Help for Mid 360 config

[tdcsu]

Hi, thanks for your great work! Recently I tested this work, it works well and fast on the provided dataset of the livox avia, but when I try to test the D-map on the mid 360, here comes the error:

started roslaunch server http://XX:39983/

SUMMARY
========

PARAMETERS
 * /DMap/FOV_depth: 40.0
 * /DMap/FOV_phi_range: [-180, 180]
 * /DMap/FOV_shape: 1
 * /DMap/FOV_theta_range: [-7, 52]
 * /DMap/depthmap_accuracy: 1.0
 * /DMap/environment: [-25.0, -15.0, 0....
 * /DMap/fixed_frame: world
 * /DMap/full_ratio: 0.9
 * /DMap/lidar_topic: /registered_point...
 * /DMap/log_map: True
 * /DMap/log_name: dmap_test
 * /DMap/map_res_init: 5.0
 * /DMap/map_res_min: 0.1
 * /DMap/odom_topic: /odom_gt
 * /DMap/odom_topic_type: odometry
 * /DMap/point_frame: mid_360
 * /DMap/print_en: False
 * /DMap/sensor_res_hor: [0.1]
 * /DMap/sensor_res_vert: [0.2]
 * /DMap/sliding_en: False
 * /DMap/sliding_thres: 20.0
 * /DMap/vis_en: True
 * /rosdistro: noetic
 * /rosversion: 1.17.4

NODES
  /
    DMap (dmap/example)
    rviz (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[rviz-1]: started with pid [51250]
process[DMap-2]: started with pid [51251]
[DemapConfig] Load param: DMap/FOV_shape = 1
[DemapConfig] Load param: DMap/FOV_theta_range = [-7, 52]
[DemapConfig] Load param: DMap/FOV_phi_range = [-180, 180]
[DemapConfig] Load param: DMap/sensor_res_hor = [0.1]
[DemapConfig] Load param: DMap/sensor_res_vert = [0.2]
[DemapConfig] Load param: DMap/FOV_depth = 40
[DemapConfig] Load param: DMap/map_res_min = 0.1
[DemapConfig] Load param: DMap/map_res_init = 5
[DemapConfig] Load param: DMap/full_ratio = 0.9
[DemapConfig] Load param: DMap/depthmap_accuracy = 1
[DemapConfig] Load param: DMap/environment = [-25, -15, 0, 17, 25, 8]
[DemapConfig] Load param: DMap/print_en = false
[DemapConfig] Load param: DMap/log_name = dmap_test
[DemapConfig] Load param: DMap/sliding_en = false
[DemapConfig] Load param: DMap/sliding_thres = 20
Relaxed Factor: 1.000
[Depth Map] Resolution: [0.200](deg) x [0.143](deg)
[Depth Map] Size: 1800 x 412
[octree_map] Set Resolution: 0.100000
Bounding Box: (-25.000,17.000), (-15.000,25.000), (0.000,8.000)
Initial Len: 6.400, Octree size: 1
[Node] Saving Map ...
[DMap-2] process has died [pid 51251, exit code -11, cmd /home/td/D_MAP/devel/lib/dmap/example __name:=DMap __log:=/home/td/.ros/log/0a228df6-9d38-11f0-954a-cba572602182/DMap-2.log].
log file: /home/td/.ros/log/0a228df6-9d38-11f0-954a-cba572602182/DMap-2*.log

and the content of my config file is:

FOV_shape: 1            # 0: normal FoV Shape (e.g., spinning lidars), 1: Corn Shape (Non-repetitive Scan)
FOV_theta_range: [-7,52]         # Unit: deg
FOV_phi_range: [-180,180]           # Unit: deg
FOV_depth: 40.0        # Unit: meter
sensor_res_hor:  [0.1]     # Unit: deg
sensor_res_vert: [0.2]    # Unit: deg
environment: [-25.0,-15.0,0.0,17.0,25.0,8.0]    # Unit: meter

point_frame: "mid_360"       
lidar_topic: "/registered_point_cloud"
odom_topic: "/odom_gt"
odom_topic_type: "odometry"
fixed_frame: "world"

What can I do ? Could you please provide some suggestions? @Ecstasy-EC Best wishes !!!

[Ecstasy-EC]

Hi @tdcsu It seems that the map did not receive lidar points or odometry, so it went directly into saving maps. The error code might come from a wrong setting in the directory for saving map.