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ethz-asl
cann't save the map in VIO mode
when I want to build a map from MH_01_easy.bag in VIO mode , it can run well but there is nothing in the save_folder. I start two terminals, one for roscore, one for runing the dataset,
rosrun rovioli tutorial_euroc /home/liuzhen/test/maplab_test/ /home/liuzhen/test/maplab_test/MH_01_easy.bag
when the bag is over , it shows some messages in the terminal as follow,
W0328 10:24:36.171046 9697 imu-camera-synchronizer.cc:103] No IMU messages have been received in the last 5 seconds. Check for measurement drops or if the topic is properly set in the maplab IMU configuration file
and ctrl+C cann't stop it, so I have to close the window which shows the picture in the MH_01_easy.bag, but I open the save_folder, there is just a folder named _0, and the sub_folder is named resources, but there is nothing in them.
Hi @wendaoyuchen Sounds like the end-of-rosbag signal doesn't shutdown ROVIO properly and therefore fails to trigger the saving of the map. Could you provide some additional information?
- increase the verbosity level (--v=3) and check if you missed some event happening at the end of the rosbag.
- run ROVIOLI in live mode, i.e. play the rosbag + run ROVIOLI
- please provide us with some relevant information about your system (see the issue checklist)
Thanks for your reply, @mfehr
1.you mean that increasing the verbosity level(--v=3) is like that:
roscore& rosrun rovioli tutorial_euroc /home/liuzhen/test/maplab_test/ /home/liuzhen/test/maplab_test/MH_01_easy.bag --v=3
2. I used the "Building a map from a rostopic"mode, too. Is that ROVIOLI live mode? But it didn't work.
3.I try ctrl+, it can stop it, but there is nothing in the folder.the output is as follow,
^\/home/liuzhen/maplab_ws/src/maplab/applications/rovioli/scripts/tutorials/tutorial_euroc: line 22: 9538 Quit (core dumped) rosrun rovioli rovioli --alsologtostderr=1 --v=2 --ncamera_calibration=$NCAMERA_CALIBRATION --imu_parameters_maplab=$IMU_PARAMETERS_MAPLAB --imu_parameters_rovio=$IMU_PARAMETERS_ROVIO --datasource_type="rosbag" --save_map_folder="$LOCALIZATION_MAP_OUTPUT" --optimize_map_to_localization_map=false --map_builder_save_image_as_resources=false --datasource_rosbag=$ROSBAG $REST
[2] Exit 1 roscore
[3]+ Exit 1 roscore
Thanks or your help, I guess the ctrl+c cann't be captured by the project, but I don't know why. I run it in the Ubuntu 16.04 LTS x64.
- This should work, but if you want to be sure, just add it to the flags inside the script. Could you start roscore in a separate window? Maybe Ctrl-C is intercepted by the roscore and not ROVIOLI.
- That's the one, yes. What is the behavior there? In live mode ROVIOLI will save the map as soon as you abort the estimator with Ctr-C.
- We do capture ctrl-c using the ROS API, but maybe there is sth about your ros distro/setup that doesn't do that. What ROS version do you have?
Could you upload your console output (with increased verbosity) somewhere and share it with us?
Thanks for your reply! My ROS version is Kinetic,
1.I tried some methods to run it, strt roscore in another terminal, change the save_folder, change the dataset,change the verbosity level, but all of them didn't work.
2.I open three terminals to run it, one for roscore, the input is just roscore, then I input
rosrun rovioli tutorial_euroc_live /home/liuzhen/test/maplab_test/ --v=3
in the second terminal, the output in the window is shown as follow,
liuzhen@liuzhen:~$ rosrun rovioli tutorial_euroc_live /home/liuzhen/test/maplab_test/ --v=3
I0329 10:16:00.235033 16398 rovio-factory.cc:169] Loading ROVIO configuration template: /home/liuzhen/maplab_ws/src/maplab/applications/rovioli/share//rovio_default_config.info
Set distortion parameters (Radtan) to: k1(-0.283408), k2(0.0739591), k3(0), p1(0.000193595), p2(1.76187e-05)
Registered filter state update callback.
I0329 10:16:00.419657 16398 map-builder-flow.cc:31] Set VIMap folder to: /home/liuzhen/test/maplab_test/_4
I0329 10:16:00.451215 16398 rovioli-node.cc:105] Starting data source...
I0329 10:16:00.451288 16398 rovioli-app.cc:136]
Message delivery queues:
subscriber-node queue-topic queue-id num elements
MapBuilderFlow LOCALIZATION_RESULT 142d..0000 0
MapBuilderFlow ROVIO_ESTIMATES 8928..0000 0
DataPublisherFlow ROVIO_ESTIMATES ed3d..0000 0
ImuCameraSynchronizerFlow IMAGE_MEASUREMENTS 13f3..0000 0
MapBuilderFlow TRACKED_NFRAMES_AND_IMU 4023..0000 0
DataPublisherFlow VIO_UPDATES 994a..0000 0
RovioFlow LOCALIZATION_RESULT 2375..0000 0
RovioFlow IMU_MEASUREMENTS 623e..0000 0
DataPublisherFlow LOCALIZATION_RESULT 2d39..0000 0
MapBuilderFlow VIO_UPDATES f316..0000 0
ImuCameraSynchronizerFlow IMU_MEASUREMENTS 1cf8..0000 0
FeatureTrackingFlow SYNCED_NFRAMES_AND_IMU 2e5d..0000 0
DataPublisherFlow RAW_VIMAP 9c28..0000 0
RovioFlow IMAGE_MEASUREMENTS 4966..0000 0
FeatureTrackingFlow ROVIO_ESTIMATES 916e..0000 0
SyncedNFrameThrottlerFlow TRACKED_NFRAMES_AND_IMU a891..0000 0
And the input in the last terminal is
rosbag play test/maplab_test/MH_02_easy.bag
and when it run over, the third wondow will stop automatically.
the second window will output
^CI0329 10:12:44.652045 11421 rovioli-node.cc:110] Closing data source...
