Semantic_SLAM
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1989Ryan
No module named 'map_generator'
Hello,
When trying to launch your run_C.sh i'm getting No module named 'map_generator' error. How to install it?
THanks in advance.
i think it is due to the compiling via catkin_make. when compile the catkin_ws, i first compile the part with map_generator, then compile the rest of the program since the rest parts need to include the map_generator module.
Hm. I've ran catkin_make befor running run_C.sh, of course, but still... By the way, i'm using ros_noetic, if that is the case. SO what should i do? Run catkin_make again?
try multithreading. however i am not pretty sure whether this project will work under ros_noetic. i use ros_kinetic and this project is years ago. direct implementation might not be applicable. my advice is to view the code as reference to your own program.
What do you mean by "try multithreading"?
Well, if this is not directly appliable to ros noetic, i guess the only option i have is to use another PC or virutual machine...
Weird thing is, that catkin make indeed building map_generator, but maybe this is just not installing to my ros... If i've already have some packages installed to ROS, maybe i should somehow place your project in the same folder and build there? And do i need to build ORB SLAM 2 and PSPNet via ROS too?
after you successfully compile the project, there should be some head file for map_generator. thus when you compile the rest of the program, your compiler will include the head file directly. that is the key. you can first compile the program with map_generator part, then compile the rest, the rest parts already include the ORBSLAM and PSPNet.
that issue is because i build up the system step-by-step. I first wrote the map_generator part and compiled it. then after i finished the rest part then compile the whole program, the program then naturally included the map_generator.
Hm. So, i've already built catkin_ws with catkin_build. And there is a map_generator proj there. So, after that i should go into third_party and build ORB and PSPNet, yes? At least, that's what i did.
By the way, i forgot to mention that this error "no module named map generator" occurs when i launch this command from run_c.sh
gnome-terminal -x bash -c "cd Third_Part/PSPNet_Keras_tensorflow/python Semantic_Information_Publisher_C.py image:=/camera/image_raw" so, my python interpreter should somehow know about your map_generator, i suppose.
Hm, that might be the case... Source.bash from devel folder in catkin_ws, right? I'll try that and will get back to you.
just cd the catkin_ws folder and source ./devel/setup.bash, the it works
well, i tried to add
source /home/daddywesker/Dioram/TestingRGB/Semantic_SLAM/catkin_ws/devel/setup.bash
line to bashrc file. But, now i'm getting ModuleNotFoundError: No module named 'rospkg' This could be related to thing that I have another similar line source ~/catkin_ws/devel/setup.bash but this is another package. I guess, i need to unite them, yes?
I've checked this. Problem is, that i'm trying to launch your py script from anaconda env. And it doesn't see my ros installation. WHen i'm trying just to import rospy from anaconda env it can't import it, but without any conda env - it can. ANy clues how to make it work inside anaconda env?
Alright, i've installed ros into anaconda. But currently when launching
python Semantic_Information_Publisher_C.py image:=/home/daddywesker/datasets/Euroc/V2_01_easy/mav0/cam0/data/
i'm facing this
Keras model & weights found, loading...
