Comments (12)
Resolved through using newer version of eigen3. Hope it helps others.
from elevation_mapping.
I've solved the problem by resetting all the config files then, I figured out there was my mistake to set a wrong parameter in one of the config files.
Now I have another problem which is the elevation_mapping crashes by Exception error of Eigen as following:
elevation_mapping: /usr/include/eigen3/Eigen/src/Eigenvalues/EigenSolver.h:347: Eigen::EigenSolver<_MatrixType>::EigenvectorsType Eigen::EigenSolver<_MatrixType>::eigenvectors() const [with _MatrixType = Eigen::Matrix<double, 2, 2>; Eigen::EigenSolver<_MatrixType>::EigenvectorsType = Eigen::Matrix<std::complex, 2, 2>; typename Eigen::NumTraits::Real = double]: Assertion `m_eigenvectorsOk && "The eigenvectors have not been computed together with the eigenvalues."' failed.
[elevation_mapping-1] process has died [pid 23174, exit code -6, cmd /home/delnia/new_way/devel/lib/elevation_mapping/elevation_mapping __name:=elevation_mapping __log:=/home/delnia/.ros/log/3c3c5626-20d4-11e7-a3d1-b88a60a09600/elevation_mapping-1.log].
log file: /home/delnia/.ros/log/3c3c5626-20d4-11e7-a3d1-b88a60a09600/elevation_mapping-1.log*
This is happening when I launch the
roslaunch elevation_mapping_demos simple_demo.launch
Seems that this is the main problem is this: "The eigenvectors have not been computed together with the eigenvalues."
I'll appreciate any help to solve this. :)
from elevation_mapping.
I have found that this error comes from this line[ 276];
const double ellipseRotation(atan2(solver.eigenvectors().col(maxEigenvalueIndex).real()(1), solver.eigenvectors().col(maxEigenvalueIndex).real()(0)));
which in the ElevationMap.cpp in the elevation_mapping.
I've tried with try&catch but doesn't work.
I'll appreciate any help to solve it.
from elevation_mapping.
I don't exactly know why you are getting it a default 1,0 value but when I set it permanent the problem solve and the error disappears.
I hope you give me a response if you find some time.
from elevation_mapping.
The elevation mapping is now working but when I rotate and move forward (most of the times) the elevation mapping crashes.
With this error:
elevation_mapping: /usr/include/eigen3/Eigen/src/Core/DenseCoeffsBase.h:118: Eigen::DenseCoeffsBase<Derived, 0>::CoeffReturnType Eigen::DenseCoeffsBase<Derived, 0>::operator()(Eigen::Index, Eigen::Index) const [with Derived = Eigen::Matrix<float, -1, -1>; Eigen::DenseCoeffsBase<Derived, 0>::CoeffReturnType = const float&; Eigen::Index = long int]: Assertion `row >= 0 && row < rows() && col >= 0 && col < cols()' failed.
from elevation_mapping.
Hello,
how exactly did you manage to fix the error in line [277] (now it is 277) of file ElevationMap.cpp?
I can verify that the Backtrace in GDB points at this line but I'm stuck there.
Over here the "ellipseRotation" is sometimes working fine with 0.0 or with small values ranging from -1 to 1.
Which permanent value did you set up?
from elevation_mapping.
@SaraTohidi Did you solve it?
from elevation_mapping.
Hello,
Same here, I am also stuck at line 277. Is covarianceMatrix being [inf, 0; 0, inf] causing the problem? How can I fix it? Many thanks!
from elevation_mapping.
Hello,
Unfortunately, I do not remember very clearly but I gave the 1 and 0 as a permanent value because sometimes this default changed and led in a crash. However, the problem with crashes never gone.
I was working on a project (traversal_map on my GitHub) and because of that I needed an elevation map, but this package had many problems I could not put my time to fix them. So, I started to use the OctoMap package instead and customize it which worked well for me.
I hope this finds you well.
from elevation_mapping.
I've solved the problem by resetting all the config files then, I figured out there was my mistake to set a wrong parameter in one of the config files.
Now I have another problem which is the elevation_mapping crashes by Exception error of Eigen as following:
__elevation_mapping: /usr/include/eigen3/Eigen/src/Eigenvalues/EigenSolver.h:347: Eigen::EigenSolver<_MatrixType>::EigenvectorsType Eigen::EigenSolver<_MatrixType>::eigenvectors() const [with _MatrixType = Eigen::Matrix<double, 2, 2>; Eigen::EigenSolver<_MatrixType>::EigenvectorsType = Eigen::Matrix<std::complex, 2, 2>; typename Eigen::NumTraits::Real = double]: Assertion `m_eigenvectorsOk && "The eigenvectors have not been computed together with the eigenvalues."' failed. [elevation_mapping-1] process has died [pid 23174, exit code -6, cmd /home/delnia/new_way/devel/lib/elevation_mapping/elevation_mapping __name:=elevation_mapping log:=/home/delnia/.ros/log/3c3c5626-20d4-11e7-a3d1-b88a60a09600/elevation_mapping-1.log]. log file: /home/delnia/.ros/log/3c3c5626-20d4-11e7-a3d1-b88a60a09600/elevation_mapping-1.log*
This is happening when I launch the
roslaunch elevation_mapping_demos simple_demo.launch
Seems that this is the main problem is this: "The eigenvectors have not been computed together with the eigenvalues."
