Kimera-VIO-ROS
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Published
20 hours ago •
MIT-SPARK
MIT-SPARK
No tf data. Actual error: Fixed Frame [world] does not exist, no publisher for /feature_tracks, [kimera_vio_ros/kimera_vio_ros_node-8] process has died [pid 24821, exit code -6
Description:
Hi~ Here is a problem with the world frame, mesh and feature_tracks output
First it reports an error in rviz that "No tf data. Actual error: Fixed Frame [world] does not exist", and no imge received from feature_tracks, or to be accurate, from rostopic info, the topic actually has no publisher.
For the world frame problem, i added:
Same problem also occurs when running the euroc bag From rqtgraph, camera node and kimera are not directly linked, but kimera did subscribed topics like /camera/infra1/image_raw
Command:
launch file as below:
<launch>
<arg name="dataset_name" value="RealSenseIR"/>
<arg name="online" default="True" />
<arg name="log_output" default="false"/>
<arg name="log_output_path"
default="$(find kimera_vio_ros)/output_logs/"
if="$(arg log_output)"/>
<arg name="log_gt_data" default="false"/>
<arg name="gt_topic" default=""/>
<!-- Set use_sim_time to true if you use rosbag with clock argument -->
<arg name="should_use_sim_time" default="false"/>
<!-- Only used when parsing a rosbag -->
<arg name="rosbag_path" default="default.bag"
unless="$(arg online)"/>"/>
<!-- Frame IDs. These DO NOT match frame id's on the video streams, as the
RealSense and Kimera publish conflicting Tf's -->
<arg name="world_frame_id" value="world"/>
<arg name="base_link_frame_id" value="map"/>
<arg name="map_frame_id" value="map"/>
<arg name="left_cam_frame_id" value="left_cam"/>
<arg name="right_cam_frame_id" value="right_cam"/>
<!-- Subscribed Topics -->
<arg name="left_cam_topic" value="/camera/infra1/image_rect_raw"/>
<arg name="right_cam_topic" value="/camera/infra2/image_rect_raw"/>
<arg name="imu_topic" value="/camera/imu"/>
<param name="robot_description" command="xacro '$(find tinker_description)/urdf/tinker.urdf.xacro'" />
<include file="$(find tinker_navigation)/launch/rs_camera.launch"/>
<remap from="/cam0/image_raw" to="/camera/infra1/image_rect_raw"/>
<remap from="/cam1/image_raw" to="/camera/infra2/image_rect_raw"/>
<remap from="/cam0/camera_info" to="/camera/infra1/camera_info"/>
<remap from="/cam1/camera_info" to="/camera/infra2/camera_info"/>
<remap from="/odom" to="/kimera_vio_ros/odometry"/>
<include file="$(find tinker_navigation)/launch/nav.launch"/>
<!-- Launch actual pipeline -->
<include file="$(find kimera_vio_ros)/launch/kimera_vio_ros.launch"
pass_all_args="true"/>
<!-- Launch static TF node from base_link to velo_link -->
<node pkg="tf" type="static_transform_publisher" name="velo_link_broadcaster"
args="0 0 0 0 0 0 1 map velo_link 100"/>
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find kimera_vio_ros)/rviz/kimera_vio_euroc.rviz" />
<node pkg="tf" type="static_transform_publisher" name="world_trans"
args="0 0 0 0 0 0 world map 10" />
<node pkg="tf" type="static_transform_publisher" name="odom_trans"
args="0 0 0 0 0 0 odom world 10" />
</launch>
Console output:
Console output as below:
PARAMETERS
* /camera/realsense2_camera/accel_fps: -1
* /camera/realsense2_camera/accel_frame_id: camera_accel_frame
* /camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti...
* /camera/realsense2_camera/align_depth: True
* /camera/realsense2_camera/aligned_depth_to_color_frame_id: camera_aligned_de...
* /camera/realsense2_camera/aligned_depth_to_fisheye1_frame_id: camera_aligned_de...
* /camera/realsense2_camera/aligned_depth_to_fisheye2_frame_id: camera_aligned_de...
* /camera/realsense2_camera/aligned_depth_to_fisheye_frame_id: camera_aligned_de...
* /camera/realsense2_camera/aligned_depth_to_infra1_frame_id: camera_aligned_de...
* /camera/realsense2_camera/aligned_depth_to_infra2_frame_id: camera_aligned_de...
* /camera/realsense2_camera/allow_no_texture_points: False
* /camera/realsense2_camera/base_frame_id: camera_link
* /camera/realsense2_camera/calib_odom_file:
* /camera/realsense2_camera/clip_distance: -2.0
* /camera/realsense2_camera/color_fps: -1
* /camera/realsense2_camera/color_frame_id: camera_color_frame
* /camera/realsense2_camera/color_height: -1
* /camera/realsense2_camera/color_optical_frame_id: camera_color_opti...