Traceback (most recent call last):
File "Semantic_Information_Publisher_C.py", line 76, in <module>
tensor = Semantic_Imformation_Publisher()
File "Semantic_Information_Publisher_C.py", line 33, in __init__
self.pspnet = PSPNet101(nb_classes=19, input_shape=(713, 713),
File "/home/daddywesker/Dioram/TestingRGB/Semantic_SLAM/Third_Part/PSPNet_Keras_tensorflow/pspnet.py", line 143, in __init__
PSPNet.__init__(self, nb_classes=nb_classes, resnet_layers=101,
File "/home/daddywesker/Dioram/TestingRGB/Semantic_SLAM/Third_Part/PSPNet_Keras_tensorflow/pspnet.py", line 34, in __init__
self.model = model_from_json(file_handle.read())
File "/home/daddywesker/anaconda3/envs/tf/lib/python3.8/site-packages/tensorflow/python/keras/saving/model_config.py", line 131, in model_from_json
return deserialize(config, custom_objects=custom_objects)
File "/home/daddywesker/anaconda3/envs/tf/lib/python3.8/site-packages/tensorflow/python/keras/layers/serialization.py", line 173, in deserialize
return generic_utils.deserialize_keras_object(
File "/home/daddywesker/anaconda3/envs/tf/lib/python3.8/site-packages/tensorflow/python/keras/utils/generic_utils.py", line 354, in deserialize_keras_object
return cls.from_config(
File "/home/daddywesker/anaconda3/envs/tf/lib/python3.8/site-packages/tensorflow/python/keras/engine/training.py", line 2261, in from_config
return functional.Functional.from_config(
File "/home/daddywesker/anaconda3/envs/tf/lib/python3.8/site-packages/tensorflow/python/keras/engine/functional.py", line 668, in from_config
input_tensors, output_tensors, created_layers = reconstruct_from_config(
File "/home/daddywesker/anaconda3/envs/tf/lib/python3.8/site-packages/tensorflow/python/keras/engine/functional.py", line 1275, in reconstruct_from_config
process_layer(layer_data)
File "/home/daddywesker/anaconda3/envs/tf/lib/python3.8/site-packages/tensorflow/python/keras/engine/functional.py", line 1257, in process_layer
layer = deserialize_layer(layer_data, custom_objects=custom_objects)
File "/home/daddywesker/anaconda3/envs/tf/lib/python3.8/site-packages/tensorflow/python/keras/layers/serialization.py", line 173, in deserialize
return generic_utils.deserialize_keras_object(
File "/home/daddywesker/anaconda3/envs/tf/lib/python3.8/site-packages/tensorflow/python/keras/utils/generic_utils.py", line 354, in deserialize_keras_object
return cls.from_config(
File "/home/daddywesker/anaconda3/envs/tf/lib/python3.8/site-packages/tensorflow/python/keras/layers/core.py", line 1019, in from_config
function = cls._parse_function_from_config(
File "/home/daddywesker/anaconda3/envs/tf/lib/python3.8/site-packages/tensorflow/python/keras/layers/core.py", line 1071, in _parse_function_from_config
function = generic_utils.func_load(
File "/home/daddywesker/anaconda3/envs/tf/lib/python3.8/site-packages/tensorflow/python/keras/utils/generic_utils.py", line 457, in func_load
code = marshal.loads(raw_code)
ValueError: bad marshal data (unknown type code)
What could it be? /home/daddywesker/datasets/Euroc/V2_01_easy/mav0/cam0/data/ is the folder with images. json and h5 files are in place as code requires - weights/keras/ and i'm launching code from PSPNet folder. SO shouldn't be problem with finding file.
Sir, Semantic_Information_Publisher_C.py will read the picture from the ros topic and give out semantic result. So your should use python Semantic_Information_Publisher_C.py image:=/camera/image_raw. You should supply the ros topic named /camera/image_raw. The original KITTI dataset is image files not the rosbag. So you should convert the files to the rosbag. You can find the tools easily.
Hm. So, when i'm launching python script Semantic_Information_Publisher_C.py, i should point him to the rostopic of some rosbag, yes? And where should i put the desired rosbag then? To the orb_slam_2 launch?
Yes the rosbag author did not supply it. You should download by yourself. https://gitee.com/zengtaiping/image2rosbag_KITTIodometry. Try it. This is a chinese website. And about how to run all the semantic slam system, you can see run.sh in this github.
I have euroc rosbag, thanks. Alright, i'll take a look into run.sh instead of run_C.sh then. Thanks.
Well, unfortunately i can't get past rosrun ORB_SLAM2 Mono Vocabulary/ORBvoc.txt Examples/Monocular/KITTI00-02.yaml since I'm receiving errors when I'm trying to build ORB_SLAM2 inside Thrid_Part folder. Actually, i've successfully run file build.sh, but build_ros.sh throws an error
No project() command is present. The top-level CMakeLists.txt file must
contain a literal, direct call to the project() command. Add a line of
code such as
project(ProjectName)
near the top of the file, but after cmake_minimum_required().
CMake is pretending there is a "project(Project)" command on the first
line.
This warning is for project developers. Use -Wno-dev to suppress it.
CMake Deprecation Warning at /opt/ros/noetic/share/ros/core/rosbuild/rosbuild.cmake:7 (cmake_policy):
The OLD behavior for policy CMP0011 will be removed from a future version
of CMake.
