Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

running crashed with Mid-70+ex-imu #9

Open
gongyue666 opened this issue Dec 13, 2021 · 3 comments
Open

running crashed with Mid-70+ex-imu #9

gongyue666 opened this issue Dec 13, 2021 · 3 comments

Comments

@gongyue666
Copy link

Hi, I use livox mid 70 with a extend imu running fast-lio，and it looks good. but when I run another node in SC-PGO it always crashed at begining, the log in screen is "running isam2 optimization",and after some lines like this, the ros node is crashed. my launch file is below:

<param name="scan_line" type="int" value="64" />

<!-- if 1, do mapping 10 Hz, if 2, do mapping 5 Hz. Suggest to use 1, it will adjust frequence automaticlly -->
<!-- <param name="mapping_skip_frame" type="int" value="1" /> -->

<!-- remove too closed points -->
<param name="minimum_range" type="double" value="0.5"/>

<param name="mapping_line_resolution" type="double" value="0.4"/> <!-- A-LOAM -->
<param name="mapping_plane_resolution" type="double" value="0.8"/> <!-- A-LOAM -->

<param name="mapviz_filter_size" type="double" value="0.05"/>

<!-- SC-A-LOAM -->
<param name="keyframe_meter_gap" type="double" value="0.5"/>

<!-- Scan Context -->
<param name="sc_dist_thres" type="double" value="0.3"/> <!-- SC-A-LOAM, if want no outliers, use 0.1-0.15 -->

<!-- for MulRan -->
<!-- <param name="lidar_type" type="string" value="OS1-64"/> -->

<!-- input from FASTLIO2 -->
<remap from="/aft_mapped_to_init" to="/Odometry"/>
<remap from="/velodyne_cloud_registered_local" to="/cloud_registered_body"/>
<remap from="/cloud_for_scancontext" to="/cloud_registered_lidar"/>   <!-- because ScanContext requires lidar-ego-centric coordinate for the better performance -->

<!-- utils -->
<param name="save_directory" type="string" value="$(env HOME)/sc-fast_ws/"/>  <!-- CHANGE THIS and end with / -->

<!-- nodes -->
<node pkg="aloam_velodyne" type="alaserPGO" name="alaserPGO" output="screen" /> <!-- Scan Context-based PGO -->

<!-- visulaization -->
<arg name="rvizscpgo" default="false" />
<group if="$(arg rvizscpgo)">
    <node launch-prefix="nice" pkg="rviz" type="rviz" name="rvizscpgo" args="-d $(find aloam_velodyne)/rviz_cfg/aloam_velodyne.rviz" />
</group>
@gongyue666
Copy link
Author

I check the topics "Odometry" and "/cloud_registered_body", both received the msgs. I do not have a gps msg.

@gongyue666
Copy link
Author

the crash may caused by LoopFindNearKeyframesCloud() in laserPoserGraphOptimization.cpp, but it's strange that I add a log at the end of this function, it show the log, and then crash. By the way, my robot is not moving now.

@gisbi-kim
Copy link
Owner

@gongyue666 have you tried fast-lio-slam?

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Assignees
No one assigned
Labels
None yet
Projects
None yet
Milestone
No milestone
Development

No branches or pull requests
2 participants
@gisbi-kim @gongyue666