Comments (6)
Old maps, I'm removing those links in the new wiki update. Best solution is to build your own map from EuRoC. If you have everything compiled just source the workspace. And then run the launch file for the maplab node with rovio motion estimation roslaunch maplab_node euroc-maplab-node-w-rovioli.launch
.
And in parallel rosbag play one of the EuRoC bags from here.
After the bag is finished the map should save automatically to /tmp/euroc/
and you can continue with the maplab console part. If you want to change anything in the mapping process like the data source you can tinker with the launch files. Let me know if that works.
from maplab.
Hi, thanks for the reply. I tried doing this and the result was an empty /resources directory located in /tmp/euroc. It looks like the maplab node shut down prematurely due to no odometry data received. In the Rviz visualization, the only thing that happens when rosbag is played is the TF is updated. Here's a block of code from the terminal window right when the node shuts down. I tried running with MH_01_easy.bag as well as MH_02_easy.bag. For now I'm going to investigate the launch file to see if any topics aren't lining up.
I20230517 10:43:43.130059 4015 rovioli-app.cc:170]
Message delivery queues:
subscriber-node queue-topic queue-id num elements
DataPublisherFlow LOCALIZATION_RESULT ca9a..0000 0
RovioFlow LOCALIZATION_RESULT a3da..0000 0
DataPublisherFlow ROVIO_ESTIMATES dba0..0000 0
RovioFlow ODOMETRY_MEASUREMENTS dc94..0000 0
RovioFlow IMAGE_MEASUREMENTS 3b74..0000 0
RovioFlow IMU_MEASUREMENTS 1cb7..0000 0
-- Filter: Initializing using accel. measurement ...
-- Filter: Initialized at t = 1
W20230517 10:43:47.031739 4077 synchronizer.cc:949] [MaplabNode-Synchronizer] No odometry messages have been received in the last 5 seconds.
W20230517 10:43:47.031862 4077 synchronizer.cc:960] [MaplabNode-Synchronizer] Check if the topic is properly set in the sensor calibration file.
I20230517 10:43:51.785070 4052 synchronizer.cc:353] [MaplabNode-Synchronizer] Received first odometry message!
I20230517 10:43:53.131938 4015 rovioli-app.cc:170]
Message delivery queues:
subscriber-node queue-topic queue-id num elements
DataPublisherFlow LOCALIZATION_RESULT ca9a..0000 0
RovioFlow LOCALIZATION_RESULT a3da..0000 0
DataPublisherFlow ROVIO_ESTIMATES dba0..0000 0
RovioFlow ODOMETRY_MEASUREMENTS dc94..0000 0
RovioFlow IMAGE_MEASUREMENTS 3b74..0000 389
RovioFlow IMU_MEASUREMENTS 1cb7..0000 1944
I20230517 10:43:57.009605 4016 maplab-ros-node-app.cc:49]
Message delivery queues:
subscriber-node queue-topic queue-id num elements
FeatureTracking SYNCED_NFRAMES f98a..0000 0
DataPublisher RAW_VIMAP 918a..0000 0
MapBuilder SYNCED_LOOP_CLOSURE 408f..0000 0
MapBuilder SYNCED_WHEEL_ODOMETRY a1e1..0000 0
Synchronizer EXTERNAL_FEATURES ef5c..0000 0
DataPublisher MAP_UPDATES cd37..0000 0
DataPublisher ODOMETRY_ESTIMATES a7b7..0000 0
MapBuilder MAP_UPDATES 5b4b..0000 0
MapBuilder SYNCED_LIDAR_MEASUREMENTS b9de..0000 0
Synchronizer IMAGE_MEASUREMENTS 40b7..0000 0
MapBuilder SYNCED_POINTCLOUD_MAP 9f00..0000 0
MapBuilder SYNCED_ABSOLUTE_6DOF 2552..0000 0
MapBuilder TRACKED_NFRAMES e875..0000 0
MapBuilder SYNCED_EXTERNAL_FEATURES 1f3b..0000 0
Synchronizer ODOMETRY_ESTIMATES 11db..0000 0
Synchronizer IMU_MEASUREMENTS aae2..0000 0
I20230517 10:44:03.135663 4015 rovioli-app.cc:170]
Message delivery queues:
subscriber-node queue-topic queue-id num elements
DataPublisherFlow LOCALIZATION_RESULT ca9a..0000 0
RovioFlow LOCALIZATION_RESULT a3da..0000 0
DataPublisherFlow ROVIO_ESTIMATES dba0..0000 0
RovioFlow ODOMETRY_MEASUREMENTS dc94..0000 0
RovioFlow IMAGE_MEASUREMENTS 3b74..0000 784
RovioFlow IMU_MEASUREMENTS 1cb7..0000 3914
W20230517 10:44:12.033022 4077 synchronizer.cc:949] [MaplabNode-Synchronizer] No odometry messages have been received in the last 5 seconds.