* /camera/realsense2_camera/color_width: -1
* /camera/realsense2_camera/confidence_fps: -1
* /camera/realsense2_camera/confidence_height: -1
* /camera/realsense2_camera/confidence_width: -1
* /camera/realsense2_camera/depth_fps: -1
* /camera/realsense2_camera/depth_frame_id: camera_depth_frame
* /camera/realsense2_camera/depth_height: -1
* /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti...
* /camera/realsense2_camera/depth_width: -1
* /camera/realsense2_camera/device_type:
* /camera/realsense2_camera/enable_accel: True
* /camera/realsense2_camera/enable_color: True
* /camera/realsense2_camera/enable_confidence: False
* /camera/realsense2_camera/enable_depth: True
* /camera/realsense2_camera/enable_fisheye1: False
* /camera/realsense2_camera/enable_fisheye2: False
* /camera/realsense2_camera/enable_fisheye: False
* /camera/realsense2_camera/enable_gyro: True
* /camera/realsense2_camera/enable_infra1: True
* /camera/realsense2_camera/enable_infra2: True
* /camera/realsense2_camera/enable_infra: False
* /camera/realsense2_camera/enable_pointcloud: False
* /camera/realsense2_camera/enable_pose: False
* /camera/realsense2_camera/enable_sync: False
* /camera/realsense2_camera/filters:
* /camera/realsense2_camera/fisheye1_frame_id: camera_fisheye1_f...
* /camera/realsense2_camera/fisheye1_optical_frame_id: camera_fisheye1_o...
* /camera/realsense2_camera/fisheye2_frame_id: camera_fisheye2_f...
* /camera/realsense2_camera/fisheye2_optical_frame_id: camera_fisheye2_o...
* /camera/realsense2_camera/fisheye_fps: -1
* /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame
* /camera/realsense2_camera/fisheye_height: -1
* /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op...
* /camera/realsense2_camera/fisheye_width: -1
* /camera/realsense2_camera/gyro_fps: -1
* /camera/realsense2_camera/gyro_frame_id: camera_gyro_frame
* /camera/realsense2_camera/gyro_optical_frame_id: camera_gyro_optic...
* /camera/realsense2_camera/imu_optical_frame_id: camera_imu_optica...
* /camera/realsense2_camera/infra1_frame_id: camera_infra1_frame
* /camera/realsense2_camera/infra1_optical_frame_id: camera_infra1_opt...
* /camera/realsense2_camera/infra2_frame_id: camera_infra2_frame
* /camera/realsense2_camera/infra2_optical_frame_id: camera_infra2_opt...
* /camera/realsense2_camera/infra_fps: 30
* /camera/realsense2_camera/infra_height: 480
* /camera/realsense2_camera/infra_rgb: False
* /camera/realsense2_camera/infra_width: 848
* /camera/realsense2_camera/initial_reset: False
* /camera/realsense2_camera/json_file_path:
* /camera/realsense2_camera/linear_accel_cov: 0.01
* /camera/realsense2_camera/odom_frame_id: camera_odom_frame
* /camera/realsense2_camera/ordered_pc: False
* /camera/realsense2_camera/pointcloud_texture_index: 0
* /camera/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
* /camera/realsense2_camera/pose_frame_id: camera_pose_frame
* /camera/realsense2_camera/pose_optical_frame_id: camera_pose_optic...
* /camera/realsense2_camera/publish_odom_tf: True
* /camera/realsense2_camera/publish_tf: True
* /camera/realsense2_camera/rosbag_filename:
* /camera/realsense2_camera/serial_no:
* /camera/realsense2_camera/stereo_module/exposure/1: 7500
* /camera/realsense2_camera/stereo_module/exposure/2: 1
* /camera/realsense2_camera/stereo_module/gain/1: 16
* /camera/realsense2_camera/stereo_module/gain/2: 16
* /camera/realsense2_camera/tf_publish_rate: 0.0
* /camera/realsense2_camera/topic_odom_in: odom_in
* /camera/realsense2_camera/unite_imu_method: linear_interpolation
* /camera/realsense2_camera/usb_port_id:
* /kimera_vio_ros/kimera_vio_ros_node/base_link_frame_id: map
* /kimera_vio_ros/kimera_vio_ros_node/left_cam_frame_id: left_cam
* /kimera_vio_ros/kimera_vio_ros_node/map_frame_id: map
* /kimera_vio_ros/kimera_vio_ros_node/mono_ransac_threshold: 30
* /kimera_vio_ros/kimera_vio_ros_node/online_run: True
* /kimera_vio_ros/kimera_vio_ros_node/params_folder_path: /home/one/kimera_...