I0329 10:12:44.652140 11421 map-builder-flow.cc:111] Initializing landmarks of created map.
I0329 10:12:45.142377 11421 landmark-triangulation.cc:248] Getting vertices of mission: dda7..0000
I0329 10:12:45.145512 11421 landmark-triangulation.cc:253] Retriangulating landmarks of 1516 vertices.
and then it will repeat to output
W0329 10:21:15.383613 16424 imu-camera-synchronizer.cc:103] No IMU messages have been received in the last 5 seconds. Check for measurement drops or if the topic is properly set in the maplab IMU configuration file
here ctrl+C doesn't work, I have to input ctrl+\ to interrupt it, and the output is
^\/home/liuzhen/maplab_ws/src/maplab/applications/rovioli/scripts/tutorials/tutorial_euroc_live: line 20: 16398 Quit (core dumped) rosrun rovioli rovioli --alsologtostderr=1 --v=2 --ncamera_calibration=$NCAMERA_CALIBRATION --imu_parameters_maplab=$IMU_PARAMETERS_MAPLAB --imu_parameters_rovio=$IMU_PARAMETERS_ROVIO --datasource_type="rostopic" --save_map_folder="$LOCALIZATION_MAP_OUTPUT" --map_builder_save_image_as_resources=false --optimize_map_to_localization_map=false $REST
so I am confused about it, Is that neccessary to modify the code?Or I should try maplab in another computer?
Can you try running rovioli with --num_hardware_threads=1 to get rid of the multithreading?
If
I0329 10:12:45.145512 11421 landmark-triangulation.cc:253] Retriangulating landmarks of 1516 vertices.
is really the last message you get before it keeps repeating the "No IMU" message, then it got stuck in retriangulating the landmarks or saving the map. Both are using this common::ParallelProcess function for multithreading. It is most likely a bug.
- If the flag fixes your problem then it's likely a multithreading bug that seems to thrive in your setup. To the best of my knowledge we haven't seen this one in any of our machines here. This might make it very difficult to help you.
- Other things you can try yourself first:
- simply write some log output here to be able to tell if it's retriangulation or map saving that acts up
- compile in Debug or RelWithDebugInfo mode and use gdb (and provide us with the backtrace). I copied and adapted a wiki page from our internal wiki here with some hints on how to run the debugger: Compilation and Debugging
- different machine or VM with a (fresh) Ubuntu LTS.
Hi, recently I try to figure out this problem. I set serval output to find where is the problem.
And this common::ParallelProcess in parallel-process.h is stuck in this loop
CHECK_EQ(threads.size(), blocks.size());
for (size_t block_idx = 0; block_idx < blocks.size(); ++block_idx) {
threads[block_idx].join();
}
I set some output like this
std::cerr <<"ParallelProcess: here is OK3"<<std::endl;
CHECK_EQ(threads.size(), blocks.size());
for (size_t block_idx = 0; block_idx < blocks.size(); ++block_idx) {
threads[block_idx].join();
}
std::cerr <<"ParallelProcess: here is OK4"<<std::endl;
and the terminal output is shown as
ParallelProcess: here is OK3
W0719 10:37:55.983767 3854 imu-camera-synchronizer.cc:103] No IMU messages have been received in the last 5 seconds. Check for measurement drops or if the topic is properly set in the maplab IMU configuration file
W0719 10:37:55.983892 3854 imu-camera-synchronizer.cc:111] No camera messages have been received in the last 5 seconds. Check for measurement drops or if the topic is properly set in the camera configuration file
`
Can you give some suggestion to solve it?
ps: I don't know how to use gdb to debug it,if gdb is neccessary, I will try it.
I add some additional output like below:
std::cerr <<"ParallelProcess: here is OK3"<<std::endl;
CHECK_EQ(threads.size(), blocks.size());
std::cerr <<"ParallelProcess: thread size is "<<threads.size()<<std::endl;
std::cerr <<"ParallelProcess: blocks size is "<<blocks.size()<<std::endl;
for (size_t block_idx = 0; block_idx < blocks.size(); ++block_idx) {
std::cerr <<"block_idx is "<<block_idx<<std::endl;
threads[block_idx].join();
}
std::cerr <<"ParallelProcess: here is OK4"<<std::endl;
and the output in terminal is
ParallelProcess: here is OK3
ParallelProcess: thread size is 8
ParallelProcess: blocks size is 8
block_idx is 0
just now I make maplab on my laptop, and it can save the map,,,I'll try recompile maplab on this machine.