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SRRG console to run SLAM systems

License: BSD 3-Clause "New" or "Revised" License

CMake 16.72% C++ 83.28%

srrg2_executor's Introduction

SRRG-EXECUTOR

This repository contains a single Catkin package:

srrg2_executor: interactive shell to load, edit and run srrg2 configuration files on-the-go.

To know how to build and to use our pipeline, please refer to the package readme.

Contributors

Mirco Colosi
Irvin Aloise
Dominik Schlegel
Giorgio Grisetti
Bartolomeo Della Corte
Tiziano Guadagnino

License

BSD 3.0

srrg2_executor's People

Stargazers

Watchers

srrg2_executor's Issues

Failed to run srrg2_proslam Stereo/RGB-D Examples

Hi, Thanks your nice work but I got some probles when we try to run srrg2_proslam Stereo/RGB-D Examples. I download the tum datasets from your google drive link, and modify the json path in tum.conf file. Then I try to run

rosrun srrg2_executor srrg2_shell -dlc srrg2_dynamic_libraries.txt -c /home/m/work/srrg2/srrg2_proslam/configurations/tum.conf -vt shared

but we got this in terminal

ready
ConfigurableVisualShell::startCallback|Clearing screen... 
ConfigurableVisualShell::startCallback|ready to go
virtual srrg2_core::BaseSensorMessagePtr srrg2_core::MessageSortedSource::getMessage(): source ova
CommandRunRunner::~CommandRunRunner|job done

and a qt widget named slam_canvas with waiting... in the center.

It seems that the system have not read the images but I check the conf path and json path is correctly.

I'm looking forward to your reply.

platform: Ubuntu 16.04
kernel: 4.15.0-101-generic
ros: Kinetic
gcc-version: 5.4.0

╭─m@m-pc ~/ws_srrg2 
╰─$ rosrun srrg2_executor srrg2_shell -dlc srrg2_dynamic_libraries.txt -c /home/m/work/srrg2/srrg2_proslam/configurations/tum.conf -vt shared
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_viewer_ros_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_viewer_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_solver_core_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_viewer_core_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_proslam_sensor_processing_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_qgl_viewport_ros_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_proslam_tracking_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_configurable_shell_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_viewer_core_ros_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_solver_types2d_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_config_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_solver_linear_solvers_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_matchable_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_slam_interfaces_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_property_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_point_cloud_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_solver_calib_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_solver_sparse_block_matrix_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_qgl_viewport_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_solver_factor_graph_utils_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_solver_projective_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_data_structures_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_proslam_mapping_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_messages_ros_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_g2o_converter_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_image_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_messages_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_proslam_registration_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_system_utils_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_converters_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_solver_types3d_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/m/ws_srrg2/devel/lib/libsrrg2_boss_library.so ] FOUND
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_viewer_ros_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_viewer_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_solver_core_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_viewer_core_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_proslam_sensor_processing_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_qgl_viewport_ros_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_proslam_tracking_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_configurable_shell_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_viewer_core_ros_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_solver_types2d_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_config_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_solver_linear_solvers_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_matchable_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_slam_interfaces_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_property_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_point_cloud_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_solver_calib_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_solver_sparse_block_matrix_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_qgl_viewport_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_solver_factor_graph_utils_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_solver_projective_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_data_structures_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_proslam_mapping_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_messages_ros_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_g2o_converter_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_image_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_messages_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_proslam_registration_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_system_utils_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_converters_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_solver_types3d_library.so]OK
opening library [/home/m/ws_srrg2/devel/lib/libsrrg2_boss_library.so]OK
loaded config paths from file [srrg2_dynamic_libraries.txt]
srrg2_shell|viewer requested, creating a qt-server