* /kimera_vio_ros/kimera_vio_ros_node/position_det_threshold: 0.3
* /kimera_vio_ros/kimera_vio_ros_node/right_cam_frame_id: right_cam
* /kimera_vio_ros/kimera_vio_ros_node/stereo_ransac_threshold: 20
* /kimera_vio_ros/kimera_vio_ros_node/use_lcd: False
* /kimera_vio_ros/kimera_vio_ros_node/use_online_cam_params: False
* /kimera_vio_ros/kimera_vio_ros_node/velocity_det_threshold: 0.1
* /kimera_vio_ros/kimera_vio_ros_node/world_frame_id: world
* /kimera_vio_ros/posegraph_viewer/frame_id: world
* /move_base/TebLocalPlannerROS/acc_lim_theta: 1.0
* /move_base/TebLocalPlannerROS/acc_lim_x: 0.45
* /move_base/TebLocalPlannerROS/acc_lim_y: 0.31
* /move_base/TebLocalPlannerROS/footprint_model/type: polygon
* /move_base/TebLocalPlannerROS/footprint_model/vertices: [[0.325, 0.3], [0...
* /move_base/TebLocalPlannerROS/inflation_dist: 0.4
* /move_base/TebLocalPlannerROS/map_frame: /map
* /move_base/TebLocalPlannerROS/max_vel_theta: 1.0
* /move_base/TebLocalPlannerROS/max_vel_x: 0.45
* /move_base/TebLocalPlannerROS/max_vel_x_backwards: 0.225
* /move_base/TebLocalPlannerROS/max_vel_y: 0.31
* /move_base/TebLocalPlannerROS/min_obstacle_dist: 0.15
* /move_base/TebLocalPlannerROS/min_turning_radius: 0.0
* /move_base/TebLocalPlannerROS/odom_topic: odom
* /move_base/TebLocalPlannerROS/weight_kinematics_forward_drive: 10.0
* /move_base/TebLocalPlannerROS/weight_kinematics_nh: 10.0
* /move_base/aggressive_reset/layer_names: ['obstacle_layer']
* /move_base/aggressive_reset/reset_distance: 0.0
* /move_base/base_local_planner: teb_local_planner...
* /move_base/controller_frequency: 10.0
* /move_base/controller_patience: 3.0
* /move_base/global_costmap/footprint: [[0.325, 0.3], [0...
* /move_base/global_costmap/global_frame: map
* /move_base/global_costmap/inflation_layer/cost_scaling_factor: 10.0
* /move_base/global_costmap/inflation_layer/enabled: True
* /move_base/global_costmap/inflation_layer/inflation_radius: 0.35
* /move_base/global_costmap/obstacle_layer/combination_method: 1
* /move_base/global_costmap/obstacle_layer/enabled: True
* /move_base/global_costmap/obstacle_layer/inflation_radius: 0.5
* /move_base/global_costmap/obstacle_layer/laser_scan_sensor/clearing: True
* /move_base/global_costmap/obstacle_layer/laser_scan_sensor/data_type: LaserScan
* /move_base/global_costmap/obstacle_layer/laser_scan_sensor/marking: True
* /move_base/global_costmap/obstacle_layer/laser_scan_sensor/topic: scan
* /move_base/global_costmap/obstacle_layer/observation_sources: laser_scan_sensor...
* /move_base/global_costmap/obstacle_layer/obstacle_range: 3.0
* /move_base/global_costmap/obstacle_layer/point_cloud2_sensor/clearing: True
* /move_base/global_costmap/obstacle_layer/point_cloud2_sensor/data_type: PointCloud2
* /move_base/global_costmap/obstacle_layer/point_cloud2_sensor/marking: True
* /move_base/global_costmap/obstacle_layer/point_cloud2_sensor/topic: /kimera_vio_ros/t...
* /move_base/global_costmap/obstacle_layer/raytrace_range: 4.0
* /move_base/global_costmap/obstacle_layer/track_unknown_space: True
* /move_base/global_costmap/plugins: [{'type': 'costma...
* /move_base/global_costmap/publish_frequency: 0.5
* /move_base/global_costmap/robot_base_frame: base_link
* /move_base/global_costmap/rolling_window: True
* /move_base/global_costmap/static_layer/enabled: True
* /move_base/global_costmap/static_layer/lethal_cost_threshold: 90
* /move_base/global_costmap/static_layer/map_topic: /map
* /move_base/global_costmap/transform_tolerance: 0.5
* /move_base/global_costmap/update_frequency: 1.0
* /move_base/local_costmap/footprint: [[0.325, 0.3], [0...
