ethz_icp_mapper indigo process crashes at start

asked 2015-08-13 12:18:00 -0500

mark_vision gravatar image

updated 2015-08-13 12:21:18 -0500

Hi all, I have a 64-bit 14.04 ubuntu machine with Indigo and I'm trying to run the ethzasl_icp_mapper.

I installed libnabo and libpointmatcher through apt-get apt-get install ros-indigo-libnabo ros-indigo-libpointmatcher

and cloned the mapper from the github inside my workspace/src directory after checking out the ros-indigo-devel branch

When I run the mapper node with this:

<launch>
        <node name="mapper" type="dynamic_mapper" pkg="ethzasl_icp_mapper" output="screen" >
                <remap from="cloud_in" to="/velodyne_points" />
                <param name="publishMapTf" value="true"/>
                <param name="localizing" value="true" />
                <param name="mapping" value="true" />
                <param name="subscribe_scan" value="false" />
                <param name="subscribe_cloud" value="true"/>
                <param name="odom_frame" value="velodyne" />
                <param name="sensorFrame" value="velodyne" />
        </node>
</launch>

I get this:

process[mapper-1]: started with pid [2110]
[ INFO] [1439485951.560531237]: Found parameter: publishMapTf, value: 1
[ WARN] [1439485951.560926630]: Cannot find value for parameter: useConstMotionModel, assigning default: 0
[ INFO] [1439485951.561273153]: Found parameter: localizing, value: 1
[ INFO] [1439485951.561608129]: Found parameter: mapping, value: 1
[ WARN] [1439485951.561953279]: Cannot find value for parameter: minReadingPointCount, assigning default: 2000
[ WARN] [1439485951.562287749]: Cannot find value for parameter: minMapPointCount, assigning default: 500
[ WARN] [1439485951.562602075]: Cannot find value for parameter: inputQueueSize, assigning default: 10
[ WARN] [1439485951.562946792]: Cannot find value for parameter: minOverlap, assigning default: 0.5
[ WARN] [1439485951.563258585]: Cannot find value for parameter: maxOverlapToMerge, assigning default: 0.9
[ WARN] [1439485951.563595202]: Cannot find value for parameter: tfRefreshPeriod, assigning default: 0.01
[ INFO] [1439485951.563926047]: Found parameter: odom_frame, value: velodyne
[ WARN] [1439485951.564259931]: Cannot find value for parameter: map_frame, assigning default: map
[ WARN] [1439485951.564568321]: Cannot find value for parameter: vtkFinalMapName, assigning default: finalMap.vtk
[ WARN] [1439485951.564879331]: Cannot find value for parameter: mapElevation, assigning default: 0
[ WARN] [1439485951.565185855]: Cannot find value for parameter: priorStatic, assigning default: 0.5
[ WARN] [1439485951.565494321]: Cannot find value for parameter: priorDyn, assigning default: 0.5
[ WARN] [1439485951.565798346]: Cannot find value for parameter: maxAngle, assigning default: 0.02
[ WARN] [1439485951.566112966]: Cannot find value for parameter: eps_a, assigning default: 0.05
[ WARN] [1439485951.566416220]: Cannot find value for parameter: eps_d, assigning default: 0.02
[ WARN] [1439485951.566751667]: Cannot find value for parameter: alpha, assigning default: 0.99
[ WARN] [1439485951.567062746]: Cannot find value for parameter: beta, assigning default: 0.99
[ WARN] [1439485951.567373167]: Cannot find value for parameter: maxDyn, assigning default: 0.95
[ WARN] [1439485951.567685759]: Cannot find value for parameter: maxDistNewPoint, assigning default: 0.1
[ WARN] [1439485951.573046951]: Cannot find value for parameter: useROSLogger, assigning default: 0
[ INFO] [1439485951.573508854]: No ICP config file given, using default
[ WARN] [1439485951.573954867]: Cannot find value for parameter: useROSLogger, assigning default: 0
[ INFO] [1439485951.574278206]: No input filters config file given, not using these filters
[ INFO] [1439485951.574599869]: No map pre-filters config file given, not using these filters
[ INFO] [1439485951.575341836]: No map post-filters config file given, not using these filters
[ INFO] [1439485951.576112927]: Found parameter: subscribe_scan, value: 0
[ INFO] [1439485951.576889013]: Found parameter: subscribe_cloud, value: 1
received new map
Adding time
[ INFO] [1439485963.882785766, 1438359389.356661530]: Processing new point cloud
[ INFO] [1439485963.882900881, 1438359389.356661530]: Input ...
(more)
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