imupreintegration process dies while trying to run campus datasets

[jeeveshreddy]

Hi @TixiaoShan

I have followed the readme to make the necessary changes in the config (params) file to run the campus (small or large) datasets. The problem is, as soon as I run the campus bag file the imupreintegartion process is getting died with the errors (refer screenshot-1) and the still pointcloud mapping Is fine (refer screenshot-3) but tf data visualization being stopped on the rviz (refer screenshot-2) but this is not the case with other datasets i.e walking, park, the imupreintegration runs fine without issues.

I have tried using gtsam 4.0 & 4.1 versions but causing the same issue. Gone through all other issues but couldn't find the exact problem which I am facing so thought of opening a new issue. Please suggest a way to fix it.

Machine Configuration, Ubuntu - 20.04 ROS2 - Foxy Gtsam - 4.2

Thanks Jeevesh

[grischi]

Hi @jeeveshreddy, sorry for the late answer, can you provide a backtrace of the imuPreintegration node?

[jeeveshreddy]

@grischi, sorry for the delay in replying. Here is the Backtrace of the imuPreintegration node.