* /move_base/local_costmap/global_frame: odom
* /move_base/local_costmap/height: 3.0
* /move_base/local_costmap/inflation_layer/cost_scaling_factor: 10.0
* /move_base/local_costmap/inflation_layer/enabled: True
* /move_base/local_costmap/inflation_layer/inflation_radius: 0.35
* /move_base/local_costmap/obstacle_layer/combination_method: 1
* /move_base/local_costmap/obstacle_layer/enabled: True
* /move_base/local_costmap/obstacle_layer/inflation_radius: 0.5
* /move_base/local_costmap/obstacle_layer/laser_scan_sensor/clearing: True
* /move_base/local_costmap/obstacle_layer/laser_scan_sensor/data_type: LaserScan
* /move_base/local_costmap/obstacle_layer/laser_scan_sensor/marking: True
* /move_base/local_costmap/obstacle_layer/laser_scan_sensor/topic: scan
* /move_base/local_costmap/obstacle_layer/observation_sources: laser_scan_sensor...
* /move_base/local_costmap/obstacle_layer/obstacle_range: 3.0
* /move_base/local_costmap/obstacle_layer/point_cloud2_sensor/clearing: True
* /move_base/local_costmap/obstacle_layer/point_cloud2_sensor/data_type: PointCloud2
* /move_base/local_costmap/obstacle_layer/point_cloud2_sensor/marking: True
* /move_base/local_costmap/obstacle_layer/point_cloud2_sensor/topic: /kimera_vio_ros/t...
* /move_base/local_costmap/obstacle_layer/raytrace_range: 4.0
* /move_base/local_costmap/obstacle_layer/track_unknown_space: True
* /move_base/local_costmap/plugins: [{'type': 'costma...
* /move_base/local_costmap/publish_frequency: 2.0
* /move_base/local_costmap/resolution: 0.1
* /move_base/local_costmap/robot_base_frame: base_link
* /move_base/local_costmap/rolling_window: True
* /move_base/local_costmap/static_layer/enabled: True
* /move_base/local_costmap/static_layer/lethal_cost_threshold: 90
* /move_base/local_costmap/static_layer/map_topic: /map
* /move_base/local_costmap/transform_tolerance: 0.5
* /move_base/local_costmap/update_frequency: 5.0
* /move_base/local_costmap/width: 3.0
* /move_base/oscillation_distance: 0.2
* /move_base/oscillation_timeout: 10.0
* /move_base/planner_frequency: 1.0
* /move_base/planner_patience: 5.0
* /move_base/recovery_behavior_enabled: True
* /move_base/recovery_behaviors: [{'type': 'clear_...
* /move_base/shutdown_costmaps: False
* /robot_description: <?xml version="1....
* /rosdistro: melodic
* /rosversion: 1.14.11
* /rplidarNode/angle_compensate: True
* /rplidarNode/frame_id: laser
* /rplidarNode/inverted: False
* /rplidarNode/scan_mode: Sensitivity
* /rplidarNode/serial_baudrate: 256000
* /rplidarNode/serial_port: /dev/ttyUSB0
* /use_sim_time: False
NODES
/
cartographer_node (cartographer_ros/cartographer_node)
cartographer_occupancy_grid_node (cartographer_ros/cartographer_occupancy_grid_node)
move_base (move_base/move_base)
odom_trans (tf/static_transform_publisher)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
rplidarNode (rplidar_ros/rplidarNode)
rviz (rviz/rviz)
velo_link_broadcaster (tf/static_transform_publisher)
world_trans (tf/static_transform_publisher)
/camera/
realsense2_camera (nodelet/nodelet)
realsense2_camera_manager (nodelet/nodelet)
/kimera_vio_ros/
kimera_vio_ros_node (kimera_vio_ros/kimera_vio_ros_node)
posegraph_viewer (pose_graph_tools/visualizer_node)
ROS_MASTER_URI=http://localhost:11311
process[camera/realsense2_camera_manager-1]: started with pid [24759]
process[camera/realsense2_camera-2]: started with pid [24760]
process[rplidarNode-3]: started with pid [24761]
process[cartographer_node-4]: started with pid [24770]
process[cartographer_occupancy_grid_node-5]: started with pid [24783]
process[robot_state_publisher-6]: started with pid [24794]
process[move_base-7]: started with pid [24809]
[ INFO] [1628870400.417525871]: Initializing nodelet with 8 worker threads.
process[kimera_vio_ros/kimera_vio_ros_node-8]: started with pid [24821]
process[kimera_vio_ros/posegraph_viewer-9]: started with pid [24843]
process[velo_link_broadcaster-10]: started with pid [24860]
process[rviz-11]: started with pid [24869]
process[world_trans-12]: started with pid [24888]
process[odom_trans-13]: started with pid [24895]
[ INFO] [1628870400.607012960]: Initializing pose graph visualizer
[ INFO] [1628870400.619609922]: RPLIDAR running on ROS package rplidar_ros. SDK Version:1.12.0
[ INFO] [1628870400.682839605]: I0814 00:00:00.000000 24770 configuration_file_resolver.cc:41] Found '/home/one/Tinker-Air/Workspace/src/tinker_navigation/config/slam/single_rplidar.lua' for 'single_rplidar.lua'.