I'll appreciate any help to solve this. :)
Hello Bruno Santos, I have the same problem with you, Only /map_region which has a correct value .What's your correct parameter in the config files. I am very appreciate if you could do me a favour to upload your param for me to take a look.
from elevation_mapping.
As @duyipai pointed out:
Resolved through using newer version of eigen3. Hope it helps others.
Should solve the issues in this thread. Feel free to re-open if the issue still persists.
from elevation_mapping.
Hi, I've experienced the same Exception error of Eigen as follows:
_elevation_mapping: /usr/include/eigen3/Eigen/src/Eigenvalues/EigenSolver.h:348: Eigen::EigenSolver<_MatrixType>::EigenvectorsType Eigen::EigenSolver<_MatrixType>::eigenvectors() const [with _MatrixType = Eigen::Matrix<double, 2, 2>; Eigen::EigenSolver<MatrixType>::EigenvectorsType = Eigen::Matrix<std::complex, 2, 2>; typename Eigen::NumTraits::Real = double]: Assertion `m_eigenvectorsOk && "The eigenvectors have not been computed together with the eigenvalues."' failed.
Setup: Ubuntu 20.04, ROS-Noetic
It has to do something with the map initialization. Without map initialization, each of the following cases runs fine.
The waffle demo example runs fine even with the map initialization though.
The problem appears when with nearly the same .yaml file as in the waffle demo (except using lidar pcl data) the Husky robot with LIO-SAM is used for pose estimation. If using Husky with the default localization (robot_localization pkg), the problem disappears.
Back to the troubling case when LIO-SAM is used. When running a custom launch file including elevation_mapping, everything is fine, even the map initialization (checking by adding ROS_INFO on line 647 in ElevationMapping.cpp), the process dies after ticking the ElevationMap box in Rviz to show the elevation map or using elevation map in external postprocessing pipeline (gridmap_filters_demo) without displaying the map in Rviz.
@duyipai what version of eigen3 did you upgrade to? I'm using version 3.3.7 (default for Ubuntu 20.04) which was released a month after your post:
Resolved through using newer version of eigen3. Hope it helps others.
Thank you all for any help.
from elevation_mapping.
Related Issues (20)
- Where can I get the data after postprocessor_pipeline? Does it really work?
- the function "setRawSubmapHeight", xand y are reversed? HOT 1
- Orientation Issue in Elevation Mapping HOT 9
- Holes/Empty spaces while elevation mapping and previous mapped points removed after the robot moves from that place
- migration to ros2 humble? HOT 3
- Cannot launch node - turtlesim3 demo
- The flat ground maps are cluttered with color HOT 1
- can you explain the equation about "state reduction" for me HOT 1
- EigenPlugins/FunctorsPlugin.hpp cannot find it
- Create a map based on map center point
- Some Info needed for building elevation_mapping in ROS2 Humble. HOT 2
- leg filterig for quadruped robots (in the ele_map legs are mapped as well) HOT 3
- the map vanish when it is not visible HOT 1
- Position of cells
- How can i get the height value of a particular cell
- error launching `point_cloud_io` node when trying to run `ground_truth_demo` example
- Variance Propagation errors HOT 1
- Elevation map not updated from both sources
- Multiple input sources
- Quick Port of Elevation Mapping to ROS2 Humble
Recommend Projects
-
React
A declarative, efficient, and flexible JavaScript library for building user interfaces.
-
Vue.js
🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
-
Typescript
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
-
TensorFlow
An Open Source Machine Learning Framework for Everyone
-
Django
The Web framework for perfectionists with deadlines.
-
Laravel
A PHP framework for web artisans
-
D3
Bring data to life with SVG, Canvas and HTML. 📊📈🎉
-
Recommend Topics
-
javascript
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
-
web
Some thing interesting about web. New door for the world.
-
server
A server is a program made to process requests and deliver data to clients.
-
Machine learning
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
-
Visualization
Some thing interesting about visualization, use data art
-
Game
Some thing interesting about game, make everyone happy.
Recommend Org
-
Facebook
We are working to build community through open source technology. NB: members must have two-factor auth.
-
Microsoft
Open source projects and samples from Microsoft.
-
Google
Google ❤️ Open Source for everyone.
-
Alibaba
Alibaba Open Source for everyone
-
D3
Data-Driven Documents codes.
-
Tencent
China tencent open source team.
from elevation_mapping.