hku-mars/LTAOM

你好，求助，修改代码后可以运行了，但是报错[sample_nodelet_manager-1] process has died

Opened this issue · 9 comments

lonlonago commented

Failed to find match for field 't'.
Failed to find match for field 't'.
[ mapping ]: time: IMU + Map + Input Downsample: 0.005314 ave match: 0.016717 ave solve: 0.002462 ave ICP: 0.017212 map incre: 0.006545 ave total: 0.027436 icp: 0.019285 construct H: 0.000553
[ mapping ]: time: IMU + Map + Input Downsample: 0.001994 ave match: 0.016688 ave solve: 0.002457 ave ICP: 0.015589 map incre: 0.003411 ave total: 0.027377 icp: 0.019250 construct H: 0.000551
Failed to find match for field 't'.
Failed to find match for field 't'.
[ mapping ]: time: IMU + Map + Input Downsample: 0.005657 ave match: 0.016681 ave solve: 0.002452 ave ICP: 0.018055 map incre: 0.005604 ave total: 0.027395 icp: 0.019238 construct H: 0.000550
Failed to find match for field 't'.
[ mapping ]: time: IMU + Map + Input Downsample: 0.005730 ave match: 0.016670 ave solve: 0.002447 ave ICP: 0.017545 map incre: 0.006912 ave total: 0.027420 icp: 0.019222 construct H: 0.000549

Key Frame:0, cloud size:300113
[ mapping ]: time: IMU + Map + Input Downsample: 0.000968 ave match: 0.016658 ave solve: 0.002442 ave ICP: 0.017438 map incre: 0.003691 ave total: 0.027373 icp: 0.019204 construct H: 0.000548
/opt/ros/melodic/lib/nodelet/nodelet: symbol lookup error: /home/lan/Documents/latom/devel/lib/libloop_detection.so: undefined symbol: _ZN3tbb10interface78internal20isolate_within_arenaERNS1_13delegate_baseEl
[sample_nodelet_manager-1] process has died [pid 31080, exit code 127, cmd /opt/ros/melodic/lib/nodelet/nodelet manager __name:=sample_nodelet_manager __log:=/home/lan/.ros/log/29127d40-29ec-11ef-aca1-9cda3e61bec6/sample_nodelet_manager-1.log].
log file: /home/lan/.ros/log/29127d40-29ec-11ef-aca1-9cda3e61bec6/sample_nodelet_manager-1*.log
[ INFO] [1718330916.081146908]: Bond broken, exiting
[ INFO] [1718330916.242622428]: Bond broken, exiting
[loop_detection_plugin_loader-3] process has finished cleanly
log file: /home/lan/.ros/log/29127d40-29ec-11ef-aca1-9cda3e61bec6/loop_detection_plugin_loader-3*.log
[fastlio_plugin_loader-2] process has finished cleanly
log file: /home/lan/.ros/log/29127d40-29ec-11ef-aca1-9cda3e61bec6/fastlio_plugin_loader-2*.log
^C[rviz-4] killing on exit
shutting down processing monitor...
... shutting down processing monitor completeFailed to find match for field 't'.
Failed to find match for field 't'.
[ mapping ]: time: IMU + Map + Input Downsample: 0.005314 ave match: 0.016717 ave solve: 0.002462 ave ICP: 0.017212 map incre: 0.006545 ave total: 0.027436 icp: 0.019285 construct H: 0.000553
[ mapping ]: time: IMU + Map + Input Downsample: 0.001994 ave match: 0.016688 ave solve: 0.002457 ave ICP: 0.015589 map incre: 0.003411 ave total: 0.027377 icp: 0.019250 construct H: 0.000551
Failed to find match for field 't'.
Failed to find match for field 't'.
[ mapping ]: time: IMU + Map + Input Downsample: 0.005657 ave match: 0.016681 ave solve: 0.002452 ave ICP: 0.018055 map incre: 0.005604 ave total: 0.027395 icp: 0.019238 construct H: 0.000550
Failed to find match for field 't'.
[ mapping ]: time: IMU + Map + Input Downsample: 0.005730 ave match: 0.016670 ave solve: 0.002447 ave ICP: 0.017545 map incre: 0.006912 ave total: 0.027420 icp: 0.019222 construct H: 0.000549