[ INFO] [1628870400.711069894]: I0814 00:00:00.000000 24770 configuration_file_resolver.cc:41] Found '/home/one/cartographer_ws/install_isolated/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[ INFO] [1628870400.712243248]: I0814 00:00:00.000000 24770 configuration_file_resolver.cc:41] Found '/home/one/cartographer_ws/install_isolated/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[ INFO] [1628870400.712620957]: I0814 00:00:00.000000 24770 configuration_file_resolver.cc:41] Found '/home/one/cartographer_ws/install_isolated/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
[ INFO] [1628870400.712729569]: I0814 00:00:00.000000 24770 configuration_file_resolver.cc:41] Found '/home/one/cartographer_ws/install_isolated/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
[ INFO] [1628870400.713171985]: I0814 00:00:00.000000 24770 configuration_file_resolver.cc:41] Found '/home/one/cartographer_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[ INFO] [1628870400.713293589]: I0814 00:00:00.000000 24770 configuration_file_resolver.cc:41] Found '/home/one/cartographer_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[ INFO] [1628870400.713790951]: I0814 00:00:00.000000 24770 configuration_file_resolver.cc:41] Found '/home/one/cartographer_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[ INFO] [1628870400.714001998]: I0814 00:00:00.000000 24770 configuration_file_resolver.cc:41] Found '/home/one/cartographer_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[ INFO] [1628870400.714417341]: I0814 00:00:00.000000 24770 configuration_file_resolver.cc:41] Found '/home/one/cartographer_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[ INFO] [1628870400.714520225]: I0814 00:00:00.000000 24770 configuration_file_resolver.cc:41] Found '/home/one/cartographer_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[ INFO] [1628870400.817563554]: I0814 00:00:00.000000 24770 map_builder_bridge.cc:135] Added trajectory with ID '0'.
I0814 00:00:01.150063 24821 RegularVioBackend.cpp:114] Using Regular VIO Backend.
I0814 00:00:01.150377 24821 PipelineModule.h:449] MISO Pipeline Module: Display has no output queue registered.
I0814 00:00:01.151254 24821 Pipeline.cpp:296] Pipeline Modules launched (parallel_run set to 1).
I0814 00:00:01.151613 24821 KimeraVioRos.cpp:137] Statistics
----------- # Log Hz {avg +- std } [min,max]
Display [ms] 0
Mesher [ms] 0
VioBackend [ms] 0
VioFrontend [ms] 0
Visualizer [ms] 0
backend_input_queue Size [#] 0
data_provider_left_frame_queue Size [#] 0
data_provider_right_frame_queue Size [#] 0
display_input_queue Size [#] 0
frontend_input_queue Size [#] 0
mesher_backend Size [#] 0
mesher_frontend Size [#] 0
visualizer_backend_queue Size [#] 0
visualizer_frontend_queue Size [#] 0
visualizer_mesher_queue Size [#] 0
I0814 00:00:01.151731 25172 Pipeline.cpp:89] Spinning Kimera-VIO.
RPLIDAR S/N: 959D99F6C9E59AD4C5E59CF7694F3414
[ INFO] [1628870401.163936473]: Firmware Ver: 1.27
[ INFO] [1628870401.164077214]: Hardware Rev: 6
[ INFO] [1628870401.165302281]: RPLidar health status : 0
[ INFO] [1628870401.783494800]: current scan mode: Sensitivity, max_distance: 25.0 m, Point number: 15.9K , angle_compensate: 4
I0814 00:00:02.151721 24821 KimeraVioRos.cpp:137] Statistics
----------- # Log Hz {avg +- std } [min,max]
Display [ms] 0
Mesher [ms] 0
Stereo Data Provider [ms] 0
VioBackend [ms] 0
VioFrontend [ms] 0
Visualizer [ms] 0
backend_input_queue Size [#] 0
data_provider_left_frame_queue Size [#] 0
data_provider_right_frame_queue Size [#] 0
display_input_queue Size [#] 0
frontend_input_queue Size [#] 0
mesher_backend Size [#] 0
mesher_frontend Size [#] 0
visualizer_backend_queue Size [#] 0
visualizer_frontend_queue Size [#] 0
visualizer_mesher_queue Size [#] 0
[ INFO] [1628870402.530317709]: RealSense ROS v2.3.1
[ INFO] [1628870402.530424112]: Built with LibRealSense v2.48.0
[ INFO] [1628870402.530560341]: Running with LibRealSense v2.49.0
[ WARN] [1628870402.530785533]: ***************************************************
[ WARN] [1628870402.531033478]: ** running with a different librealsense version **
[ WARN] [1628870402.531087528]: ** than the one the wrapper was compiled with! **
[ WARN] [1628870402.531130250]: ***************************************************
[ INFO] [1628870402.611250329]:
[ INFO] [1628870402.629331071]: Device with serial number 046322250291 was found.