The cmake-policies(7) manual explains that the OLD behaviors of all
policies are deprecated and that a policy should be set to OLD only under
specific short-term circumstances. Projects should be ported to the NEW
behavior and not rely on setting a policy to OLD.
Call Stack (most recent call first):
CMakeLists.txt:2 (include)
CMake Deprecation Warning at /opt/ros/noetic/share/ros/core/rosbuild/rosbuild.cmake:16 (cmake_policy):
The OLD behavior for policy CMP0002 will be removed from a future version
of CMake.
The cmake-policies(7) manual explains that the OLD behaviors of all
policies are deprecated and that a policy should be set to OLD only under
specific short-term circumstances. Projects should be ported to the NEW
behavior and not rely on setting a policy to OLD.
Call Stack (most recent call first):
CMakeLists.txt:2 (include)
CMake Deprecation Warning at /opt/ros/noetic/share/ros/core/rosbuild/rosbuild.cmake:18 (cmake_policy):
The OLD behavior for policy CMP0003 will be removed from a future version
of CMake.
The cmake-policies(7) manual explains that the OLD behaviors of all
policies are deprecated and that a policy should be set to OLD only under
specific short-term circumstances. Projects should be ported to the NEW
behavior and not rely on setting a policy to OLD.
Call Stack (most recent call first):
CMakeLists.txt:2 (include)
CMake Deprecation Warning at /opt/ros/noetic/share/ros/core/rosbuild/rosbuild.cmake:20 (cmake_policy):
The OLD behavior for policy CMP0005 will be removed from a future version
of CMake.
The cmake-policies(7) manual explains that the OLD behaviors of all
policies are deprecated and that a policy should be set to OLD only under
specific short-term circumstances. Projects should be ported to the NEW
behavior and not rely on setting a policy to OLD.
Call Stack (most recent call first):
CMakeLists.txt:2 (include)
CMake Deprecation Warning at /opt/ros/noetic/share/ros/core/rosbuild/rosbuild.cmake:23 (cmake_policy):
The OLD behavior for policy CMP0011 will be removed from a future version
of CMake.
The cmake-policies(7) manual explains that the OLD behaviors of all
policies are deprecated and that a policy should be set to OLD only under
specific short-term circumstances. Projects should be ported to the NEW
behavior and not rely on setting a policy to OLD.
Call Stack (most recent call first):
CMakeLists.txt:2 (include)
[rosbuild] Building package ORB_SLAM2
[rosbuild] Error from directory check: /opt/ros/noetic/share/ros/core/rosbuild/bin/check_same_directories.py /home/daddywesker/Dioram/TestingRGB/Semantic_SLAM/Third_Part/ORB_SLAM2/Examples/ROS/ORB_SLAM2
1
Traceback (most recent call last):
File "/opt/ros/noetic/share/ros/core/rosbuild/bin/check_same_directories.py", line 46, in <module>
raise Exception
Exception
Error in sys.excepthook:
Traceback (most recent call last):
File "/usr/lib/python3/dist-packages/apport_python_hook.py", line 153, in apport_excepthook
with os.fdopen(os.open(pr_filename,
FileNotFoundError: [Errno 2] No such file or directory: '/var/crash/_opt_ros_noetic_share_ros_core_rosbuild_bin_check_same_directories.py.1000.crash'
Original exception was:
Traceback (most recent call last):
File "/opt/ros/noetic/share/ros/core/rosbuild/bin/check_same_directories.py", line 46, in <module>
raise Exception
Exception
CMake Error at /opt/ros/noetic/share/ros/core/rosbuild/private.cmake:99 (message):
[rosbuild] rospack found package "ORB_SLAM2" at "", but the current
directory is
"/home/daddywesker/Dioram/TestingRGB/Semantic_SLAM/Third_Part/ORB_SLAM2/Examples/ROS/ORB_SLAM2".
You should double-check your ROS_PACKAGE_PATH to ensure that packages are
found in the correct precedence order.
Call Stack (most recent call first):
/opt/ros/noetic/share/ros/core/rosbuild/public.cmake:177 (_rosbuild_check_package_location)
CMakeLists.txt:4 (rosbuild_init)
-- Configuring incomplete, errors occurred!
See also "/home/daddywesker/Dioram/TestingRGB/Semantic_SLAM/Third_Part/ORB_SLAM2/Examples/ROS/ORB_SLAM2/build/CMakeFiles/CMakeOutput.log".
