How do I stop and save the recorded data when I Running ROVIOLI in VIO mode ???

[linhuixiao]

Question: How do I stop and save the recorded data when I Running ROVIOLI in VIO mode ???

My question is simple:

My maplab is run well, and My question is when I Running ROVIOLI in VIO mode follow https://github.com/ethz-asl/maplab/wiki/Running-ROVIOLI-in-VIO-mode,

when I use rosbag model, after run the MH_01.bag, it have save the map in the aim path, but when I use the rostopic model to run the rosbag and run the realsense ZR300 , after the terminal0 was stop, the terminal2 always shows " No IMU messages ", " No camera messages ". And the aim path just have a empty file folder named "source", the two terminal 2 can't stop and can't save the map in the aim path.

SO, My question is :

1. When I Running ROVIOLI in VIO mode , How do I save the record data of terminal 2 ?
2. When I Running ROVIOLI in VIO mode , How do I stop terminal 2 instead of ctrl + C ?

What should I do? which did I wrong? very thank you!

my command is:

<1> ###from a rostopic:

#terminal0: roscore& #termina1： rosbag play /home/turtle/DataSet/EuRoC_datasets/Rosbag/MH_01_easy.bag #terminal2: source ~/maplab_ws/devel/setup.bash rosrun rovioli tutorial_euroc_live /home/turtle/maplab_ws/output/

<2> ###from realsense ZR300:

#terminal1： source ~/maplab_ws/devel/setup.bash sudo modprobe uvcvideo roslaunch maplab_realsense maplab_realsense.launch #terminal2: source ~/maplab_ws/devel/setup.bash rosrun rovioli tutorial_realsense_live /home/turtle/maplab_ws/output

System: - i5-3210, GT635, 4 core, lenovo M490 - Operating System: 64bit, 16.04 - Eigen: 3.2 - ROS: kinetic

[mfehr]

@linhuincu the proper way to abort ROVIOLI in live mode is Ctrl+C, we are catching this signal and storing the map. If this doesn't work we would need some console output of ROVIOLI to help you. Could you post it here, or upload it somewhere for us to see?

[mfehr]

Related issue https://github.com/ethz-asl/maplab/issues/58 (?)