rpng
use `run_bag` but very slow
When I ran the rosbag.launch, the program runs very slow, it seems to run in real time.
Did I set some parameters wrong?
I just use camera and imu, set msckf points to 40, and slam points to 50
Hello author, I also encountered a similar problem as you. When I ran roslaunch mins simulation.launch cam_enabled:=true lidar_enabled:=true, the following problems occurred: ========Final Status======== Total procesing time: 21s Total traveling time: 48s
RMSE average: 0.257, 0.117 (deg,m) NEES average: 7.133, 2.380 (deg,m) simulation: /usr/include/boost/thread/pthread/recursive_mutex.hpp:108: void boost::recursive_mutex::lock(): Assertion `!posix::pthread_mutex_lock(&m)' failed. ================================================================================REQUIRED process [mins_simulation0-2] has died! process has died [pid 1327580, exit code -6, cmd /home/ubantu/catkin_ws/devel/lib/mins/simulation __name:=mins_simulation0 __log:=/home/ubantu/.ros/log/d0e201e6-885e-11ef-8f8b-41555d88daad/mins_simulation0-2.log]. log file: /home/ubantu/.ros/log/d0e201e6-885e-11ef-8f8b-41555d88daad/mins_simulation0-2*.log Initiating shutdown! [mins_simulation0-2] killing on exit [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done I wonder if the author can give some suggestions，thanks
When I ran the
rosbag.launch, the program runs very slow, it seems to run in real time. Did I set some parameters wrong? I just use camera and imu, set msckf points to 40, and slam points to 50
Hi, @WZG3661 . I do not think your configuration (50 slam, 40 msckf) can slow down the process unless it is on an embedded device. Could you provide more information about your configuration and platform?
Hello author, I also encountered a similar problem as you. When I ran roslaunch mins simulation.launch cam_enabled:=true lidar_enabled:=true, the following problems occurred: ========Final Status======== Total procesing time: 21s Total traveling time: 48s
RMSE average: 0.257, 0.117 (deg,m) NEES average: 7.133, 2.380 (deg,m) simulation: /usr/include/boost/thread/pthread/recursive_mutex.hpp:108: void boost::recursive_mutex::lock(): Assertion `!posix::pthread_mutex_lock(&m)' failed. ================================================================================REQUIRED process [mins_simulation0-2] has died! process has died [pid 1327580, exit code -6, cmd /home/ubantu/catkin_ws/devel/lib/mins/simulation __name:=mins_simulation0 __log:=/home/ubantu/.ros/log/d0e201e6-885e-11ef-8f8b-41555d88daad/mins_simulation0-2.log]. log file: /home/ubantu/.ros/log/d0e201e6-885e-11ef-8f8b-41555d88daad/mins_simulation0-2*.log Initiating shutdown! [mins_simulation0-2] killing on exit [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done I wonder if the author can give some suggestions，thanks
https://github.com/rpng/MINS/issues/31#issuecomment-2412902648