I've also tried to build orb_slam2_ros from here https://github.com/appliedAI-Initiative/orb_slam_2_ros but it doesn't build executable Mono (though, after build.sh in Third_Part/ORB_SLAM2 i've got no Mono executable file either).
Alright, i've beat that issue with adding
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/PATH/TO/Semantic_SLAM/Third_Part/ORB_SLAM2_C/Examples/ROS
to bashrc and cmaked orb_slam2_ros in example folder. Unfortunately, now i'm facing this issue when i'm trying to make it
Semantic_SLAM/Third_Part/ORB_SLAM2_C/Examples/ROS/ORB_SLAM2/src/AR/ros_mono_ar.cc:153:84: error: no matching function for call to ‘ORB_SLAM2::System::TrackMonocular(const cv::Mat&, double)’
153 | cv::Mat Tcw = mpSLAM->TrackMonocular(cv_ptr->image,cv_ptr->header.stamp.toSec());
Currently, no clue here...
use
cv::Mat Tcw = mpSLAM->TrackMonocular(cv_ptr->image, cv_ptr->image, cv_ptr->header.stamp.toSec());
instead of
cv::Mat Tcw = mpSLAM->TrackMonocular(cv_ptr->image,cv_ptr->header.stamp.toSec());
You may need do it some more times in other files.
Yes, that helps, thanks. Unfortunately, i'm now getting this error
/usr/bin/ld: warning: libopencv_imgproc.so.4.2, needed by /opt/ros/noetic/lib/libcv_bridge.so, may conflict with libopencv_imgproc.so.3.4
/usr/bin/ld: CMakeFiles/MonoAR.dir/src/AR/ViewerAR.cc.o: undefined reference to symbol '_ZN2cv7putTextERKNS_17_InputOutputArrayERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEENS_6Point_IiEEidNS_7Scalar_IdEEiib'
/usr/bin/ld: /usr/lib/x86_64-linux-gnu/libopencv_imgproc.so.4.2.0: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status
I'm afraid that noetic ROS i've built with another opencv than orb_slam2. I've tried actually to build orb_slam2 with opencv 4 but there were many errors. Is there some other way than rebuilding of ros or orb_slam with another opencv version?
you used ubuntu20.04, maybe you should install another opencv version 3.4, and orbslam2 link the opencv 3.4 instead(change the cmakeList.txt). OS problem is hard to solved, try or use ubuntu 16.04 instead.
Well, i've managed to build it using this fix/hack by Marcus
https://github.com/UZ-SLAMLab/ORB_SLAM3/issues/97
Will try to launch now.
Launched with gdb using
rosrun --prefix 'gdb -ex run --args' ORB_SLAM2 Mono Vocabulary/ORBvoc.txt Examples/Monocular/KITTI00-02.yaml
and got
Input sensor was set to: Monocular
Thread 1 "Mono" received signal SIGSEGV, Segmentation fault.
0x00007ffff77b4d12 in ?? () from /lib/x86_64-linux-gnu/libopencv_core.so.4.2
I guess that fix/hack for opencv didn't worked so well...
Alright. I've re-built ORB_SLAM2 with rebuilt opencv 4.2, fixed some compatibility issues and now i've launched all lines from run.sh in a separate terminals. And after i'm running last one, python cluster.py, i'm getting this error
[ERROR] [1624527912.019743647]: Client [/cluster] wants topic /trajectory to have datatype/md5sum [nav_msgs/Path/6227e2b7e9cce15051f669a5e197bbf7], but our version has [map_generator/tjy/0d7fb206b66f869d41c3fc6ff889cb36]. Dropping connection.
in the window, where i've launched rosrun ORB_SLAM2. Is there are something else to be run? Maybe some sort of rosplay bag? Map viewer and current frame are just showing nothing (current frame is black, map is whit with green triangle and nothing happens).
Upd 25.06.2021 @yushijie94 have you managed to launch this project? I'm struggling for yesterday and today to launch it and error still occurs...
Hello,
When trying to launch your run_C.sh i'm getting
No module named 'map_generator'error. How to install it?THanks in advance.
Hello,
When trying to launch your run_C.sh i'm getting
No module named 'map_generator'error. How to install it?THanks in advance.
hi , have you reproduce the result? where is the cluster node?
