arche_demo bug

[holyly]

when I run roslaunch voxgraph arche_demo.launch rosbag_path:=${HOME}/Downloads/arche_flight1_2ms_indoor-outdoor-figure-8.bag.and I got warn constantly during roabag run:

[ WARN] [1619080136.406383628, 1562071476.437020168]: Waited 0.260s, but still could not get the TF from imu to odom
[ WARN] [1619080136.406426044, 1562071476.437020168]: Skipping pointcloud since the poses at time 1562071464.118183168 could not be looked up.
[ WARN] [1619080136.618917838, 1562071476.648270632]: Lookup would require extrapolation at time 1562071466.818925312, but only time 1562071434.016608256 is in the buffer, when looking up transform from frame [os1_lidar] to frame [odom]
[ WARN] [1619080136.667912276, 1562071476.698659349]: Waited 0.260s, but still could not get the TF from imu to odom
[ WARN] [1619080136.667957675, 1562071476.698659349]: Skipping pointcloud since the poses at time 1562071464.218068992 could not be looked up.
[ WARN] [1619080136.919223225, 1562071476.950432803]: Lookup would require extrapolation at time 1562071467.122307072, but only time 1562071434.016608256 is in the buffer, when looking up transform from frame [os1_lidar] to frame [odom]

my tf tree:

and my systerm is ubuntu18.04 , cpu is ii5-9300H, and in SSD.
when the roabag is runing ,the consumption ratio of CPU is as follows:

and the final mapping :

[holyly]

Except for a few seconds of the maping, the rest of the time is warning and does not run the mapping node.

[victorreijgwart]

Somehow the lidar_undistortion node seems to be falling behind on your machine. It's also strange that it's taking up so much computing power (it should only use ~5 to 45% of a single thread depending on how your CPU performs).
Are you using the regular (apt install) version of PCL, or a custom version?
The hardware you're using should be sufficient and the TF tree seems to be in order.
Could you also check if rosparam get use_sim_time returns true?

[holyly]

Somehow the lidar_undistortion node seems to be falling behind on your machine. It's also strange that it's taking up so much computing power (it should only use ~5 to 45% of a single thread depending on how your CPU performs).
Are you using the regular (apt install) version of PCL, or a custom version?
The hardware you're using should be sufficient and the TF tree seems to be in order.
Could you also check if rosparam get use_sim_time returns true?

I using the regular (apt install) version of PCL,amd rosparam get use_sim_time returns ERROR: Unable to communicate with master!.Maybe that's reason ,I'm going to fix it and try it again

[holyly]

@victorreijgwart After I set rosparam set /use_sim_time true,rosparam get use_sim_time retuns true,but the mapping is still warn and the final result map still incompelet.

[victorreijgwart]

Hi @holyly, from what you described it sounds like you have the right setup and are doing the right things - so I'm not sure what could be wrong. It's tricky to debug something remotely. Do you still have the same problem?
Just to be sure, are you on the master branches of voxblox, cblox, and voxgraph?

[holyly]

Hi @holyly, from what you described it sounds like you have the right setup and are doing the right things - so I'm not sure what could be wrong. It's tricky to debug something remotely. Do you still have the same problem?
Just to be sure, are you on the master branches of voxblox, cblox, and voxgraph?

Hi,I still have this problem,and I am on master branches of voxblox,cblox,and voxgraph.
By the way, I find my OpenGL version is 3.0,lower than some people running this project，their version is 4.6. I was thinking that might be the reason, but for some reason I haven't upgraded OpenGL yet.
No matter what ,thank you very much!