[ INFO] [1628870402.629460707]: Device with physical ID /sys/devices/3610000.xhci/usb2/2-4/2-4.1/2-4.1.2/2-4.1.2:1.0/video4linux/video0 was found.
[ INFO] [1628870402.629619337]: Device with name Intel RealSense D455 was found.
[ INFO] [1628870402.630875542]: Device with port number 2-4.1.2 was found.
[ INFO] [1628870402.631068701]: Device USB type: 3.2
[ INFO] [1628870402.641506898]: getParameters...
[ INFO] [1628870402.990301345]: setupDevice...
[ INFO] [1628870402.990452614]: JSON file is not provided
[ INFO] [1628870402.990606092]: ROS Node Namespace: camera
[ INFO] [1628870402.990694191]: Device Name: Intel RealSense D455
[ INFO] [1628870402.990738288]: Device Serial No: 046322250291
[ INFO] [1628870402.990780818]: Device physical port: /sys/devices/3610000.xhci/usb2/2-4/2-4.1/2-4.1.2/2-4.1.2:1.0/video4linux/video0
[ INFO] [1628870402.990834324]: Device FW version: 05.12.14.50
[ INFO] [1628870402.990874517]: Device Product ID: 0x0B5C
[ INFO] [1628870402.990958040]: Enable PointCloud: Off
[ INFO] [1628870402.991029659]: Align Depth: On
[ INFO] [1628870402.991071644]: Sync Mode: On
[ INFO] [1628870402.991236546]: Device Sensors:
[ INFO] [1628870403.007176252]: Stereo Module was found.
[ INFO] [1628870403.018882462]: RGB Camera was found.
[ INFO] [1628870403.019505844]: Motion Module was found.
[ INFO] [1628870403.020314769]: num_filters: 1
[ INFO] [1628870403.020397268]: Setting Dynamic reconfig parameters.
[ WARN] [1628870403.124552926]: Param '/camera/stereo_module/auto_exposure_limit' has value 0 that is not in range [1, 165000]. Removing this parameter from dynamic reconfigure options.
[ WARN] [1628870403.127523528]: Param '/camera/stereo_module/auto_gain_limit' has value 0 that is not in range [16, 248]. Removing this parameter from dynamic reconfigure options.
I0814 00:00:03.151700 24821 KimeraVioRos.cpp:137] Statistics
----------- # Log Hz {avg +- std } [min,max]
Display [ms] 0
Mesher [ms] 0
Stereo Data Provider [ms] 0
VioBackend [ms] 0
VioFrontend [ms] 0
Visualizer [ms] 0
backend_input_queue Size [#] 0
data_provider_left_frame_queue Size [#] 0
data_provider_right_frame_queue Size [#] 0
display_input_queue Size [#] 0
frontend_input_queue Size [#] 0
mesher_backend Size [#] 0
mesher_frontend Size [#] 0
visualizer_backend_queue Size [#] 0
visualizer_frontend_queue Size [#] 0
visualizer_mesher_queue Size [#] 0
[ WARN] [1628870403.180830425]: Param '/camera/rgb_camera/power_line_frequency' has value 3 that is not in the enum { {50Hz: 1} {60Hz: 2} {Disabled: 0} }. Removing this parameter from dynamic reconfigure options.
[ INFO] [1628870403.212925427]: Done Setting Dynamic reconfig parameters.
[ INFO] [1628870403.214268131]: depth stream is enabled - width: 848, height: 480, fps: 30, Format: Z16
[ INFO] [1628870403.215035455]: infra1 stream is enabled - width: 848, height: 480, fps: 30, Format: Y8
[ INFO] [1628870403.215630164]: infra2 stream is enabled - width: 848, height: 480, fps: 30, Format: Y8
[ INFO] [1628870403.216757596]: color stream is enabled - width: 1280, height: 720, fps: 30, Format: RGB8
[ INFO] [1628870403.221445668]: gyro stream is enabled - fps: 200
[ INFO] [1628870403.221559016]: accel stream is enabled - fps: 63
[ INFO] [1628870403.221618026]: setupPublishers...
[ INFO] [1628870403.231364742]: Expected frequency for depth = 30.00000
[ INFO] [1628870403.234682621]: I0814 00:00:03.000000 24770 ordered_multi_queue.cc:172] All sensor data for trajectory 0 is available starting at '637644672032330114'.
[ INFO] [1628870403.235099020]: I0814 00:00:03.000000 24770 local_trajectory_builder_2d.cc:135] Extrapolator is still initializing.
[ INFO] [1628870403.333583211]: I0814 00:00:03.000000 24770 pose_graph_2d.cc:148] Inserted submap (0, 0).
[ INFO] [1628870403.362165896]: Expected frequency for infra1 = 30.00000
[ INFO] [1628870403.368785301]: global_costmap: Using plugin "static_layer"
[ INFO] [1628870403.420843865]: Requesting the map...
