_node-6]: started with pid [5816] [ INFO] [1600086989.010571461]: Initializing nodelet with 12 worker threads. process[rviz-7]: started with pid [5844] process[floam_ssl/trajectory_server_floam_ssl-8]: started with pid [5845] [ INFO] [1600086989.682339509]: RealSense ROS v2.2.17 [ INFO] [1600086989.682367187]: Built with LibRealSense v2.38.1 [ INFO] [1600086989.682382683]: Running with LibRealSense v2.38.1 [ INFO] [1600086989.690645214]:
[ INFO] [1600086989.956487436]: Device with serial number 00000000f0140535 was found.

[ INFO] [1600086989.956512499]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1:1.0/video4linux/video1 was found. [ INFO] [1600086989.956524246]: Device with name Intel RealSense L515 was found. [ INFO] [1600086989.956808287]: Device with port number 2-1 was found.

[ INFO] [1600086990.004783227]: JSON file is not provided [ INFO] [1600086990.004795515]: ROS Node Namespace: camera [ INFO] [1600086990.004807648]: Device Name: Intel RealSense L515 [ INFO] [1600086990.004818910]: Device Serial No: 00000000f0140535 [ INFO] [1600086990.004837011]: Device physical port: /sys/devices/pci0000:00/0000:00:14.0/usb2/2-1/2-1:1.0/video4linux/video1 [ INFO] [1600086990.004853245]: Device FW version: 01.04.01.02 [ INFO] [1600086990.004870631]: Device Product ID: 0x0B64 [ INFO] [1600086990.004884734]: Enable PointCloud: On [ INFO] [1600086990.004898314]: Align Depth: Off [ INFO] [1600086990.004912370]: Sync Mode: On [ INFO] [1600086990.004954499]: Device Sensors: [ INFO] [1600086990.005398575]: L500 Depth Sensor was found. [ INFO] [1600086990.006039697]: RGB Camera was found. [ INFO] [1600086990.006169462]: Motion Module was found. [ INFO] [1600086990.006199117]: Add Filter: pointcloud [ INFO] [1600086990.006634400]: num_filters: 1 [ INFO] [1600086990.006647505]: Setting Dynamic reconfig parameters. [ INFO] [1600086990.039909898]: Done Setting Dynamic reconfig parameters. [ INFO] [1600086990.040262147]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16 [ INFO] [1600086990.041100589]: color stream is enabled - width: 1280, height: 720, fps: 30, Format: RGB8

[ INFO] [1600086990.042989529]: Expected frequency for depth = 30.00000 [ INFO] [1600086990.061458617]: Expected frequency for color = 30.00000

[ INFO] [1600086990.128422817]: insert Depth to L500 Depth Sensor [ INFO] [1600086990.128455831]: insert Color to RGB Camera [ INFO] [1600086990.141009508]: SELECTED BASE:Depth, 0 0x30154c0 void QWindowPrivate::setTopLevelScreen(QScreen, bool) ( QScreen(0x246cf20) ): Attempt to set a screen on a child window. 0x3009210 void QWindowPrivate::setTopLevelScreen(QScreen, bool) ( QScreen(0x246cf20) ): Attempt to set a screen on a child window. 0x3009cf0 void QWindowPrivate::setTopLevelScreen(QScreen, bool) ( QScreen(0x246cf20) ): Attempt to set a screen on a child window. 0x30143b0 void QWindowPrivate::setTopLevelScreen(QScreen, bool) ( QScreen(0x246cf20) ): Attempt to set a screen on a child window. [ INFO] [1600086990.290417514]: RealSense Node Is Up! 0x32f1780 void QWindowPrivate::setTopLevelScreen(QScreen, bool) ( QScreen(0x246cf20) ): Attempt to set a screen on a child window. 0x361c390 void QWindowPrivate::setTopLevelScreen(QScreen, bool) ( QScreen(0x246cf20) ): Attempt to set a screen on a child window. 0x355fcb0 void QWindowPrivate::setTopLevelScreen(QScreen, bool) ( QScreen(0x246cf20) ): Attempt to set a screen on a child window. 0x361bb50 void QWindowPrivate::setTopLevelScreen(QScreen, bool) ( QScreen(0x246cf20) ): Attempt to set a screen on a child window. 0x361c240 void QWindowPrivate::setTopLevelScreen(QScreen, bool) ( QScreen(0x246cf20) ): Attempt to set a screen on a child window. 0x32f1780 void QWindowPrivate::setTopLevelScreen(QScreen, bool) ( QScreen(0x246cf20) ): Attempt to set a screen on a child window. [ERROR] [1600086992.133280044]: An error has occurred during frame callback: map::at [ERROR] [1600086992.160066167]: An error has occurred during frame callback: map::at [ERROR] [1600086992.195385991]: An error has occurred during frame callback: map::at [ERROR] [1600086992.205920344]: An error has occurred during frame callback: map::at [ERROR] [1600086992.263118083]: An error has occurred during frame callback: map::at [ERROR] [1600086992.283074473]: An error has occurred during frame callback: map::at [ERROR] [1600086992.322335292]: An error has occurred during frame callback: map::at [ERROR] [1600086992.372725219]: An error has occurred during frame callback: map::at ` I grep on the source codes the Error information, it's in void BaseRealSenseNode::framecallback(rs2::frame frame) ./src/realsense-ros/realsense2_camera/src/base_realsense_node.cpp +1623 I change all ROS_DEBUG to ROS_INFO to see.

