Running error..

[LongruiDong]

Hi~
(Due to the difference of path to kitti data, I have changed relevant lines in
scanRegistrationKittiRos.cpp. )
After build successfully, I started running

$ roslaunch loam_velodyne_kitti_ros loam_velodyne_kitti_ros.launch

then met this error , and RVIZ window dose not have any response

SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.14

NODES
  /
    laserMappingKittiRos (loam_velodyne_kitti_ros/laserMappingKittiRos)
    laserOdometryKittiRos (loam_velodyne_kitti_ros/laserOdometryKittiRos)
    rviz (rviz/rviz)
    scanRegistrationKittiRos (loam_velodyne_kitti_ros/scanRegistrationKittiRos)
    transformMaintenanceKittiRos (loam_velodyne_kitti_ros/transformMaintenanceKittiRos)

auto-starting new master
process[master]: started with pid [856]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 0c36f150-aaea-11e9-a17f-cc52af3d9390
process[rosout-1]: started with pid [869]
started core service [/rosout]
process[scanRegistrationKittiRos-2]: started with pid [872]
process[laserOdometryKittiRos-3]: started with pid [873]
process[laserMappingKittiRos-4]: started with pid [874]
process[transformMaintenanceKittiRos-5]: started with pid [875]
process[rviz-6]: started with pid [876]
terminate called after throwing an instance of 'std::invalid_argument'
  what():  stof
[scanRegistrationKittiRos-2] process has died [pid 872, exit code -6, cmd /home/dlr/Project/kittiloam/devel/lib/loam_velodyne_kitti_ros/scanRegistrationKittiRos /home/dlr/Project/ORB_SLAM2/Examples/kitti-benchmark 00 __name:=scanRegistrationKittiRos __log:=/home/dlr/.ros/log/0c36f150-aaea-11e9-a17f-cc52af3d9390/scanRegistrationKittiRos-2.log].
log file: /home/dlr/.ros/log/0c36f150-aaea-11e9-a17f-cc52af3d9390/scanRegistrationKittiRos-2*.log
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
[rviz-6] process has finished cleanly
log file: /home/dlr/.ros/log/0c36f150-aaea-11e9-a17f-cc52af3d9390/rviz-6*.log

Can you help me with it, Thanks a lot~

[LongruiDong]

Okay~
I forget to correct path to times.txt ..

[LongruiDong]

Because the result trajectory always missing more than 20 frames from the beginning
So I have changed a line in https://github.com/claydergc/loam_velodyne_kitti_ros/blob/master/src/scanRegistrationKittiRos.cpp line 65:

const int systemDelay = 0; // const int systemDelay = 20;

However， similiar error comes out during running process :

(base) dlr@dlr-ThinkStation-S20:~/Project/kittiloam$ roslaunch loam_velodyne_kitti_ros loam_velodyne_kitti_ros.launch
... logging to /home/dlr/.ros/log/db40d8de-ab95-11e9-a17f-cc52af3d9390/roslaunch-dlr-ThinkStation-S20-13217.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://dlr-ThinkStation-S20:39788/

SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.14

NODES
  /
    laserMappingKittiRos (loam_velodyne_kitti_ros/laserMappingKittiRos)
    laserOdometryKittiRos (loam_velodyne_kitti_ros/laserOdometryKittiRos)
    rviz (rviz/rviz)
    scanRegistrationKittiRos (loam_velodyne_kitti_ros/scanRegistrationKittiRos)
    transformMaintenanceKittiRos (loam_velodyne_kitti_ros/transformMaintenanceKittiRos)

auto-starting new master
process[master]: started with pid [13227]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to db40d8de-ab95-11e9-a17f-cc52af3d9390
process[rosout-1]: started with pid [13240]
started core service [/rosout]
process[scanRegistrationKittiRos-2]: started with pid [13244]
process[laserOdometryKittiRos-3]: started with pid [13256]
process[laserMappingKittiRos-4]: started with pid [13259]
process[transformMaintenanceKittiRos-5]: started with pid [13260]
process[rviz-6]: started with pid [13266]
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
[scanRegistrationKittiRos-2] process has died [pid 13244, exit code -11, cmd /home/dlr/Project/kittiloam/devel/lib/loam_velodyne_kitti_ros/scanRegistrationKittiRos /home/dlr/Project/ORB_SLAM2/Examples/kitti-benchmark 00 __name:=scanRegistrationKittiRos __log:=/home/dlr/.ros/log/db40d8de-ab95-11e9-a17f-cc52af3d9390/scanRegistrationKittiRos-2.log].
log file: /home/dlr/.ros/log/db40d8de-ab95-11e9-a17f-cc52af3d9390/scanRegistrationKittiRos-2*.log
[rviz-6] process has finished cleanly
log file: /home/dlr/.ros/log/db40d8de-ab95-11e9-a17f-cc52af3d9390/rviz-6*.log

Can you help me with it, Looking forward to your reply
Thanks a lot~

[claydergc]

You are using PCL 1.7, aren't you? I suppose that it can be the problem. However, to be sure I would recommend you to run the scanRegistrationKittiRos node separately with the gdb debugger.

Hope it helps.

[xuwuzhou]

hello,have you solved the problem,I met the same problem as you , but my PCL version is1.8