I added a dockerfile to build the project in a docker image. It could install the dependencies and build the project correctly. However, there are some issues for running it and I cannot fix it right now. I am not sure if I missed some dependencies or there are some issues during the build: the nodelets cannot be loaded to nodelet_manager. Below is the output after I ran roslaunch tloam tloam_kitti.launch. Do you know what the problems are? Thank you!
root@25029eecd3d6:/tloam_ws# roslaunch tloam tloam_kitti.launch
... logging to /root/.ros/log/c1393346-425d-11ef-9576-0242ac110002/roslaunch-25029eecd3d6-459.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://25029eecd3d6:39929/
SUMMARY
========
PARAMETERS
* /robot_description: <?xml version="1....
* /rosdistro: melodic
* /rosversion: 1.14.13
* /use_gui: False
NODES
/
joint_state_publisher (joint_state_publisher/joint_state_publisher)
kitti_reader_nodelet (nodelet/nodelet)
lidar_odometry_nodelet (nodelet/nodelet)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
rviz (rviz/rviz)
segmentation_nodelet (nodelet/nodelet)
tloam_nodelet_manager (nodelet/nodelet)
auto-starting new master
process[master]: started with pid [473]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to c1393346-425d-11ef-9576-0242ac110002
process[rosout-1]: started with pid [484]
started core service [/rosout]
process[tloam_nodelet_manager-2]: started with pid [487]
[ INFO] [1721015592.054084831]: Initializing nodelet with 16 worker threads.
process[kitti_reader_nodelet-3]: started with pid [492]
[ INFO] [1721015592.128649319]: Loading nodelet /kitti_reader_nodelet of type tloam/KittiNode to manager tloam_nodelet_manager with the following remappings:
[ INFO] [1721015592.175697269]: Initialising nodelet... [kitti_reader_nodelet]
[ INFO] [1721015592.179276805]: Nodelet initialised. Spinning up update thread ... [kitti_reader_nodelet]
[ INFO] [1721015592.179329903]: Nodelet initialised. [kitti_reader_nodelet]
process[segmentation_nodelet-4]: started with pid [516]
[ INFO] [1721015592.211183715]: Loading nodelet /segmentation_nodelet of type tloam/SegmentationNode to manager tloam_nodelet_manager with the following remappings:
[FATAL] [1721015592.274376788]: Failed to load nodelet '/segmentation_nodelet` of type `tloam/SegmentationNode` to manager `tloam_nodelet_manager'
[FATAL] [1721015592.274395694]: Failed to load nodelet '/kitti_reader_nodelet` of type `tloam/KittiNode` to manager `tloam_nodelet_manager'
process[lidar_odometry_nodelet-5]: started with pid [525]
[ INFO] [1721015592.292248218]: Loading nodelet /lidar_odometry_nodelet of type tloam/LidarOdometryNode to manager tloam_nodelet_manager with the following remappings:
[ INFO] [1721015592.293069374]: waitForService: Service [/tloam_nodelet_manager/load_nodelet] could not connect to host [25029eecd3d6:59277], waiting...
[tloam_nodelet_manager-2] process has died [pid 487, exit code -11, cmd /opt/ros/melodic/lib/nodelet/nodelet manager __name:=tloam_nodelet_manager __log:=/root/.ros/log/c1393346-425d-11ef-9576-0242ac110002/tloam_nodelet_manager-2.log].
log file: /root/.ros/log/c1393346-425d-11ef-9576-0242ac110002/tloam_nodelet_manager-2*.log
process[joint_state_publisher-6]: started with pid [531]
process[robot_state_publisher-7]: started with pid [537]
process[rviz-8]: started with pid [540]
[kitti_reader_nodelet-3] process has died [pid 492, exit code 255, cmd /opt/ros/melodic/lib/nodelet/nodelet load tloam/KittiNode tloam_nodelet_manager __name:=kitti_reader_nodelet __log:=/root/.ros/log/c1393346-425d-11ef-9576-0242ac110002/kitti_reader_nodelet-3.log].
log file: /root/.ros/log/c1393346-425d-11ef-9576-0242ac110002/kitti_reader_nodelet-3*.log
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[segmentation_nodelet-4] process has died [pid 516, exit code 255, cmd /opt/ros/melodic/lib/nodelet/nodelet load tloam/SegmentationNode tloam_nodelet_manager __name:=segmentation_nodelet __log:=/root/.ros/log/c1393346-425d-11ef-9576-0242ac110002/segmentation_nodelet-4.log].
log file: /root/.ros/log/c1393346-425d-11ef-9576-0242ac110002/segmentation_nodelet-4*.log
^C[rviz-8] killing on exit
[lidar_odometry_nodelet-5] killing on exit
[robot_state_publisher-7] killing on exit
[joint_state_publisher-6] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
Hi Pengwei,
I added a dockerfile to build the project in a docker image. It could install the dependencies and build the project correctly. However, there are some issues for running it and I cannot fix it right now. I am not sure if I missed some dependencies or there are some issues during the build: the nodelets cannot be loaded to nodelet_manager. Below is the output after I ran
roslaunch tloam tloam_kitti.launch. Do you know what the problems are? Thank you!