W20230517 10:44:12.033246 4077 synchronizer.cc:954] [MaplabNode-Synchronizer] Either the data sources has stopped publishing odometry estimates or there has been a data drop. Triggering shutdown!
I20230517 10:44:13.009806 4016 maplab-ros-node.cc:199] [MaplabROSNode] Shutting down...
from maplab.
The topics seem fine. What seems to be the problem is that rovioli seems to diverge or have problems as it's just buffering a lot of data internally. You can see from these lines:
RovioFlow IMAGE_MEASUREMENTS 3b74..0000 784
RovioFlow IMU_MEASUREMENTS 1cb7..0000 3914
Are you running this on an extremely slow PC? Or playing the bag at a high speed? If you set this to true, you can visualize what ROVIO is doing
and let me know? I just quickly rechecked, on my machine the launch file works without problems (same build Ubuntu 20.04 / Noetic).from maplab.
Thanks for the suggestion. I was playing back the rosbag at the normal rate, and it was crashing before receiving its first odometry message. I had some luck playing the rosbag at 0.1x speed, with the console out confirming that the first odometry message had been received, but this didn't carry on as MaplabNode-Synchronizer quickly shutdown everything in the same manner after not receiving an odometry message for 5 seconds. There was a warning message related to the canberra-gtk-module failing to load after the first odometry message was received, perhaps that could be the cause?
Having the rovio frame visualization tracker enabled to see the first bits of progress was a nice touch. Fyi, after the MaplabNode-Synchronizer shut everything down, the tracker continued updating. I think this is expected behavior but wanted to share just in case.
Regarding my CPU, I am running Ubuntu 20.04 on a virtual machine. It is configured with 12GB of RAM and 8 cores. I ran the process with System Monitor in the background and neither the memory nor the CPUs seemed to be maxing out when the node shuts down, so I don't think its performance-related, but I could be wrong.
Which branch are you on? I am using the latest master branch.
Thank you for your help!
-- Filter: Initializing using accel. measurement ...
-- Filter: Initialized at t = 1
W20230520 04:19:03.086707 37877 synchronizer.cc:949] [MaplabNode-Synchronizer] No odometry messages have been received in the last 5 seconds.
W20230520 04:19:03.087311 37877 synchronizer.cc:960] [MaplabNode-Synchronizer] Check if the topic is properly set in the sensor calibration file.
Gtk-Message: 04:19:04.572: Failed to load module "canberra-gtk-module"
I20230520 04:19:04.665557 37852 synchronizer.cc:353] [MaplabNode-Synchronizer] Received first odometry message!
