yanliang-wang / fast_lio_lc Goto Github PK

Hi, @yanliang-wang

Did u use submap for loop closure or just single frame?

Dear author,

Thank you very much for your excellent work. I have run rosbag play T3F2-2021-08-02-15-00-12.bag --clock both roslaunch fast_lio mapping_velodyne.launch and roslaunch aloam_velodyne fastlio_velodyne_VLP_16.launch.

However, warning data, [ WARN] [1688364702.253524288]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1627887664.212646 according to authority unknown_publisher is reported on both fast_lio and aloam_velodyne roslaunch terminal. How can I fix this?

When a large range of outdoor mapping is carried out, the Z-axis will appear unacceptable drift. Can closed-loop optimization solve this problem?

@yanliang-wang
Hi, Thanks for your great work!

Your result video mentions that you use Velodyne-VLP 16 channels for LiDAR.
Then what IMU model did you use?

Thanks,

Hi:

I found this error while compiling and I can not get it resolved:
[ 95%] Linking CXX executable /home/developer/catkin/FAST-LIO_LC/devel/lib/aloam_velodyne/alaserPGO
/usr/bin/ld: cannot find -lBoost::timer
collect2: error: ld returned 1 exit status
FAST_LIO_LC/PGO/CMakeFiles/alaserPGO.dir/build.make:476: recipe for target '/home/developer/catkin/FAST-LIO_LC/devel/lib/aloam_velodyne/alaserPGO' failed
make[2]: *** [/home/developer/catkin/FAST-LIO_LC/devel/lib/aloam_velodyne/alaserPGO] Error 1
CMakeFiles/Makefile2:498: recipe for target 'FAST_LIO_LC/PGO/CMakeFiles/alaserPGO.dir/all' failed
make[1]: *** [FAST_LIO_LC/PGO/CMakeFiles/alaserPGO.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j8 -l8" failed

Could you give an advise?
Thanks in advance

您好，首先非常感谢您优秀的工作！
我在编译的时候出现了gtsam库中函数的问题，请问您遇到过这个问题吗？有没有什么解决的建议？

bag 文件 41个G ，建的图9.1个G 这非常大，除了增大point_filter_num 的方法外还有什么方法？

大佬您好，想问一下您在回环检测过程中有考虑冗余子地图处理的问题吗？因为检测回环中可能会有相似或者近乎相同的子地图被重复检测，那样会导致一些重复计算？

Has anyone encountered the following problem?

[alaserPGO-1] process has died [pid 633386, exit code -11, cmd /home/doongli/catkin_ws_2/devel/lib/aloam_velodyne/alaserPGO /velodyne_points:=/velodyne_points /aft_mapped_to_init:=/Odometry /velodyne_cloud_registered_local:=/cloud_registered_body /cloud_for_scancontext:=/cloud_registered_lidar __name:=alaserPGO __log:=/home/doongli/.ros/log/b9fecd0e-4ad1-11ee-ba99-4f48c8864c97/alaserPGO-1.log].
log file: /home/doongli/.ros/log/b9fecd0e-4ad1-11ee-ba99-4f48c8864c97/alaserPGO-1*.log

scanRegistration.cpp:44:10: fatal error: opencv/cv.h: No such file or directory
44 | #include <opencv/cv.h>

src/FAST_LIO_LC/FAST-LIO/include/common_lib.h:8:10: fatal error: fast_lio/Pose6D.h: No such file or directory
8 | #include <fast_lio/Pose6D.h>

Couldn't build this - while faster_lio and fast_lio2 build fine on the same machine.

roslaunch fast_lio mapping_velodyne.launch
roslaunch aloam_velodyne fastlio_velodyne_VLP_16.launch
rosbag play T3F2-2021-08-02-15-00-12.bag -r 2

在执行第3条命令,开始播放bag包后,就遇到如下截图的报错和结果:
[ERROR] [1651823400.753885574]: Ignoring transform for child_frame_id "aft_pgo" from authority "unknown_publisher" because of a nan value in the transform (0.000000 0.000000 0.000000) (-nan -nan -nan -nan)

FAST_LIO_LC的作者yanliang-wang,在FAST_LIO_SLAM的基础上添加了：1.基于Radius Search 基于欧式距离的回环检测搜索，增加回环搜索的鲁棒性；2.回环检测的优化结果，更新到FAST-LIO2的当前帧位姿中，幷进行ikdtree的重构，进而更新submap。