(process:19636): Gtk-WARNING **: Locale not supported by C library.
	Using the fallback 'C' locale.
srrg2_shell|creating a shared Qt-based viewer 
ConfigurableShell::ConfigurableShell|installed signal handler [0]
srrg2_shell|starting processing thread
ConfigurableShell::run|shell is in batch_mode
opening file [/home/m/work/srrg2/srrg2_proslam/configurations/tum.conf]
COMMANDS
      add_canvas        <canvas_name> <name/ptr>, add a new canvas
      cd                changes the working directory
      clear             deletes everything
      create            <class_name>,  creates a new instance
      dl_config         dl_config <filename>, dynamically loads a library from a stub file
      dlopen            dlopen <library filename>, dynamically loads a library
      erase             <class_name/ptr>, erases an instance
      exec              <class_name/ptr> [<args>], executes a module a command
      fg                resumes a running process
      help              lists available commands
      instances         [<type prefix>] shows the available instances
      kill              kills a running session
      ls                lists the files in the current directory
      ls_canvases       lists all canvases
      names             lists the named objects in the manager
      open              open <filename>, opens a file
      pwd               prints working directory
      quit              terminares shell
      rm_canvas         <canvas_name>, remove a canvas
      run               <source> <sink> [--pause], runs a pipeline by pushing all messages from source to sink with visual
      set               <class_name>, sets a field in a config
      set_name          <name/ptr> <new_name>,  sets the name of an object 
      show              <name/ptr>,  shows the fields of an object 
      types             [<type prefix>] lists available types
      write             <filename>, writes a conf file
ConfigurableShell::run|shell is in interactive_mode
SRRG> add_canvas slam_canvas slam
ViewerManagerShared::getCanvas|created a context with name slam_canvas
adding new canvas slam_canvas (0x7efd84001c80) for module slam
SRRG> run sync slam
ConfigurableVisualShell::startCallback|waiting for viewer to start ... ViewerManagerShared::bindViewport|context slam_canvas has been binded to viewport [21988992]
ready
ConfigurableVisualShell::startCallback|Clearing screen... 
ConfigurableVisualShell::startCallback|ready to go
virtual srrg2_core::BaseSensorMessagePtr srrg2_core::MessageSortedSource::getMessage(): source ova
CommandRunRunner::~CommandRunRunner|job done
SRRG>

Is ROS required or optional?

Can this package be built without ROS? The description seems to suggest that it is possible, however the cmake requires some *_ros packages (which I have blacklisted for build without ROS).

Or if there is a way how to test srrg2_proslam without this package, that would also work for me.

Failed to run Package srrg2_laser_slam_2d

Hi, thanks for providing a thorough explanation for the installation and build. I was trying to run srrg2_laser_slam_2d with srrg2_executor with the stage_segway_double_config_LASER_0.json file provided in the configuration directory of this repository.

When I tried executing the below,

rosrun srrg2_executor srrg2_shell -dlc srrg2_dynamic_libraries.txt -c src/configurations/stage_segway_double_config_LASER_0.json -vt shared

I came across the following errors:

DynamicLoaderConfig| looking for file [/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_solver_calib_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_config_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_qgl_viewport_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_image_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_point_cloud_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_laser_slam_2d_registration_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_viewer_ros_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_matchable_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_property_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_solver_sparse_block_matrix_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_viewer_core_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_laser_slam_2d_sensor_processing_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_solver_types2d_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_system_utils_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_boss_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_laser_slam_2d_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_solver_factor_graph_utils_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_solver_core_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_solver_projective_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_data_structures_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_viewer_core_ros_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_qgl_viewport_ros_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_configurable_shell_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_messages_ros_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_laser_slam_2d_mapping_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_g2o_converter_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_slam_interfaces_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_solver_types3d_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_converters_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_messages_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_solver_linear_solvers_library.so ] FOUND
DynamicLoaderConfig| looking for file [/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_viewer_library.so ] FOUND
opening library [/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_solver_calib_library.so]ERROR
/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_solver_calib_library.so: undefined symbol: _ZTIN12srrg2_solver14VariablePoint3E
opening library [/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_config_library.so]ERROR
/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_solver_calib_library.so: undefined symbol: _ZTIN12srrg2_solver14VariablePoint3E
opening library [/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_qgl_viewport_library.so]ERROR
/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_solver_calib_library.so: undefined symbol: _ZTIN12srrg2_solver14VariablePoint3E
opening library [/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_image_library.so]ERROR
/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_solver_calib_library.so: undefined symbol: _ZTIN12srrg2_solver14VariablePoint3E
opening library [/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_point_cloud_library.so]OK
opening library [/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_laser_slam_2d_registration_library.so]OK
opening library [/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_viewer_ros_library.so]ERROR
/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_solver_calib_library.so: undefined symbol: _ZTIN12srrg2_solver14VariablePoint3E
opening library [/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_matchable_library.so]OK
opening library [/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_property_library.so]ERROR
/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_solver_calib_library.so: undefined symbol: _ZTIN12srrg2_solver14VariablePoint3E
opening library [/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_solver_sparse_block_matrix_library.so]OK
opening library [/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_viewer_core_library.so]ERROR
/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_solver_calib_library.so: undefined symbol: _ZTIN12srrg2_solver14VariablePoint3E
opening library [/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_laser_slam_2d_sensor_processing_library.so]OK
opening library [/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_solver_types2d_library.so]OK
opening library [/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_system_utils_library.so]ERROR
/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_solver_calib_library.so: undefined symbol: _ZTIN12srrg2_solver14VariablePoint3E
opening library [/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_boss_library.so]ERROR
/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_solver_calib_library.so: undefined symbol: _ZTIN12srrg2_solver14VariablePoint3E
opening library [/home/sneha/srrg2_dir/workspaces/srrg2/devel/lib/libsrrg2_laser_slam_2d_library.so]Segmentation fault (core dumped)

Could you kindly point me in the right direction on how I can solve the above error?
Thanks in advance.

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