I20230520 04:19:06.377945 37817 rovioli-app.cc:170]
Message delivery queues:
subscriber-node queue-topic queue-id num elements
DataPublisherFlow ROVIO_ESTIMATES 154f..0000 0
RovioFlow LOCALIZATION_RESULT 5964..0000 0
DataPublisherFlow LOCALIZATION_RESULT 19a7..0000 0
RovioFlow IMAGE_MEASUREMENTS b49f..0000 23
RovioFlow ODOMETRY_MEASUREMENTS 3509..0000 0
RovioFlow IMU_MEASUREMENTS a0ff..0000 114
I20230520 04:19:13.100283 37818 maplab-ros-node-app.cc:49]
Message delivery queues:
subscriber-node queue-topic queue-id num elements
Synchronizer EXTERNAL_FEATURES 3dec..0000 0
DataPublisher MAP_UPDATES 0185..0000 0
DataPublisher RAW_VIMAP 1c1a..0000 0
DataPublisher ODOMETRY_ESTIMATES f264..0000 0
MapBuilder SYNCED_LIDAR_MEASUREMENTS 8b9c..0000 0
MapBuilder MAP_UPDATES d7f7..0000 0
Synchronizer IMAGE_MEASUREMENTS 5bec..0000 0
MapBuilder SYNCED_ABSOLUTE_6DOF d779..0000 0
MapBuilder SYNCED_WHEEL_ODOMETRY 8b68..0000 0
MapBuilder SYNCED_LOOP_CLOSURE 5f3a..0000 0
MapBuilder SYNCED_POINTCLOUD_MAP 3c95..0000 0
MapBuilder TRACKED_NFRAMES 2fc6..0000 0
FeatureTracking SYNCED_NFRAMES e7e6..0000 0
Synchronizer ODOMETRY_ESTIMATES ed6a..0000 0
MapBuilder SYNCED_EXTERNAL_FEATURES a79c..0000 0
Synchronizer IMU_MEASUREMENTS 9bba..0000 0
I20230520 04:19:16.380450 37817 rovioli-app.cc:170]
Message delivery queues:
subscriber-node queue-topic queue-id num elements
DataPublisherFlow ROVIO_ESTIMATES 154f..0000 0
RovioFlow LOCALIZATION_RESULT 5964..0000 0
DataPublisherFlow LOCALIZATION_RESULT 19a7..0000 0
RovioFlow IMAGE_MEASUREMENTS b49f..0000 58
RovioFlow ODOMETRY_MEASUREMENTS 3509..0000 0
RovioFlow IMU_MEASUREMENTS a0ff..0000 284
I20230520 04:19:26.382551 37817 rovioli-app.cc:170]
Message delivery queues:
subscriber-node queue-topic queue-id num elements
DataPublisherFlow ROVIO_ESTIMATES 154f..0000 0
RovioFlow LOCALIZATION_RESULT 5964..0000 0
DataPublisherFlow LOCALIZATION_RESULT 19a7..0000 0
RovioFlow IMAGE_MEASUREMENTS b49f..0000 89
RovioFlow ODOMETRY_MEASUREMENTS 3509..0000 0
RovioFlow IMU_MEASUREMENTS a0ff..0000 444
[buffer continues to build up, then...]
I20230520 04:20:06.389626 37817 rovioli-app.cc:170]
Message delivery queues:
subscriber-node queue-topic queue-id num elements
DataPublisherFlow ROVIO_ESTIMATES 154f..0000 0
RovioFlow LOCALIZATION_RESULT 5964..0000 0
DataPublisherFlow LOCALIZATION_RESULT 19a7..0000 0
RovioFlow IMAGE_MEASUREMENTS b49f..0000 215
RovioFlow ODOMETRY_MEASUREMENTS 3509..0000 0
RovioFlow IMU_MEASUREMENTS a0ff..0000 1074
W20230520 04:20:13.089650 37877 synchronizer.cc:949] [MaplabNode-Synchronizer] No odometry messages have been received in the last 5 seconds.
W20230520 04:20:13.089970 37877 synchronizer.cc:954] [MaplabNode-Synchronizer] Either the data sources has stopped publishing odometry estimates or there has been a data drop. Triggering shutdown!
I20230520 04:20:13.100267 37818 maplab-ros-node.cc:199] [MaplabROSNode] Shutting down...
from maplab.
So then the problem isn't in maplab per se, but more about your machine setup. Maplab shuts down automatically after a more than 5 second message interruption, that's normal. It seems rovioli, which is the odometry front end, is going very very slowly as it's just buffering stuff. That canberra-gtk-module failing error does not appear for me. Your virtual machine just seems to not be doing its job very well. If you need to run this on Windows can you just use WSL? I've had people running that without too many problems before.
from maplab.
Ok, good to know. I will try using a different configuration, and report back if it works. Thanks!
from maplab.
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from maplab.