我想问个问题

如果做了回环检测优化位置后，不把优化后的结果更新到 fast lio，也不重构 ikdtree ，直接就用回环后的结果作为最后的结果，前端后端不耦合，完全分离，这样做有什么影响吗？

不重构的话，当前实修正的里程计就没更新到 fastlio里，然后，fastlio的维护的submap还是原始的激光里程计

不用 fastlio 的结果作为最后的结果，只用回环后端的结果作为最后结果

Fatlio 就做为一个单纯的里程计

Fastlio 单纯的只输出，不接受回环输入

相当于没有实时修正

这样有个好处，即便原作者改了代码，因为二者不耦合，也可以继续使用，各自都是单独的模块

我的疑问就是这种方式有什么坏处 会不会修正了 fastlio 的 submap 会使得最后的结果更好，因为相当于一直在修正，对于激光里程计的结果也会更好，还是说对于最后的结果影响不大，因为后端在不停的修正漂移

谢谢您的回复~

当我启动roslaunch aloam_velodyne fastlio_velodyne_VLP_16.launch时候出现报错
[alaserPGO-1] process has died [pid 41041, exit code 127, cmd /home/c307/last_ws/devel/lib/aloam_velodyne/alaserPGO /velodyne_points:=/velodyne_points /aft_mapped_to_init:=/Odometry /velodyne_cloud_registered_local:=/cloud_registered_body /cloud_for_scancontext:=/cloud_registered_lidar __name:=alaserPGO __log:=/home/c307/.ros/log/e11b8e0c-7d4b-11ee-8c02-f13796c8c84b/alaserPGO-1.log].
log file: /home/c307/.ros/log/e11b8e0c-7d4b-11ee-8c02-f13796c8c84b/alaserPGO-1*.log

这个怎么解决呀

is it Livox Avia supported? how I launch it? there is not mention to it.
thanks by share!!

from which imu sensor imu_data is taken? what exactly x, y, and z parameter resembles? and can I use wheel encoder data instead of imu_data?

launch运行不起来，没有效果，也没有报错，这个imu的topic没有订阅，fastlio_velodyne_vlp_16.launch文件有一点问题

Dear author,

Thank you very much for your excellent work.

I would like to try FAST_LIO_LC package on my own dataset. However, when I run the roslaunch files, there is a warning data as follows:

1. roslaunch fast_lio mapping_velodyne.launch - [ WARN] [1688364865.349349613]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame aft_pgo at time 1681803983.050032 according to authority unknown_publisher.
2. roslaunch aloam_velodyne fastlio_velodyne_VLP_16.launch - [pcl::VoxelGrid::applyFilter] Leaf size is too small for the input dataset. Integer indices would overflow.

How can I solve this problem?

I collected a sequence of data, people followed the car all the time, and then ran FAST-LIO_LC and FAST-LIO respectively, the final output map has a lot of dynamic human points in FAST-LIO_LC

FAST-LIO_LC

FAST-LIO

作者你好

我已经编译完成了(用的c++11才编译成功的),在ubuntu 16.04上,运行如下命令时:
roslaunch aloam_velodyne fastlio_velodyne_VLP_16.launch

