ethz-asl/fgsp

fgsp's Issues

Recording Name Prefix Not Needed Anymore

The robot_name prefix for each recording is unnecessary as we anyway store each mission in a separate folder.

Get rosparam fix

If the rosparam doesn't exist in the config it crashes

catkin can not be find when run colcon build in compile.sh

Hi,
I am interested in your excellent work. However, when I run ./deploy/build_docker.sh it throws an error:

--- stderr: catkin_simple
CMake Deprecation Warning at CMakeLists.txt:1 (cmake_minimum_required):
  Compatibility with CMake < 2.8.12 will be removed from a future version of
  CMake.

  Update the VERSION argument <min> value or use a ...<max> suffix to tell
  CMake that the project does not need compatibility with older versions.


CMake Error at CMakeLists.txt:4 (find_package):
  By not providing "Findcatkin.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "catkin", but
  CMake did not find one.

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

    catkinConfig.cmake
    catkin-config.cmake

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

I try to install catkin-tools in docker manually but it still didn't work.
I search that it is because the package has been created for ROS1, but runs on ROS2.

Waiting for your reply!

submap_callback is not defined

Hi, I meet a problem when I try to launch the graph monitor with ros2 launch fgsp graph_monitor_launch.py. The graph_monitor throws process has died:

[INFO] [launch]: All log files can be found below /root/.ros/log/2022-10-19-09-30-30-543700-2d16981d0cb6-470
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [graph_monitor-1]: process started with pid [471]
[graph_monitor-1]
[graph_monitor-1]
[graph_monitor-1] ******** **** ****
[graph_monitor-1] ////// // /
[graph_monitor-1] ** // /// ** /** ****** *******
[graph_monitor-1] /** / // /** /////////
[graph_monitor-1] /** ///// / // //** /** /** /**
[graph_monitor-1] //** ////** /** / // /** /** /**
[graph_monitor-1] //******** /** ///**** *** /**
[graph_monitor-1] //////// // // ////// /// //
[graph_monitor-1]
[graph_monitor-1]
[graph_monitor-1]
[graph_monitor-1] --- General Configuration --------------------------------------------------
[graph_monitor-1] Update rate: 20.0hz
[graph_monitor-1] Compute submap-to-submap constraints: True
[graph_monitor-1] Reduce optimized graph using Kron: False
[graph_monitor-1] Minimal node count in optimized graph: 20
[graph_monitor-1] Minimal submap count: 1
[graph_monitor-1] Submap pivot distance: 30.0
[graph_monitor-1] Submap k-nearest neighbors: 20
[graph_monitor-1] Submap visualize map: True
[graph_monitor-1] Submap compute LiDAR poses: False
[graph_monitor-1]
[graph_monitor-1]
[graph_monitor-1] --- Subscriber Configuration (Input) ---------------------------------------
[graph_monitor-1] Optimized graph topic: /maplab_server/sparse_graph/graph
[graph_monitor-1] Optimized trajectory topic: /maplab_server/sparse_graph/trajectory
[graph_monitor-1] Optimized submap topic: /maplab_server/sparse_graph/submap
[graph_monitor-1] Verifcation request topic: /graph_monitor/verification
[graph_monitor-1]
[graph_monitor-1]
[graph_monitor-1] --- Publisher Configuration (Output) ---------------------------------------
[graph_monitor-1] Optimized graph topic: /graph_monitor/sparse_graph/graph
[graph_monitor-1] Optimized trajectory topic: /graph_monitor/sparse_graph/trajectory
[graph_monitor-1] Optimized submap constraints topic: /graph_monitor/submaps
[graph_monitor-1]
[graph_monitor-1]
[graph_monitor-1] ============================================================================
[graph_monitor-1] Traceback (most recent call last):
[graph_monitor-1] File "/usr/home/fgsp_ws/install/fgsp/lib/fgsp/graph_monitor", line 33, in
[graph_monitor-1] sys.exit(load_entry_point('fgsp==2.0.0', 'console_scripts', 'graph_monitor')())
[graph_monitor-1] File "/usr/home/fgsp_ws/install/fgsp/lib/python3.10/site-packages/src/fgsp/graph_monitor.py", line 149, in main
[graph_monitor-1] monitor = GraphMonitor()
[graph_monitor-1] File "/usr/home/fgsp_ws/install/fgsp/lib/python3.10/site-packages/src/fgsp/graph_monitor.py", line 34, in init
[graph_monitor-1] Submap, self.config.opt_pc_topic, self.submap_callback, 10)
[graph_monitor-1] AttributeError: 'GraphMonitor' object has no attribute 'submap_callback'. Did you mean: 'graph_callback'?
[ERROR] [graph_monitor-1]: process has died [pid 471, exit code 1, cmd '/usr/home/fgsp_ws/install/fgsp/lib/fgsp/graph_monitor --ros-args --params-file /usr/home/fgsp_ws/install/fgsp/share/fgsp/config/monitor_config.yaml --params-file /tmp/launch_params_1bjef_ch'].

I check the code of fgsp, and the problem seems like the submap_callback() has not been defined.
Waiting for your reply.
Thank you.