Please take a look

adioshun commented 4 years ago

I got the save error. Did you fix it? 

[ INFO] [1600150679.136986712]: color stream is enabled - width: 1280, height: 720, fps: 30, Format: RGB8
[ INFO] [1600150679.137031014]: setupPublishers...
[ INFO] [1600150679.140439224]: Expected frequency for depth = 30.00000
[ INFO] [1600150679.177512011]: Expected frequency for color = 30.00000
[ INFO] [1600150679.199595612]: setupStreams...
[ INFO] [1600150679.250553756]: insert Depth to L500 Depth Sensor
[ INFO] [1600150679.250626770]: insert Color to RGB Camera
[ INFO] [1600150679.269464598]: SELECTED BASE:Depth, 0
[ INFO] [1600150679.418322958]: RealSense Node Is Up!
[ERROR] [1600150681.263658184]: An error has occurred during frame callback: map::at
[ERROR] [1600150681.306293428]: An error has occurred during frame callback: map::at
[ERROR] [1600150681.334500240]: An error has occurred during frame callback: map::at
[ERROR] [1600150681.366609269]: An error has occurred during frame callback: map::at
[ WARN] [1600150681.373475662]: total points array 196
[ERROR] [1600150681.398319553]: An error has occurred during frame callback: map::at
[ERROR] [1600150681.432540184]: An error has occurred during frame callback: map::at
[ERROR] [1600150681.466707711]: An error has occurred during frame callback: map::at
[ERROR] [1600150681.498340160]: An error has occurred during frame callback: map::at
[ERROR] [1600150681.531691255]: An error has occurred during frame callback: map::at
[ERROR] [1600150681.567008817]: An error has occurred during frame callback: map::at
tuencfs commented 4 years ago

I'm trying to fix it.

wh200720041 commented 4 years ago

Hi

It looks like something wrong with the camera setting. I think you can test realsense camera first by roslaunch realsense2_camera rs_camera.launch

And check for the /camera/depth/color/points topic, if the camera is set correctly you should see this topic.

I also notice your ROS is Kinetic, I guess the parameter setting of L515 may be different on Kinetic and Melodic.

tuencfs commented 4 years ago

Hi

It looks like something wrong with the camera setting. I think you can test realsense camera first by roslaunch realsense2_camera rs_camera.launch

And check for the /camera/depth/color/points topic, if the camera is set correctly you should see this topic.

I also notice your ROS is Kinetic, I guess the parameter setting of L515 may be different on Kinetic and Melodic.

Thank you, I'll try it on Melodic and check the topic

tuencfs commented 4 years ago

I got the save error. Did you fix it?

[ INFO] [1600150679.136986712]: color stream is enabled - width: 1280, height: 720, fps: 30, Format: RGB8
[ INFO] [1600150679.137031014]: setupPublishers...
[ INFO] [1600150679.140439224]: Expected frequency for depth = 30.00000
[ INFO] [1600150679.177512011]: Expected frequency for color = 30.00000
[ INFO] [1600150679.199595612]: setupStreams...
[ INFO] [1600150679.250553756]: insert Depth to L500 Depth Sensor
[ INFO] [1600150679.250626770]: insert Color to RGB Camera
[ INFO] [1600150679.269464598]: SELECTED BASE:Depth, 0
[ INFO] [1600150679.418322958]: RealSense Node Is Up!
[ERROR] [1600150681.263658184]: An error has occurred during frame callback: map::at
[ERROR] [1600150681.306293428]: An error has occurred during frame callback: map::at
[ERROR] [1600150681.334500240]: An error has occurred during frame callback: map::at
[ERROR] [1600150681.366609269]: An error has occurred during frame callback: map::at
[ WARN] [1600150681.373475662]: total points array 196
[ERROR] [1600150681.398319553]: An error has occurred during frame callback: map::at
[ERROR] [1600150681.432540184]: An error has occurred during frame callback: map::at
[ERROR] [1600150681.466707711]: An error has occurred during frame callback: map::at
[ERROR] [1600150681.498340160]: An error has occurred during frame callback: map::at
[ERROR] [1600150681.531691255]: An error has occurred during frame callback: map::at
[ERROR] [1600150681.567008817]: An error has occurred during frame callback: map::at

