你好，非常感谢你们的分享，我在Run an online demo遇到了这个问题，可以请你看看应该怎么办吗？ 我是这样操作的： 新建终端，source devel_isolated/setup.bash，然后roslaunch dlio demo_dlio_tongji.launch bag_filename:=/home/xwcd/Dataset/D-LIOM/TJ-2.bag 终端显示了如下信息： ... logging to /home/xwcd/.ros/log/17d6f370-0997-11ed-ba16-b0416f0553d8/roslaunch-xwcd-9099.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://xwcd:45417/

SUMMARY

PARAMETERS

• /robot_description: <robot name="TONG...
• /rosdistro: melodic
• /rosversion: 1.14.13
• /use_sim_time: True

NODES / cartographer_node (cartographer_ros/cartographer_node) cartographer_occupancy_grid_node (cartographer_ros/cartographer_occupancy_grid_node) playbag (rosbag/play) robot_state_publisher (robot_state_publisher/robot_state_publisher) rviz (rviz/rviz)

auto-starting new master process[master]: started with pid [9117] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 17d6f370-0997-11ed-ba16-b0416f0553d8 process[rosout-1]: started with pid [9135] started core service [/rosout] process[robot_state_publisher-2]: started with pid [9138] process[cartographer_node-3]: started with pid [9139] process[playbag-4]: started with pid [9140] process[cartographer_occupancy_grid_node-5]: started with pid [9141] process[rviz-6]: started with pid [9142] [ INFO] [1658478007.163407526]: I0722 16:20:07.000000 9139 configuration_file_resolver.cc:41] Found '/home/xwcd/Project/D-LIOM-master/src/dlio/config/tongji.lua' for 'tongji.lua'. [ INFO] [1658478007.164334948]: I0722 16:20:07.000000 9139 configuration_file_resolver.cc:41] Found '/home/xwcd/Project/D-LIOM-master/src/dlio/config/basic_config_3d.lua' for 'basic_config_3d.lua'. [ INFO] [1658478007.164363531]: I0722 16:20:07.000000 9139 configuration_file_resolver.cc:41] Found '/home/xwcd/Project/D-LIOM-master/src/dlio/config/basic_config_3d.lua' for 'basic_config_3d.lua'. [ INFO] [1658478007.165019573]: I0722 16:20:07.000000 9139 configuration_file_resolver.cc:41] Found '/home/xwcd/Project/D-LIOM-master/devel_isolated/cartographer/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'. [ INFO] [1658478007.165099847]: I0722 16:20:07.000000 9139 configuration_file_resolver.cc:41] Found '/home/xwcd/Project/D-LIOM-master/devel_isolated/cartographer/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'. [ INFO] [1658478007.165334917]: I0722 16:20:07.000000 9139 configuration_file_resolver.cc:41] Found '/home/xwcd/Project/D-LIOM-master/devel_isolated/cartographer/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'. [ INFO] [1658478007.165385219]: I0722 16:20:07.000000 9139 configuration_file_resolver.cc:41] Found '/home/xwcd/Project/D-LIOM-master/devel_isolated/cartographer/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'. [ INFO] [1658478007.165673538]: I0722 16:20:07.000000 9139 configuration_file_resolver.cc:41] Found '/home/xwcd/Project/D-LIOM-master/devel_isolated/cartographer/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'. [ INFO] [1658478007.165721010]: I0722 16:20:07.000000 9139 configuration_file_resolver.cc:41] Found '/home/xwcd/Project/D-LIOM-master/devel_isolated/cartographer/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'. [ INFO] [1658478007.165871252]: I0722 16:20:07.000000 9139 configuration_file_resolver.cc:41] Found '/home/xwcd/Project/D-LIOM-master/devel_isolated/cartographer/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'. [ INFO] [1658478007.165955588]: I0722 16:20:07.000000 9139 configuration_file_resolver.cc:41] Found '/home/xwcd/Project/D-LIOM-master/devel_isolated/cartographer/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'. [ INFO] [1658478007.166161172]: I0722 16:20:07.000000 9139 configuration_file_resolver.cc:41] Found '/home/xwcd/Project/D-LIOM-master/devel_isolated/cartographer/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'. [ INFO] [1658478007.166206889]: I0722 16:20:07.000000 9139 configuration_file_resolver.cc:41] Found '/home/xwcd/Project/D-LIOM-master/devel_isolated/cartographer/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'. [ INFO] [1658478007.193933971]: I0722 16:20:07.000000 9139 submap_3d.cc:325] Added submap 1 [cartographer_node-3] process has died [pid 9139, exit code -11, cmd /home/xwcd/Project/D-LIOM-master/devel_isolated/cartographer_ros/lib/cartographer_ros/cartographer_node -configuration_directory /home/xwcd/Project/D-LIOM-master/src/dlio/config -configuration_basename tongji.lua imu:=/zed2/zed_node/imu/data points2:=/rslidar_points __name:=cartographer_node __log:=/home/xwcd/.ros/log/17d6f370-0997-11ed-ba16-b0416f0553d8/cartographer_node-3.log]. log file: /home/xwcd/.ros/log/17d6f370-0997-11ed-ba16-b0416f0553d8/cartographer_node-3*.log

@kayousolar 一般程序崩掉问题出在pcl和gtsam版本不对应上，我的版本分别为1.8和4.0.2，你先确认下是不是一致

你好，我确认了pcl和gtsam的版本，分别是1.8和4.0.2。pcl是ubuntu18.04自带的，gtsam是从github下载源码安装的。

@kayousolar 你好，程序崩溃应该是跟编译指令导致的Eigen内存对齐有关，解决办法是在编译GTSAM和PCL时禁掉-march=native选项，具体可见README里面关于依赖部分的说明。