Key Frame:0, cloud size:300113
[ mapping ]: time: IMU + Map + Input Downsample: 0.000968 ave match: 0.016658 ave solve: 0.002442 ave ICP: 0.017438 map incre: 0.003691 ave total: 0.027373 icp: 0.019204 construct H: 0.000548
/opt/ros/melodic/lib/nodelet/nodelet: symbol lookup error: /home/lan/Documents/latom/devel/lib/libloop_detection.so: undefined symbol: _ZN3tbb10interface78internal20isolate_within_arenaERNS1_13delegate_baseEl
[sample_nodelet_manager-1] process has died [pid 31080, exit code 127, cmd /opt/ros/melodic/lib/nodelet/nodelet manager __name:=sample_nodelet_manager __log:=/home/lan/.ros/log/29127d40-29ec-11ef-aca1-9cda3e61bec6/sample_nodelet_manager-1.log].
log file: /home/lan/.ros/log/29127d40-29ec-11ef-aca1-9cda3e61bec6/sample_nodelet_manager-1*.log
[ INFO] [1718330916.081146908]: Bond broken, exiting
[ INFO] [1718330916.242622428]: Bond broken, exiting
[loop_detection_plugin_loader-3] process has finished cleanly
log file: /home/lan/.ros/log/29127d40-29ec-11ef-aca1-9cda3e61bec6/loop_detection_plugin_loader-3*.log
[fastlio_plugin_loader-2] process has finished cleanly
log file: /home/lan/.ros/log/29127d40-29ec-11ef-aca1-9cda3e61bec6/fastlio_plugin_loader-2*.log
^C[rviz-4] killing on exit
shutting down processing monitor...
... shutting down processing monitor completeFailed to find match for field 't'.
Failed to find match for field 't'.
[ mapping ]: time: IMU + Map + Input Downsample: 0.005314 ave match: 0.016717 ave solve: 0.002462 ave ICP: 0.017212 map incre: 0.006545 ave total: 0.027436 icp: 0.019285 construct H: 0.000553
[ mapping ]: time: IMU + Map + Input Downsample: 0.001994 ave match: 0.016688 ave solve: 0.002457 ave ICP: 0.015589 map incre: 0.003411 ave total: 0.027377 icp: 0.019250 construct H: 0.000551
Failed to find match for field 't'.
Failed to find match for field 't'.
[ mapping ]: time: IMU + Map + Input Downsample: 0.005657 ave match: 0.016681 ave solve: 0.002452 ave ICP: 0.018055 map incre: 0.005604 ave total: 0.027395 icp: 0.019238 construct H: 0.000550
Failed to find match for field 't'.
[ mapping ]: time: IMU + Map + Input Downsample: 0.005730 ave match: 0.016670 ave solve: 0.002447 ave ICP: 0.017545 map incre: 0.006912 ave total: 0.027420 icp: 0.019222 construct H: 0.000549

Key Frame:0, cloud size:300113
[ mapping ]: time: IMU + Map + Input Downsample: 0.000968 ave match: 0.016658 ave solve: 0.002442 ave ICP: 0.017438 map incre: 0.003691 ave total: 0.027373 icp: 0.019204 construct H: 0.000548
/opt/ros/melodic/lib/nodelet/nodelet: symbol lookup error: /home/lan/Documents/latom/devel/lib/libloop_detection.so: undefined symbol: _ZN3tbb10interface78internal20isolate_within_arenaERNS1_13delegate_baseEl
[sample_nodelet_manager-1] process has died [pid 31080, exit code 127, cmd /opt/ros/melodic/lib/nodelet/nodelet manager __name:=sample_nodelet_manager __log:=/home/lan/.ros/log/29127d40-29ec-11ef-aca1-9cda3e61bec6/sample_nodelet_manager-1.log].
log file: /home/lan/.ros/log/29127d40-29ec-11ef-aca1-9cda3e61bec6/sample_nodelet_manager-1*.log
[ INFO] [1718330916.081146908]: Bond broken, exiting
[ INFO] [1718330916.242622428]: Bond broken, exiting
[loop_detection_plugin_loader-3] process has finished cleanly
log file: /home/lan/.ros/log/29127d40-29ec-11ef-aca1-9cda3e61bec6/loop_detection_plugin_loader-3*.log
[fastlio_plugin_loader-2] process has finished cleanly
log file: /home/lan/.ros/log/29127d40-29ec-11ef-aca1-9cda3e61bec6/fastlio_plugin_loader-2*.log
^C[rviz-4] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete

lonlonago commented

/opt/ros/melodic/lib/nodelet/nodelet: symbol lookup error: /home/lan/Documents/latom/devel/lib/libloop_detection.so: undefined symbol: _ 似乎和这个有直接关系，这个log里面，但是代码编译可以了

zuhaozou2017 commented

这里是关键：
/opt/ros/melodic/lib/nodelet/nodelet: symbol lookup error: /home/lan/Documents/latom/devel/lib/libloop_detection.so: undefined symbol: _ZN3tbb10interface78internal20isolate_within_arenaERNS1_13delegate_baseEl/opt/ros/melodic/lib/nodelet/nodelet: symbol lookup error: /home/lan/Documents/latom/devel/lib/libloop_detection.so: undefined symbol: _ZN3tbb10interface78internal20isolate_within_arenaERNS1_13delegate_baseEl

zuhaozou2017 commented

请确保tbb版本按我的readme编译。同时确保你的cmake list.txt确切链接到了正确的 tbb的 .so

XiaoJake commented

DeepinScreenshot_gnome-terminal-server_20240830182922

作者你好, 看到你非常积极认真的对待每个提出问题的人, 对你表示钦佩和感谢呀!

我这边遇到了和他一样的问题, 然后我是按照 reademe 说的编译了 tbb_2019 版本并在 std 的 cmakelists 中引入了正确的路径,工程的编译是通过的,就是运行的时候会蹦

我的编译和修改过程如下(同时我对名字取为 LIB_OPENCV_IMGPROC_DIR 也挺疑问的):
image
image

lonlonago commented

我改了fastlio 里面的lib路径就可以了，但是实际测试下来发现，跑velodyne 雷达的里程计效果很差，比fastlio2 原版本差很多，不知道怎么回事

WangShiJieAOTM commented

我改了fastlio 里面的lib路径就可以了，但是实际测试下来发现，跑velodyne 雷达的里程计效果很差，比fastlio2 原版本差很多，不知道怎么回事

一样的问题，想请问一下”修改fastlio里面的lib路径"是怎么操作呢？

WangShiJieAOTM commented

我改了fastlio 里面的lib路径就可以了，但是实际测试下来发现，跑velodyne 雷达的里程计效果很差，比fastlio2 原版本差很多，不知道怎么回事

一样的问题，想请问一下”修改fastlio里面的lib路径"是怎么操作呢？

我通过export LD_LIBRARY_PATH=/path/to/tbb/lib:$LD_LIBRARY_PATH解决了这个问题

lonlonago commented

我改了fastlio 里面的lib路径就可以了，但是实际测试下来发现，跑velodyne 雷达的里程计效果很差，比fastlio2 原版本差很多，不知道怎么回事

一样的问题，想请问一下”修改fastlio里面的lib路径"是怎么操作呢？

我通过export LD_LIBRARY_PATH=/path/to/tbb/lib:$LD_LIBRARY_PATH解决了这个问题

是的，就是这个，不知道你跑的效果好吗？

WangShiJieAOTM commented

我改了fastlio 里面的lib路径就可以了，但是实际测试下来发现，跑velodyne 雷达的里程计效果很差，比fastlio2 原版本差很多，不知道怎么回事

一样的问题，想请问一下”修改fastlio里面的lib路径"是怎么操作呢？

我通过export LD_LIBRARY_PATH=/path/to/tbb/lib:$LD_LIBRARY_PATH解决了这个问题

是的，就是这个，不知道你跑的效果好吗？

测试了一下hesai雷达，效果没有直接跑Fast-lio2的效果好，不知道是不是哪里参数没有设置好