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roslaunch air_slam vo_euroc.launch遇到了问题 #162

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DeepestLover3685 opened this issue Nov 2, 2024 · 19 comments
Open

roslaunch air_slam vo_euroc.launch遇到了问题 #162

DeepestLover3685 opened this issue Nov 2, 2024 · 19 comments

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@DeepestLover3685
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@xukuanHIT 您好！我在roslaunch air_slam vo_euroc.launch时遇到了错误。
首先是rviz没有显示
image
终端有这样的报错
Erron lightglue building
Error in SuperPoint building

这是我vo_euroc.launch的配置以及dataroot路径
image
@xukuanHIT
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@DeepestLover3685 你好，应该是环境没配好，TensorRT在转模型时没成功

@DeepestLover3685
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@DeepestLover3685 你好，应该是环境没配好，TensorRT在转模型时没成功

感谢，我的环境是 ubuntu20.04 tensorrt8.61 cuda12.1 我catkin_make AirSLAM时并没有问题

@xukuanHIT
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可以把这一行改成 setReportableSeverity(Logger::Severity::kINFO); 输出更多些信息试试

@DeepestLover3685
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可以把这一行改成 setReportableSeverity（Logger：：Severity：：kINFO）;输出更多些信息试试

[11/02/2024-16:08:37] [I] [TRT] [MemUsageChange] Init CUDA: CPU +14, GPU +0, now: CPU 35, GPU 67 (MiB)
[11/02/2024-16:08:38] [I] [TRT] [MemUsageChange] Init builder kernel library: CPU +947, GPU +190, now: CPU 1137, GPU 257 (MiB)
Erron lightglue building
Error in SuperPoint building
十分感谢，请问这是什么意思

@xukuanHIT
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可以 给出完整的log吗?

@DeepestLover3685
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可以 给出完整的log吗?

roslaunch-llk-27963.log
十分感谢！

@xukuanHIT
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这些是ros的log，屏幕种应该还有tensorRT相关的输出，也贴出来吧

@DeepestLover3685
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(airgs) llk@llk:~/catkin_ws/src/air_slam/launch/visual_odometry$ roslaunch air_slam vo_euroc.launch
... logging to /home/llk/.ros/log/05840c56-98e9-11ef-80cc-e18d85137846/roslaunch-llk-27963.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://llk:42223/

SUMMARY

PARAMETERS

  • /rosdistro: noetic
  • /rosversion: 1.17.0
  • /visual_odometry/camera_config_path: /home/llk/catkin_...
  • /visual_odometry/config_path: /home/llk/catkin_...
  • /visual_odometry/dataroot: /home/llk/catkin_...
  • /visual_odometry/model_dir: /home/llk/catkin_...
  • /visual_odometry/saving_dir: /home/llk/catkin_...

NODES
/
rviz (rviz/rviz)
visual_odometry (air_slam/visual_odometry)

ROS_MASTER_URI=http://localhost:11311

process[visual_odometry-1]: started with pid [27977]
process[rviz-2]: started with pid [27978]
config_file = /home/llk/catkin_ws/src/air_slam/configs/visual_odometry/vo_euroc.yaml
config done
[ INFO] [1730535477.780448188]: rviz version 1.14.25
[ INFO] [1730535477.780506598]: compiled against Qt version 5.12.8
[ INFO] [1730535477.780520701]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1730535477.788596294]: Forcing OpenGl version 0.
[ INFO] [1730535478.400025470]: Stereo is NOT SUPPORTED
[ INFO] [1730535478.400137640]: OpenGL device: Mesa Intel(R) UHD Graphics (CML GT2)
[ INFO] [1730535478.400176229]: OpenGl version: 4.6 (GLSL 4.6) limited to GLSL 1.4 on Mesa system.
[11/02/2024-16:17:59] [I] [TRT] [MemUsageChange] Init CUDA: CPU +14, GPU +0, now: CPU 35, GPU 67 (MiB)
[11/02/2024-16:18:01] [I] [TRT] [MemUsageChange] Init builder kernel library: CPU +947, GPU +190, now: CPU 1137, GPU 257 (MiB)
Erron lightglue building
Error in SuperPoint building
[visual_odometry-1] process has finished cleanly
log file: /home/llk/.ros/log/05840c56-98e9-11ef-80cc-e18d85137846/visual_odometry-1*.log
^C[rviz-2] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

@xukuanHIT
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从输出没能看出来什么问题，你用docker能跑通吗？

@DeepestLover3685
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从输出没能看出来什么问题，你用docker能跑通吗？

