Error trying to roslaunch object3d_detector.launch

[Mastercheese77]

Hi,

I launched object3d_detector and passed a bag file I took with a VLP16 Velodyne lidar as the argument but I get the following error:

process[rosbag_play-1]: started with pid [23284]
process[cloud_node-2]: started with pid [23285]
process[object3d_detector-3]: started with pid [23292]
[FATAL] [1541099625.238843188]: Error opening file: ~/MassVassar.bag
process[bayes_people_tracker-4]: started with pid [23306]
YAML Exception: yaml-cpp: error at line 0, column 0: invalid node; this may result from using a map iterator as a sequence iterator, or vice-versa
[ERROR] [1541099625.248293481]: Unable to open calibration file: /home/golnaz/online_ws/src/online_learning/object3d_detector/config/vlp16.yaml
process[rviz-5]: started with pid [23325]
[ INFO] [1541099625.291080353]: Found filter type: UKF
[ INFO] [1541099625.292908679]: Constant Velocity Model noise: [std_limit:1,x:1.4,y:1.4]
[ INFO] [1541099625.292954698]: Created UKF based tracker using constant velocity prediction model.
[ INFO] [1541099625.293570025]: Found detector: object3d_detector ==> [matching_algorithm:NN,noise_params:[x:0.1,y:0.1],observation_model:CARTESIAN,seq_size:4,seq_time:0.3,topic:/object3d_detector/poses]
[ INFO] [1541099625.293616579]: Adding detector model for: object3d_detector.
[ INFO] [1541099625.307439327]: [object3d detector] load SVM model from '/home/golnaz/online_ws/src/online_learning/object3d_detector/libsvm/pedestrian.model'.
[ INFO] [1541099625.307535510]: [object3d detector] load SVM range from '/home/golnaz/online_ws/src/online_learning/object3d_detector/libsvm/pedestrian.range'.
================================================================================REQUIRED process [rosbag_play-1] has died!
process has died [pid 23284, exit code 1, cmd /opt/ros/kinetic/lib/rosbag/play --clock ~/MassVassar.bag __name:=rosbag_play __log:=/home/golnaz/.ros/log/f8ecc04e-de06-11e8-ab35-f0d5bfb4922c/rosbag_play-1.log].
log file: /home/golnaz/.ros/log/f8ecc04e-de06-11e8-ab35-f0d5bfb4922c/rosbag_play-1*.log
Initiating shutdown!
================================================================================
[rviz-5] killing on exit
[bayes_people_tracker-4] killing on exit
[object3d_detector-3] killing on exit
[cloud_node-2] killing on exit
[rosbag_play-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

Is there something wrong with my bagfile? The topics I recorded in my bagfile were /velodyne_points and /tf.

As shown above, there is also an issue with opening the vlp16.yaml file.

Do you know how I can resolve this issue? Thanks!

[yzrobot]

Hi,

For "[FATAL] [1541099625.238843188]: Error opening file: ~/MassVassar.bag" please refer to:

https://answers.ros.org/question/41665/error-opening-file-mylaserdatabag/

For "[ERROR] [1541099625.248293481]: Unable to open calibration file", please first check if the file path is correct, i.e. "/home/golnaz/online_ws/src/online_learning/object3d_detector/config/vlp16.yaml"

Cheers, Zhi

[Mastercheese77]

Hi,

I can open the bag file and the code works very well, thanks!

I still get an error with opening the yaml calibration file as follows:

YAML Exception: yaml-cpp: error at line 0, column 0: invalid node; this may result from using a map iterator as a sequence iterator, or vice-versa
[ERROR] [1541969450.088823936]: Unable to open calibration file: /home/golnaz/online_ws/src/online_learning/object3d_detector/config/vlp16.yaml

The code still runs even without that file. Would opening the yaml file increase the accuracy of the algorithm, or should I not even worry about it?

Thanks! Luke

[yzrobot]

Hi

Yes, the calibration file is required by "velodyne_pointcloud" package, and the calibration do increase the accuracy of the data.

Cheers, Zhi