./bin/trajectory_maker:core dump... about boteye HOT 26 OPEN

@mingyux 不好意思打扰了，一直出现这个问题，知道是什么原因吗？感谢

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Please follow the instructions here as we try to make things easier with scripts.
https://ai.baidu.com/docs#/Roboticvision_Sample-Program/top

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你好..我是按照这个步骤来的，navigation_param里面我都有改为UDP方式对应的参数值。
现在guide_receiver是弃用了吗？刚才在wiki里面看到的..那UDP方式还能用吗？
谢谢！

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No worry. guide_receiver still works.

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Please provide us with all the "commands" you've used.

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这是我用到的全部的命令：

1、cd XP_release/0.14.58
2、source config_enviroment.sh
3、./bin/app_tracking -sensor_type XP2 -calib_file ~/XPIAC2SET182550007.yaml -record_path ~/mapRecord
4、python ./bin/pre_navigation.py --record_path=/home/king/mapRecord/
5、./bin/trajectory_maker --navigation_folder=/home/king/mapRecord/navigation

其中在navigation_param.yaml中：

actuator:sample
mode:loop
use_trajectory_file:true

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After step 4, what's inside ~/mapRecord/navigation?

./bin/trajectory_maker --navigation_folder=/home/king/mapRecord/navigation .  # this line is correct

What's the error message? The files generated in Step 4 (pre_navigation.py) seem missing.

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1、After step 4，~/mapRecord/navigation ：

    1、map_occupancy.png;
    2、map_occupancy.yml; 
    3、map_overlay.png;
    4、navi.pb;
    5、waypoints.csv;
    6、waypoints_graph.txt

2、执行
./bin/trajectory_maker --navigation_folder=/home/king/mapRecord/navigation
后，错误信息是：

E0315 10:17:01.403987  4951 navigation_utils.cpp:35] Waypoints load failed, filename: /waypoints.csv
F0315 10:17:01.405457  4951 path_planner_lib.cpp:127] Check failed: world_T_map.rows == 3 (0 vs. 3) 
*** Check failure stack trace: ***
    @     0x7f6cf53215cd  google::LogMessage::Fail()
    @     0x7f6cf5323433  google::LogMessage::SendToLog()
    @     0x7f6cf532115b  google::LogMessage::Flush()
    @     0x7f6cf5323e1e  google::LogMessageFatal::~LogMessageFatal()
    @     0x7f6cf4ed8d6a  PathPlanner::LoadMapSpecs()
    @           0x402b25  main
    @     0x7f6cf3954830  __libc_start_main
    @           0x4047f9  _start
    @              (nil)  (unknown)
已放弃 (核心已转储)

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Please email the files in ~/mapRecord/navigation to us at [email protected]. Thanks.

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好的，已发送。

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On my machine, trajectory_maker works fine with your data.
The error message:

Waypoints load failed, filename: /waypoints.csv

suggests that the filename is NOT complete.
I suspect your gflag is not passed in correctly.
Please try again with

./bin/trajectory_maker --navigation_folder="/home/king/mapRecord/navigation"
# or
./bin/trajectory_maker --navigation_folder /home/king/mapRecord/navigation

By the way, gflag does not automatically resolve ~/.

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现在可以了，改成你说的这两种方式，执行生成轨迹都是可以成功的，谢谢。

但是在后面执行
sh ${MASTER_DIR}/scripts/navi.sh /home/king/mapRecord/navigation

时出现了Error message:
script/navi.sh: 44: script/navi.sh: --calib_file=/home/king/XP_release/0.14.58/calibrationFile/XPIAC2SET182550007.yaml: not found

提示说找不到calib_file，但是calib_file文件的路径和navi.sh中我填写的路径是对应的
navi.sh中：

${MASTER_DIR}/bin/\
./app_tracking \
--navigation_folder=$navigation_folder \
--navi_config=${MASTER_DIR}/XP/config/navigation_param.yaml \
--calib_file=${MASTER_DIR}/calibrationFile/XPIAC2SET182550007.yaml \
--sensor_type=XP2 \
--show_depth \
--guide_ip=127.0.0.1 \
--guide_port=8889 \

是我哪里没有设置对吗？

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The navi.sh is not even executed correctly, and app_tracking is NOT even launched. Please check carefully your spelling or even simply type everything directly at your terminal. We're using bash FYI.

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好的，我直接运行了./app_tracking把所有的参数分别输入，就可以启动了。
./guide_receiver这边也收到了数据，数据上开始会有一个负的角速度，慢慢会变成slam定位丢失。

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顺便问一下，假设我这边./guide_receiver收到的的数据为：
guide msg from 127.0.0.1:8889 [0.00,-0.26,1]

然后这边按16进制显示的话收到的数据为：
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 92 0A 86 BE 01

共20个字节，数据之间是如何转化是怎样的呢？好像不是直接的16进制转化..

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https://github.com/baidu/boteye/blob/master/include/XP/app_api/pose_packet.h#L148

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原来这里的0.00和-0.26是距离和角度..我看说明上不是线速度和角速度吗...
我这边一直无法定位，Navigator框一直为lost，开始:
guide msg from 127.0.0.1:8889 [0.00,-0.26,1]
后面会变成:
guide msg from 127.0.0.1:8889 [0.00,0.00,4]
是摄像头的问题吗？

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@mingyux 不好意思打扰了，可以帮忙看看这个问题吗？谢谢

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https://github.com/baidu/boteye/blob/master/apps/app_tracking/app_guide_receiver.cpp#L57

[0.00,-0.26,1]
linear velocity = 0 (m/s)
angular velocity = -0.26 (rad/s)
1 = Status::OK

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enum Status {
    FAIL = 0,
    OK = 1,
    STOP = 2,
    FINISH = 3,
    LOST = 4,
    OBSTACLE_AVOID = 5,
    MANUAL = 6
  };

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"VIO lost" in Navigation mode means either 1) the vio is lost, or 2) the relocalization fails.

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嗯嗯现在知道是线速度和角速度了。
我这边重定位好像一直没成功过呢..是因为我文件里面的参数没设置对吗？

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Try

./app_tracking -sensor_type XXX -cabli_file /path/to/your/calib.yaml -pb_load /path/to/your/map.pb 

And see if you can successfully reloc to the map.

If still not, please provide us your map.pb and do a short recording by adding -record_path /path/to/your/recording/folder.

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运行的结果如下：似乎没有红色圆圈

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Reloc is done and successful. You can move around and see the cursor moving around. The visualization is different when building / loading a map.

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我这边想保存规划的轨迹，然后自制底盘通过UDP接收Guide message来导航
那为什么在指定轨迹导航的时候重定位无法成功呢？

在Navigator一栏左上角一直都显示为lost
而且角速度也会从有到无，然后Status从OK变成LOST

我的命令：

./app_tracking -navigation_folder /home/king/mapRecord/navigation -navi_config /home/king/XP_release/0.14.58/XP/config/navigation_param.yaml  -sensor_type XP2 -calib_file /home/king/XP_release/0.14.58/calibrationFile/XXXX.yaml -shou_depth -guide_ip 127.0.0.1 -guide_port 8889

navigation_param.yaml中部分改动：

Actuator type: sample
Navigation type : navi
mode: loop
use_trajectory_file:true

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