我还没有用过docker，现在就去试一下看看。我还需要更改TensorRT版本到8.5么？谢谢

@xukuanHIT
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不需要的，AirVO用的是8.5，AirSLAM用8.6。另外，docker里面tensorRT已经配好8.6了

@xukuanHIT
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你是什么显卡？

@DeepestLover3685
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NVIDIA GeForce GTX 1650 Ti

@xukuanHIT
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那可能是显卡的问题，我们之前也有运到过TensorRT8.6在1xxx系列的显卡上不太兼容的问题。你可以先试试docker。我们目前也在开发一个纯点特征的系统，会降低对TensorRT版本的要求，以能够在更多GPU上运行

@DeepestLover3685
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那可能是显卡的问题，我们之前也有运到过TensorRT8.6在1xxx系列的显卡上不太兼容的问题。你可以先试试docker。我们目前也在开发一个纯点特征的系统，会降低对TensorRT版本的要求，以能够在更多GPU上运行

好的，辛苦了，十分感谢解答，加油！

@mike130201
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@xukuanHIT 您好！我在roslaunch air_slam vo_euroc.launch时遇到了错误。 首先是rviz没有显示 image 终端有这样的报错 Erron lightglue building Error in SuperPoint building

这是我vo_euroc.launch的配置以及dataroot路径 image

I encountered the same problem, and found a solution that worked well in Docker. Here’s what helped:

  1. Use Docker: Running the simulation in Docker resolved many environment-related issues.

  2. Ensure Proper Permissions: Make sure Docker has the necessary permissions to access the files, especially for directories like dataroot.

  3. Check Paths: Double-check that dataroot and other paths in the configuration files

after that I tried again

$ roslaunch air_slam vo_euroc.launch

@DeepestLover3685
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您好！我在roslaunch air_slam vo_euroc.launch时遇到了错误。首先是rviz没有显示 image 终端有这样的报错 Erron lightglue building Error in SuperPoint building
这是我vo_euroc.launch的配置以及dataroot路径image

我遇到了同样的问题，并找到了一个在 Docker 中运行良好的解决方案。以下是有帮助的：

  1. Use Docker: Running the simulation in Docker resolved many environment-related issues.

  2. Ensure Proper Permissions: Make sure Docker has the necessary permissions to access the files, especially for directories like dataroot.
  3. 检查路径：仔细检查配置文件中的 dataroot 和其他路径

之后我又试了一次

$ roslaunch air_slam vo_euroc.launch

好的，我更换了40系列也是出现了一些问题，现在打算使用docker

@DeepestLover3685
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您好！我在roslaunch air_slam vo_euroc.launch时遇到了错误。首先是rviz没有显示 图像 终端有这样的报错 Erron lightglue building Error in SuperPoint building
这是我vo_euroc.launch的配置以及dataroot路径图像

我遇到了同样的问题，并找到了一个在 Docker 中运行良好的解决方案。以下是有帮助的：

  1. Use Docker: Running the simulation in Docker resolved many environment-related issues.

  2. Ensure Proper Permissions: Make sure Docker has the necessary permissions to access the files, especially for directories like dataroot.
  3. 检查路径：仔细检查配置文件中的 dataroot 和其他路径

之后我又试了一次

$ roslaunch air_slam vo_euroc.launch

您好，可以看一下您的路径配置么。我使用MN_015_GV_01数据集可以跑vo_euroc.launch，但是没有现象

@mike130201
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您好！我在roslaunch air_slam vo_euroc.launch时遇到了错误。首先是rviz没有显示 图像 终端有这样的报错 Erron lightglue building Error in SuperPoint building
这是我vo_euroc.launch的配置以及dataroot路径图像

我遇到了同样的问题，并找到了一个在 Docker 中运行良好的解决方案。以下是有帮助的：

  1. Use Docker: Running the simulation in Docker resolved many environment-related issues.

  2. Ensure Proper Permissions: Make sure Docker has the necessary permissions to access the files, especially for directories like dataroot.
  3. 检查路径：仔细检查配置文件中的 dataroot 和其他路径

之后我又试了一次
$ roslaunch air_slam vo_euroc.launch

您好，可以看一下您的路径配置么。我使用MN_015_GV_01数据集可以跑vo_euroc.launch，但是没有现象

I don't know If I translate correctly your message, but here is my dataroot:
/workspace/catkin_ws_1/src/V1_02_medium/mav0/

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@xukuanHIT @mike130201 @DeepestLover3685