The ouster-cartographer from miro001

Map gets lost after some time on KITTI Run 007 at turns

Hi, I am trying to run cartographer using KITTI run 007. I preprocesed the dataset using a preprocessing step that turns the data into a range image of size [3,60,512]. The cartograher works well in straight lines but blunders at turns. I am clueless as to what coud be the issue here and tried different tricks with respect to the lua configuration, but didnt work. Could someone help here. I am posting the rosbag and the lua file here for refernece. KITTI bag used: kitti-run-007-bag Lua file used Lua This is the result using the bag with the given configuration. The map seems to get lost at the turns. Requesting your help here. Thanks. Prashant

Change .gitmodules

Please edit URL in .gitmodules file like this:

old:
url = [email protected]:Miro001/ouster_example.git

new:
url = https://github.com/Miro001/Ouster-cartographer.git

and run: "git submodule sync" afterwards

Configuration file locate issue

Dear author,

First off, thank you so much for this open source sharing.

I have OS0-32 myself, and I wanted to get familiar with your example before proceeding to your example.

Here is my issue. Upon running the slam_launch.sh, I get the following error

slambox@slambox-NUC10i7FNH:~/ouster_slam_ws/src$ bash slam_launch.sh
... logging to /home/slambox/.ros/log/2f907054-b8e4-11eb-8788-f8ac65d8d6d2/roslaunch-slambox-NUC10i7FNH-24521.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.

Traceback (most recent call last):
  File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/__init__.py", line 332, in main
    p.start()
  File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/parent.py", line 289, in start
    self._start_infrastructure()
  File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/parent.py", line 238, in _start_infrastructure
    self._load_config()
  File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/parent.py", line 144, in _load_config
    roslaunch_strs=self.roslaunch_strs, verbose=self.verbose)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/config.py", line 461, in load_config_default
    loader.load(f, config, argv=args, verbose=verbose)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 761, in load
    self._load_launch(launch, ros_config, is_core=core, filename=filename, argv=argv, verbose=verbose)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 733, in _load_launch
    self._recurse_load(ros_config, launch.childNodes, self.root_context, None, is_core, verbose)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 679, in _recurse_load
    self._param_tag(tag, context, ros_config, verbose=verbose)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 96, in call
    return f(*args, **kwds)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 271, in _param_tag
    value = self.param_value(verbose, name, ptype, *vals)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/loader.py", line 476, in param_value
    with open(textfile, 'r') as f:
IOError: [Errno 2] No such file or directory: u'.../src/ouster_slam_ws/configuration_files/os1_16.lua/urdf/os_sensor.urdf'

As you can see from the last line, it seems to have trouble locating the .lua configuration file for the cartographer.

Here is my .sh file,

#!/bin/bash
source ../devel/setup.bash

BAGPATH='.../OS1-16_city1.bag' #own path
CONFIGPATH='.../sample_config_file_16.json' #own path

CARTOCONF='.../src/ouster_slam_ws/configuration_files/os1_16.lua' #own path

roslaunch ouster_slam os_slam.launch \
                             udp_hostname:=169.254.207.33 \
                             replay:=true \
                             bag_filename:=${BAGPATH}\
                             metadata:=${CONFIGPATH}\
                             carto_conf:=${CARTOCONF}

As you can see, I have correctly inputted by CARTOCONF location. But from the error message, it seems to be adding /urdf/os_sensor.urdf to whatever that is typed for CARTOCONF. Is this supposed to happen or is this a bug? What do you mean by CARTOCONF here? I thought you are referring to .lua file, not the urdf file.

Thank you for your generous help.

Best.

Configuration and urdf files os1-128 lidar

Hello,

Does .urdf file for os1-16 will work for os1-128? Same question about the configuration file.

Anyhelp will be much appreciated.
Thank you.

miro001 / ouster-cartographer Goto Github PK

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ouster-cartographer's Issues

Map gets lost after some time on KITTI Run 007 at turns

Change .gitmodules

Configuration file locate issue

Configuration and urdf files os1-128 lidar

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