loam_velodyne failed

[mantangL]

I have built the loam project successfully.And when I launch in ros kinetic ,it's successful too. But when I play the bag it's error in my computer.such as:
... logging to /home/lmt/.ros/log/d9401fc2-77a2-11e8-a910-902b3433bbc4/roslaunch-lmt-8349.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://lmt:33200/

SUMMARY

PARAMETERS

• /laserMapping/scanPeriod: 0.1
• /laserOdometry/scanPeriod: 0.1
• /multiScanRegistration/lidar: VLP-16
• /multiScanRegistration/scanPeriod: 0.1
• /rosdistro: kinetic
• /rosversion: 1.12.13

NODES
/
laserMapping (loam_velodyne/laserMapping)
laserOdometry (loam_velodyne/laserOdometry)
multiScanRegistration (loam_velodyne/multiScanRegistration)
rviz (rviz/rviz)
transformMaintenance (loam_velodyne/transformMaintenance)

auto-starting new master
process[master]: started with pid [8360]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to d9401fc2-77a2-11e8-a910-902b3433bbc4
process[rosout-1]: started with pid [8373]
started core service [/rosout]
process[multiScanRegistration-2]: started with pid [8382]
process[laserOdometry-3]: started with pid [8389]
process[laserMapping-4]: started with pid [8392]
process[transformMaintenance-5]: started with pid [8393]
process[rviz-6]: started with pid [8409]
[ INFO] [1529840195.272982324]: Set scanPeriod: 0.1
[ INFO] [1529840195.306128817]: Set VLP-16 scan mapper.
0x1c04540 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x1069d50) ): Attempt to set a screen on a child window.
0x1bfa9d0 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x1069d50) ): Attempt to set a screen on a child window.
0x1c02c00 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x1069d50) ): Attempt to set a screen on a child window.
0x1c06060 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x1069d50) ): Attempt to set a screen on a child window.
[multiScanRegistration-2] process has died [pid 8382, exit code -11, cmd /home/lmt/loam_ws/devel/lib/loam_velodyne/multiScanRegistration /multi_scan_points:=/velodyne_points __name:=multiScanRegistration __log:=/home/lmt/.ros/log/d9401fc2-77a2-11e8-a910-902b3433bbc4/multiScanRegistration-2.log].
log file: /home/lmt/.ros/log/d9401fc2-77a2-11e8-a910-902b3433bbc4/multiScanRegistration-2*.log

And then I put this project in other computer It is successful. I can't find the reason of this failure.Why it is fail?

[brunoeducsantos]

I have precisely the same issue. Did you find any solution?

[brunoeducsantos]

The solution is launch LOAM in one separated terminal and rosbag in a new separated terminal.

[mantangL]

@BrunoEduardoCSantos OK, thanks for your answer,but I have try it using your method.It is failed too.

[Jackey-Huo]

@mantangL would you mind provide your pcl lib version and g++ version? I encountered the same issue before, and finally find it related to pcl voxelgrid method

[mantangL]

@Jackey-Huo pcl lib version is 1.7 g++ version is 5.4.0

[mantangL]

@Jackey-Huo how do you solve it?

[Jackey-Huo]

@mantangL My pcl lib version is 1.8, g++ 7.2, Ubuntu 18.04.

I found that when I use the apt installed pcl lib, multiScanRegistration would crash immediately after rosbag play is fired. After some search I found it's caused by the mismatch between pre-build pcl binary and native compiler options. So I removed the previous pcl lib and build it from source, Then everything works fine!

There are some related issue & pr from pcl community: issue2013 , PR 2100

Hope you find it helpful :)

[xuhaoda1995]

@Jackey-Huo I found i built pcl from source then noted that can't find pcl_conversionsConfig.cmake,can you give some detail about build pcl? thank you.

[Jackey-Huo]

@xuhaoda1995 pcl_conversions is a ros package, providing pcl data structure conversion from pcl lib and ros. It should be provided by ros.

The following cmd may help you:
locate pcl_conversionsConfig.cmake

If no file found, you have to install the package. you can install it from apt by typing:
sudo apt-get install ros-<your ros version>-pcl-conversions

Hope it can help you ;)

[xuhaoda1995]

@Jackey-Huo thank you for your help. I remove the pcl lib and want to build it by myself for reason of loam not running. Now I solve the problem by building pcl_conversions source.

[slmat27]

@Jackey-Huo would you kindly advise on how exactly did you remove the pcl lib, my pcl lib version is 1.8, g++ 7.3, Ubuntu 18.04 and ros melodic and getting the same error. Thank you in advance!