[ INFO] [1628870403.490122212]: Expected frequency for infra2 = 30.00000
[ INFO] [1628870403.591635375]: Expected frequency for color = 30.00000
[ INFO] [1628870403.687007679]: Expected frequency for aligned_depth_to_color = 30.00000
[ INFO] [1628870403.778651722]: Start publisher IMU
[ INFO] [1628870403.787459140]: setupStreams...
[ INFO] [1628870403.791466228]: insert Depth to Stereo Module
[ INFO] [1628870403.791615097]: insert Color to RGB Camera
[ INFO] [1628870403.791751166]: insert Infrared to Stereo Module
[ INFO] [1628870403.791800576]: insert Infrared to Stereo Module
[ INFO] [1628870403.791845025]: insert Gyro to Motion Module
[ INFO] [1628870403.791887555]: insert Accel to Motion Module
14/08 00:00:03,794 WARNING [547272782208] (ds5-motion.cpp:473) IMU Calibration is not available, default intrinsic and extrinsic will be used.
[ WARN] [1628870403.927808475]:
[ INFO] [1628870403.966425951]: SELECTED BASE:Depth, 0
[ INFO] [1628870404.018621160]: RealSense Node Is Up!
14/08 00:00:04,036 WARNING [546829005184] (ds5-timestamp.cpp:69) UVC metadata payloads not available. Please refer to the installation chapter for details.
I0814 00:00:04.151696 24821 KimeraVioRos.cpp:137] Statistics
----------- # Log Hz {avg +- std } [min,max]
Display [ms] 0
Mesher [ms] 0
Stereo Data Provider [ms] 0
VioBackend [ms] 0
VioFrontend [ms] 0
Visualizer [ms] 0
backend_input_queue Size [#] 0
data_provider_left_frame_queue Size [#] 0
data_provider_right_frame_queue Size [#] 0
display_input_queue Size [#] 0
frontend_input_queue Size [#] 0
mesher_backend Size [#] 0
mesher_frontend Size [#] 0
visualizer_backend_queue Size [#] 0
visualizer_frontend_queue Size [#] 0
visualizer_mesher_queue Size [#] 0
W0814 00:00:04.279316 25172 DataProviderModule.cpp:68] Waiting for IMU data...
W0814 00:00:04.309130 25172 DataProviderModule.cpp:68] Waiting for IMU data...
W0814 00:00:04.338973 25172 DataProviderModule.cpp:68] Waiting for IMU data...
14/08 00:00:04,347 WARNING [546843103616] (ds5-timestamp.cpp:69) UVC metadata payloads not available. Please refer to the installation chapter for details.
F0814 00:00:04.370369 25166 UndistorterRectifier.cpp:112] Check failed: map_x_.size == img.size (480 x 640 vs. 480 x 848)
*** Check failure stack trace: ***
@ 0x7f81b87cf0 google::LogMessage::Fail()
@ 0x7f81b89c28 google::LogMessage::SendToLog()
@ 0x7f81b87824 google::LogMessage::Flush()
@ 0x7f81b8a4ac google::LogMessageFatal::~LogMessageFatal()
@ 0x7f80191c80 VIO::UndistorterRectifier::undistortRectifyImage()
@ 0x7f80189140 VIO::StereoCamera::undistortRectifyStereoFrame()
@ 0x7f8018fd40 VIO::StereoMatcher::sparseStereoReconstruction()
@ 0x7f801a1354 VIO::StereoVisionImuFrontend::processFirstStereoFrame()
@ 0x7f801a15d4 VIO::StereoVisionImuFrontend::bootstrapSpinStereo()
@ 0x7f801a859c VIO::StereoVisionImuFrontend::bootstrapSpin()
@ 0x7f801b03bc VIO::VisionImuFrontend::spinOnce()
@ 0x7f801b3398 VIO::PipelineModule<>::spin()
@ 0x7f8126fe94 (unknown)
@ 0x7f80ffd088 start_thread
[ INFO] [1628870404.639696187]: Resizing static layer to 590 X 355 at 0.020000 m/pix
[ INFO] [1628870404.739257633]: Received a 590 X 355 map at 0.020000 m/pix
[ INFO] [1628870404.759262156]: global_costmap: Using plugin "obstacle_layer"
[ INFO] [1628870404.791139071]: Subscribed to Topics: laser_scan_sensor point_cloud2_sensor