遇到了报错:
*** Error in `/home/xiaojake/fast_lio2_lc_ws/devel/lib/aloam_velodyne/alaserPGO': double free or corruption (out): 0x0000000000dd2b60 ***
======= Backtrace: =========
/lib/x86_64-linux-gnu/libc.so.6(+0x777e5)[0x7fbab1b137e5]
/lib/x86_64-linux-gnu/libc.so.6(+0x8037a)[0x7fbab1b1c37a]
/lib/x86_64-linux-gnu/libc.so.6(cfree+0x4c)[0x7fbab1b2053c]
/usr/local/lib/libgtsam.so.4(_ZN5gtsam10noiseModel8Diagonal6SigmasERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEEb+0x18d)[0x7fbab53ebe1d]
/usr/local/lib/libgtsam.so.4(+0x114a5d)[0x7fbab5270a5d]
/lib64/ld-linux-x86-64.so.2(+0x106ca)[0x7fbab76d56ca]
/lib64/ld-linux-x86-64.so.2(+0x107db)[0x7fbab76d57db]
/lib64/ld-linux-x86-64.so.2(+0xc6a)[0x7fbab76c5c6a]
======= Memory map: ========
00400000-004a9000 r-xp 00000000 08:01 21208 /home/xiaojake/fast_lio2_lc_ws/devel/lib/aloam_velodyne/alaserPGO
006a8000-006ac000 r--p 000a8000 08:01 21208 /home/xiaojake/fast_lio2_lc_ws/devel/lib/aloam_velodyne/alaserPGO
006ac000-006ad000 rw-p 000ac000 08:01 21208 /home/xiaojake/fast_lio2_lc_ws/devel/lib/aloam_velodyne/alaserPGO
006ad000-006af000 rw-p 00000000 00:00 0
00d90000-00de3000 rw-p 00000000 00:00 0 [heap]
7fba9c000000-7fba9c021000 rw-p 00000000 00:00 0
7fba9c021000-7fbaa0000000 ---p 00000000 00:00 0
7fbaa34ce000-7fbaa36ce000 rw-p 00000000 00:00 0
7fbaa36ce000-7fbaa36d9000 r-xp 00000000 08:01 2107173 /usr/lib/x86_64-linux-gnu/libjbig.so.0
7fbaa36d9000-7fbaa38d8000 ---p 0000b000 08:01 2107173 /usr/lib/x86_64-linux-gnu/libjbig.so.0
7fbaa38d8000-7fbaa38d9000 r--p 0000a000 08:01 2107173 /usr/lib/x86_64-linux-gnu/libjbig.so.0
7fbaa38d9000-7fbaa38dc000 rw-p 0000b000 08:01 2107173 /usr/lib/x86_64-linux-gnu/libjbig.so.0
7fbaa38dc000-7fbaa38fd000 r-xp 00000000 08:01 136327 /lib/x86_64-linux-gnu/liblzma.so.5.0.0
7fbaa38fd000-7fbaa3afc000 ---p 00021000 08:01 136327 /lib/x86_64-linux-gnu/liblzma.so.5.0.0
7fbaa3afc000-7fbaa3afd000 r--p 00020000 08:01 136327 /lib/x86_64-linux-gnu/liblzma.so.5.0.0
7fbaa3afd000-7fbaa3afe000 rw-p 00021000 08:01 136327 /lib/x86_64-linux-gnu/liblzma.so.5.0.0

如何保存回环检测优化后的地图

Has anyone encountered an error with Ceres?My computer can run FAST-LIO, but when I compile FAST-LIO-LC, the following error occurs:

CMake Error at FAST_LIO_LC/PGO/CMakeLists.txt:25 (find_package):
By not providing "FindCeres.cmake" in CMAKE_MODULE_PATH this project has
asked CMake to find a package configuration file provided by "Ceres", but
CMake did not find one.

Could not find a package configuration file provided by "Ceres" with any of
the following names:

CeresConfig.cmake
ceres-config.cmake

Add the installation prefix of "Ceres" to CMAKE_PREFIX_PATH or set
"Ceres_DIR" to a directory containing one of the above files. If "Ceres"
provides a separate development package or SDK, be sure it has been
installed.

I used C++14 compiler to compile PGO module and found that it uses the new C++17 feature std::optional, is there anything else?

我下载了你提供的demo数据集,在编译完成后,在两个终端中分别执行了写到的demo命令:
启动fast-lio:
roslaunch fast_lio mapping_velodyne.launch
播放demo包:
rosbag play '/home/xiaojake/Downloads/T3F2-2021-08-02-15-00-12.bag'

效果是: 看到状态一直在超一个方向自转,无法收敛稳定
刚运行时:

约4s后:

每隔几秒:

终端中没有提示任何报错信息,刚开始学习这部分代码,一时难以排查,所以向大家请教一下:

你们在跑的时候有遇到同样的问题吗?
我是 ubuntu 16.04, 工程用c++11才编译通过的,不知跟这个是否有关

使用测试数据测试代码，出现转圈问题，并且定位到问题在updateState代码段，检查了pcl为1.8.1，Eigen为3.3.4，请问还有其他依赖会导致出现这个问题吗？