[Jackey-Huo]

@slmat27

1. Remove the apt installed pcl lib
   sudo apt-get remove --purge libpcl*

2. Verify loam cannot find any pcl lib

cd path/to/your/catkin_ws
rm -rf build devel
catkin_make

If the build failed due to lack of pcl lib, then you have removed pcl successfully :)

[liumengbjut]

@slmat27 We met the same error with the same working environment. Did you find any solution? I followed the above instructions, but it is still not working...

[slmat27]

I solved it by installing pcl-1.9 from source, and everything is okay since then

You can download the latest release from here: https://github.com/PointCloudLibrary/pcl/releases

And the installation from source steps can be found here: http://www.pointclouds.org/documentation/tutorials/compiling_pcl_posix.php

[liumengbjut]

@slmat27 Thanks so much. The "multiScanRegistration" error can be avoided. However, I met the new error log "[laserMapping-4] process has died". I have to solve the new problem...

[slmat27]

@liumengucas I would more information regarding the error to be able to support you.

[AravindChandradoss]

Hey! @liumengucas I also got the same error? did you solve the issue?

[Jackey-Huo]

@AravindChandradoss Would you mind to provide information about your cpu and OS? I'd like to know the gdb backtrace from crash point as well

[AravindChandradoss]

Ubuntu 18.04, intel core i7
ROS melodic.
Got this error!

[laserMapping-4] process has died [pid 6162, exit code -11, cmd /home/aravinddoss/slam/loam/devel/lib/loam_velodyne/laserMapping __name:=laserMapping __log:=/home/aravinddoss/.ros/log/4b342834-5237-11e9-b0cb-34e6ad887d40/laserMapping-4.log].
log file: /home/aravinddoss/.ros/log/4b342834-5237-11e9-b0cb-34e6ad887d40/laserMapping-4*.log

[Jackey-Huo]

Ubuntu 18.04, intel core i7
ROS melodic.
Got this error!

[laserMapping-4] process has died [pid 6162, exit code -11, cmd /home/aravinddoss/slam/loam/devel/lib/loam_velodyne/laserMapping __name:=laserMapping __log:=/home/aravinddoss/.ros/log/4b342834-5237-11e9-b0cb-34e6ad887d40/laserMapping-4.log].
log file: /home/aravinddoss/.ros/log/4b342834-5237-11e9-b0cb-34e6ad887d40/laserMapping-4*.log

@AravindChandradoss

1. I need the detailed cpu info, please run the following command and paste output

lscpu

2. The error just show laserMapping node crashed, we need deep debug info. Please build the whole project in debug mode ( you can change the compiler flags in CMakeLists.txt file ), and launch it with gdb.
   Inside the gdb, run it till the crash point, and print backtrace of it.

the following links may help you finish it:
https://bytefreaks.net/programming-2/cc-how-do-you-set-gdb-debug-flag-g-with-cmake
https://sourceware.org/gdb/onlinedocs/gdb/Backtrace.html
https://answers.ros.org/question/47210/how-to-roslaunch-node-in-gdb/

[Jackey-Huo]

@AravindChandradoss
Please make sure you have installed xterm and gdb ;)

[kartikmohta]

You can try removing the line:

loam_velodyne/CMakeLists.txt

Line 35 in 25db5dd

add_definitions( -march=native )

from the CMakeLists.txt and then recompile and launch.

[AravindChandradoss]

Thanks @kartikmohta
It is working now. What exactly has happened?

[wwtinwhu]

Thanks @kartikmohta

[whitelok]

I met this error when I run my code in docker.
As far as I known, g++/gcc compiler is just a translator of C lang to asm. "-march=native" will optimize you code with related CPU instructions(like AVX ). g++/gcc is not responded whether you binary(after compiled with this optimization) can be ran.
so if you want to use this optimization, you can gcc -c -Q -march=native --help=target | grep march to get the right one.

[whitelok]

FYI: https://link.zhihu.com/?target=https%3A//wiki.gentoo.org/wiki/GCC_optimization%23-march

[aemarkov]

Thank you @kartikmohta! Your advice helped for me and I think it's the best and most simple solution. I tried to uninstall libpcl*, but all ROS packages was removed because PCL is a dependency.

[Stigmaru]

I solved it by installing pcl-1.9 from source, and everything is okay since then

You can download the latest release from here: https://github.com/PointCloudLibrary/pcl/releases

And the installation from source steps can be found here: http://www.pointclouds.org/documentation/tutorials/compiling_pcl_posix.php

Should I install PCL 1.9 specifically to fix this issue or does the latest PCL work also?

[miroslavradojevic]

Thanks @kartikmohta your solution was helpful.

[srinivasrama]

Thanks @kartikmohta

[midiexiangxxx]

simply remove the -march=native flag in the CMakeLists.txt solved this problem for me