[kimera_vio_ros/kimera_vio_ros_node-8] process has died [pid 24821, exit code -6, cmd /home/one/kimera_ws/devel/lib/kimera_vio_ros/kimera_vio_ros_node --use_lcd=false --vocabulary_path=/home/one/kimera_ws/src/Kimera-VIO/vocabulary/ORBvoc.yml --flagfile=/home/one/kimera_ws/src/Kimera-VIO/params/RealSenseIR/flags/Mesher.flags --flagfile=/home/one/kimera_ws/src/Kimera-VIO/params/RealSenseIR/flags/VioBackend.flags --flagfile=/home/one/kimera_ws/src/Kimera-VIO/params/RealSenseIR/flags/RegularVioBackend.flags --flagfile=/home/one/kimera_ws/src/Kimera-VIO/params/RealSenseIR/flags/Visualizer3D.flags --logtostderr=1 --colorlogtostderr=1 --log_prefix=1 --v=0 --log_output=false --log_euroc_gt_data=false --output_path=/home/one/kimera_ws/src/Kimera-VIO-ROS/output_logs/ --viz_type=0 --visualize=true /cam0/image_raw:=/camera/infra1/image_rect_raw /cam1/image_raw:=/camera/infra2/image_rect_raw /cam0/camera_info:=/camera/infra1/camera_info /cam1/camera_info:=/camera/infra2/camera_info /odom:=/kimera_vio_ros/odometry left_cam/image_raw:=/camera/infra1/image_rect_raw right_cam/image_raw:=/camera/infra2/image_rect_raw imu:=/camera/imu left_cam/camera_info:=/cam0/camera_info right_cam/camera_info:=/cam1/camera_info reinit_flag:=reinit_flag reinit_pose:=reinit_pose odometry:=odometry resiliency:=resiliency imu_bias:=imu_bias optimized_trajectory:=optimized_trajectory pose_graph:=pose_graph mesh:=mesh frontend_stats:=frontend_stats debug_mesh_img/image_raw:=debug_mesh_img/image_raw feature_tracks/image_raw:=feature_tracks/image_raw time_horizon_pointcloud:=time_horizon_pointcloud __name:=kimera_vio_ros_node __log:=/home/one/.ros/log/32d5f876-fc49-11eb-9c40-00044bcc20a6/kimera_vio_ros-kimera_vio_ros_node-8.log].
log file: /home/one/.ros/log/32d5f876-fc49-11eb-9c40-00044bcc20a6/kimera_vio_ros-kimera_vio_ros_node-8*.log
[ INFO] [1628870404.981856126]: global_costmap: Using plugin "inflation_layer"
[ INFO] [1628870405.204819454]: local_costmap: Using plugin "static_layer"
[ INFO] [1628870405.236222529]: Requesting the map...
[ INFO] [1628870405.253198367]: Resizing static layer to 590 X 355 at 0.020000 m/pix
[ INFO] [1628870405.352780230]: Received a 590 X 355 map at 0.020000 m/pix
[ INFO] [1628870405.374314856]: local_costmap: Using plugin "obstacle_layer"
[ INFO] [1628870405.405069715]: Subscribed to Topics: laser_scan_sensor point_cloud2_sensor
[ INFO] [1628870405.751810235]: Created local_planner teb_local_planner/TebLocalPlannerROS
[ INFO] [1628870406.277296121]: Footprint model 'polygon' loaded for trajectory optimization.
[ INFO] [1628870406.277751657]: Parallel planning in distinctive topologies enabled.
[ INFO] [1628870406.278011346]: No costmap conversion plugin specified. All occupied costmap cells are treaten as point obstacles.
[ INFO] [1628870407.336976238]: Recovery behavior will clear layer 'obstacle_layer'
[ INFO] [1628870409.621475027]: Resizing static layer to 590 X 360 at 0.020000 m/pix
[ INFO] [1628870409.622919367]: Resizing static layer to 590 X 360 at 0.020000 m/pix
[ INFO] [1628870415.884488605]: I0814 00:00:15.000000 24770 collated_trajectory_builder.cc:81] scan rate: 13.36 Hz 7.49e-02 s +/- 3.86e-03 s (pulsed at 100.01% real time)
[ INFO] [1628870429.621057489]: Resizing static layer to 593 X 360 at 0.020000 m/pix
[ INFO] [1628870429.623349123]: Resizing static layer to 593 X 360 at 0.020000 m/pix
[ INFO] [1628870430.936335893]: I0814 00:00:30.000000 24770 collated_trajectory_builder.cc:81] scan rate: 13.69 Hz 7.31e-02 s +/- 1.93e-03 s (pulsed at 100.00% real time)
[ INFO] [1628870434.621021967]: Resizing static layer to 593 X 363 at 0.020000 m/pix
[ INFO] [1628870434.622614856]: Resizing static layer to 593 X 363 at 0.020000 m/pix
[ INFO] [1628870440.131509876]: I0814 00:00:40.000000 24770 motion_filter.cc:42] Motion filter reduced the number of nodes to 1.6%.
Additional files: Please attach all the files needed to reproduce the error.
Please give also the following information:
- KimeraVIO branch, tag or commit used
- GTSAM version used:
- OpenGV version used:
- OpenCV version used: 4.1
- Operating system and version: Ubuntu 18.04, ROS Melodic
- Did you change the source code? (yes / no): no (changes in header files' directory when building)
