Wang Han [homepage]
- :🌱: currently working in Huawei Singapore (Todmind Program).
- 🎓 received Ph.D. in Nanyang Technological University.
- 🔨 specialize in computer vision and robotics.
License: BSD 3-Clause "New" or "Revised" License
I am a bit confused on how to get this repo up and running Ubuntu 20.04. I am having a ton problems with the fact that this repo is built with python 3.7 and default system python is 3.8. A lot of mmdet requirements need it to be python3.7. The Shebang in solo_node.py is requiring mmdet to be installed with default system python which is 3.8. I am curious how you all go around this isuse ?
So far I've gotten mmdet 2.0.0 to install in solo conda enviroment and updated the shebang in solo_node.py to point to conda python enviroment. However I am unable to get alfred_py to install in this enviroment and this causing a wheel error.
Eigen::Isometry3d pose_trans = Eigen::Isometry3d::Identity();
pose_trans.translation() = Eigen::Vector3d(0.001, 0.014, -0.007);
Eigen::Quaterniond quaternion_temp(1.00,-0.012, -0.001, -0.003);
pose_trans.linear() = quaternion_temp.toRotationMatrix();;
pcl::PointCloud<pcl::PointXYZRGB>::Ptr transformed_pc(new pcl::PointCloud<pcl::PointXYZRGB>());
is a reference paper of the program? I want to get the link to better understand the work. Thanks!
When running the launch file mentioned above, I got an error. How can I find this problem? Fixed Frame error Unknown frame world
Segmentation result: image displays No Image received
First, thank you very much for seeing such an excellent work, I have built your code in my ubuntu 18.04 & 20.04 desktop, but I get the same error like this:
then, I check the log file in ros, i find the mms_slam_odom_estimation_node-6-stdout.log
is an empty file, and there are some errors in master.log, can u give me some experiences to solve these problem.:help:
[rosmaster.threadpool][ERROR] 2021-10-26 15:12:20,152: Traceback (most recent call last):
File "/opt/ros/melodic/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run
result = cmd(*args)
File "/opt/ros/melodic/lib/python2.7/dist-packages/rosmaster/master_api.py", line 210, in publisher_update_task
ret = xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
File "/usr/lib/python2.7/xmlrpclib.py", line 1243, in __call__
return self.__send(self.__name, args)
File "/usr/lib/python2.7/xmlrpclib.py", line 1602, in __request
verbose=self.__verbose
File "/usr/lib/python2.7/xmlrpclib.py", line 1283, in request
return self.single_request(host, handler, request_body, verbose)
File "/usr/lib/python2.7/xmlrpclib.py", line 1316, in single_request
return self.parse_response(response)
File "/usr/lib/python2.7/xmlrpclib.py", line 1493, in parse_response
return u.close()
File "/usr/lib/python2.7/xmlrpclib.py", line 800, in close
raise Fault(**self._stack[0])
Fault: <Fault -1: 'publisherUpdate: unknown method name'>
[rosmaster.threadpool][ERROR] 2021-10-26 15:12:20,305: Traceback (most recent call last):
File "/opt/ros/melodic/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run
result = cmd(*args)
File "/opt/ros/melodic/lib/python2.7/dist-packages/rosmaster/master_api.py", line 210, in publisher_update_task
ret = xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
File "/usr/lib/python2.7/xmlrpclib.py", line 1243, in __call__
return self.__send(self.__name, args)
File "/usr/lib/python2.7/xmlrpclib.py", line 1602, in __request
verbose=self.__verbose
File "/usr/lib/python2.7/xmlrpclib.py", line 1283, in request
return self.single_request(host, handler, request_body, verbose)
File "/usr/lib/python2.7/xmlrpclib.py", line 1311, in single_request
self.send_content(h, request_body)
File "/usr/lib/python2.7/xmlrpclib.py", line 1459, in send_content
connection.endheaders(request_body)
File "/usr/lib/python2.7/httplib.py", line 1095, in endheaders
self._send_output(message_body)
File "/usr/lib/python2.7/httplib.py", line 898, in _send_output
self.send(msg)
File "/usr/lib/python2.7/httplib.py", line 860, in send
self.connect()
File "/usr/lib/python2.7/httplib.py", line 837, in connect
self.timeout, self.source_address)
File "/usr/lib/python2.7/socket.py", line 575, in create_connection
raise err
error: [Errno 22] Invalid argument
I also upload my master.log file.
master.log
Thanks very much!!
I see there is only depth camera, code have no lidar. Can you tell me how can I deal with lidar?
Is the cuda version used in this project cuda11 (refer to readme for condo install pytorch=1.7.1 torchvision=0.8.2 torchaudio=0.7.2 cudatoolkit=11.0- c pytorch), but I encountered an error while running roslaunch:
Traceback (most recent call last):
File "/home/ht/Project/mms_slam/src/mms_slam/src/solo_node.py", line 11, in
from mmdet.apis import init_detector, inference_detector, show_result_ins, show_result
File "/home/ht/Project/mms_slam/src/mms_slam/dependency/mmdet/mmdet/apis/init.py", line 1, in
from .inference import (async_inference_detector, inference_detector,
File "/home/ht/Project/mms_slam/src/mms_slam/dependency/mmdet/mmdet/apis/inference.py", line 11, in
from mmdet.core import get_classes
File "/home/ht/Project/mms_slam/src/mms_slam/dependency/mmdet/mmdet/core/init.py", line 6, in
from .post_processing import * # noqa: F401, F403
File "/home/ht/Project/mms_slam/src/mms_slam/dependency/mmdet/mmdet/core/post_processing/init.py", line 1, in
from .bbox_nms import multiclass_nms, multiclass_nms_idx
File "/home/ht/Project/mms_slam/src/mms_slam/dependency/mmdet/mmdet/core/post_processing/bbox_nms.py", line 3, in
from mmdet.ops.nms import nms_wrapper
File "/home/ht/Project/mms_slam/src/mms_slam/dependency/mmdet/mmdet/ops/init.py", line 2, in
from .conv import build_conv_layer
File "/home/ht/Project/mms_slam/src/mms_slam/dependency/mmdet/mmdet/ops/conv.py", line 4, in
from .dcn import DeformConvPack, ModulatedDeformConvPack
File "/home/ht/Project/mms_slam/src/mms_slam/dependency/mmdet/mmdet/ops/dcn/init.py", line 1, in
from .deform_conv import (DeformConv, DeformConvPack, ModulatedDeformConv,
File "/home/ht/Project/mms_slam/src/mms_slam/dependency/mmdet/mmdet/ops/dcn/deform_conv.py", line 12, in
from . import deform_conv_ext
ImportError: libcudart.so.10.1: cannot open shared object file: No such file or directory
[solo_node-3] process has died [pid 43752, exit code 1, cmd /home/ht/Project/mms_slam/src/mms_slam/src/solo_node.py ~input:=/camera/color/image_raw __name:=solo_node __log:=/home/ht/.ros/log/f9bda8ea-65e6-11ee-b78f-a5d328de9705/solo_node-3.log].
log file: /home/ht/.ros/log/f9bda8ea-65e6-11ee-b78f-a5d328de9705/solo_node-3*.log
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