which's the ROS version you use, is it Kinetic?

adioshun commented 4 years ago

I got the save error. Did you fix it?

[ INFO] [1600150679.136986712]: color stream is enabled - width: 1280, height: 720, fps: 30, Format: RGB8
[ INFO] [1600150679.137031014]: setupPublishers...
[ INFO] [1600150679.140439224]: Expected frequency for depth = 30.00000
[ INFO] [1600150679.177512011]: Expected frequency for color = 30.00000
[ INFO] [1600150679.199595612]: setupStreams...
[ INFO] [1600150679.250553756]: insert Depth to L500 Depth Sensor
[ INFO] [1600150679.250626770]: insert Color to RGB Camera
[ INFO] [1600150679.269464598]: SELECTED BASE:Depth, 0
[ INFO] [1600150679.418322958]: RealSense Node Is Up!
[ERROR] [1600150681.263658184]: An error has occurred during frame callback: map::at
[ERROR] [1600150681.306293428]: An error has occurred during frame callback: map::at
[ERROR] [1600150681.334500240]: An error has occurred during frame callback: map::at
[ERROR] [1600150681.366609269]: An error has occurred during frame callback: map::at
[ WARN] [1600150681.373475662]: total points array 196
[ERROR] [1600150681.398319553]: An error has occurred during frame callback: map::at
[ERROR] [1600150681.432540184]: An error has occurred during frame callback: map::at
[ERROR] [1600150681.466707711]: An error has occurred during frame callback: map::at
[ERROR] [1600150681.498340160]: An error has occurred during frame callback: map::at
[ERROR] [1600150681.531691255]: An error has occurred during frame callback: map::at
[ERROR] [1600150681.567008817]: An error has occurred during frame callback: map::at

which's the ROS version you use, is it Kinetic?

No. I am using melodic. I will also try it tomorrow. Please let me know your result. Thanks.

peta-peta commented 4 years ago

I do confirm that the code is working on Ubuntu 18.4 LTS with Melodic without any problem. I only see a warning for TF in Rviz, but it doesn't seem to cause any problems.

adioshun commented 4 years ago

Hi

It looks like something wrong with the camera setting. I think you can test realsense camera first by roslaunch realsense2_camera rs_camera.launch

And check for the /camera/depth/color/points topic, if the camera is set correctly you should see this topic.

I also notice your ROS is Kinetic, I guess the parameter setting of L515 may be different on Kinetic and Melodic.

I am using melodic and run the roslaunch realsense2_camera rs_camera.launch. it shows the same error. 

[ERROR] [1600218175.244973578]: An error has occurred during frame callback: map::at
[ERROR] [1600218175.277110802]: An error has occurred during frame callback: map::at
[ERROR] [1600218175.311635957]: An error has occurred during frame callback: map::at
[ERROR] [1600218175.344974627]: An error has occurred during frame callback: map::at
[ERROR] [1600218175.377159195]: An error has occurred during frame callback: map::at
[ERROR] [1600218175.411549213]: An error has occurred during frame callback: map::at
[ERROR] [1600218175.444573194]: An error has occurred during frame callback: map::at
[ERROR] [1600218175.478173010]: An error has occurred during frame callback: map::at
[ERROR] [1600218175.512775782]: An error has occurred during frame callback: map::at

which parameter should I change?

thanks.

adioshun commented 4 years ago

I do confirm that the code is working on Ubuntu 18.4 LTS with Melodic without any problem. I only see a warning for TF in Rviz, but it doesn't seem to cause any problems.

I am also use the 18.4 and melodic and still have the problem.

Could you share the 'rs_camera.launch' file (copy and paste on this thread)

thanks.

wh200720041 commented 3 years ago

Hi @adioshun

The rs_camera.launch file is added for reference