Runtime Error [sample_nodelet_manager-2] process has died

[satyajitghana]

I am trying to run on my bag files,

bash run_nodelet_avia.sh

bash run_loop_optimization.sh

For some reason the fastlio node dies after a few seconds, what could be the reason?

Key Frame:0, cloud size:78
[ mapping ]: time: IMU + Map + Input Downsample: 0.000871 ave match: 0.001252 ave solve: 0.000230  ave ICP: 0.000346  map incre: 0.000062 ave total: 0.002948 icp: 0.001492 construct H: 0.000087 
[sample_nodelet_manager-2] process has died [pid 2336101, exit code -11, cmd /opt/ros/noetic/lib/nodelet/nodelet manager __name:=sample_nodelet_manager __log:=/home/satyajit/.ros/log/81ca883e-f566-11ee-98c5-7907c0d462a3/sample_nodelet_manager-2.log].
log file: /home/satyajit/.ros/log/81ca883e-f566-11ee-98c5-7907c0d462a3/sample_nodelet_manager-2*.log
[ INFO] [1712553145.779359595]: Bond broken, exiting
[ INFO] [1712553145.875414030]: Bond broken, exiting
[loop_detection_plugin_loader-4] process has finished cleanly
log file: /home/satyajit/.ros/log/81ca883e-f566-11ee-98c5-7907c0d462a3/loop_detection_plugin_loader-4*.log
[fastlio_plugin_loader-3] process has finished cleanly
log file: /home/satyajit/.ros/log/81ca883e-f566-11ee-98c5-7907c0d462a3/fastlio_plugin_loader-3*.log
^C[rviz-5] killing on exit
[rosout-1] killing on exit

Is there something wrong in the modified FASTLIO in LTAOM?

[zuhaozou2017]

It seems nothing wrong with FASTLIO, but loop detection. You can try disabling loop detection in launch file.

First line: "Key Frame:0, cloud size:78". I guess the problem is that cloud points are too few for loop detection triggering runtime error.

[satyajitghana]

I am using a MID360

[satyajitghana]

in the launch config file point filter num was 5, and downsample was 0.3, I've changed it to point filter 1, and downsample 0.05, but still the cloud_size is 60-70 points only.

[zMkOrg]

I am using a MID360

When i use Mid360 to output /livox/lidar topic, the msgs's format are by default livox_ros_driver2/CustomMsg，I got the same problem as yours, When i change MID 360 /livox/lidar topc msg type to sensor_msgs/PointCloud2，the problem is sovled (I guess)

[zMkOrg]

in the launch config file point filter num was 5, and downsample was 0.3, I've changed it to point filter 1, and downsample 0.05, but still the cloud_size is 60-70 points only.

Also , you can use mid360 with livox_ros_driver2/CustomMsg format, just need to make some changes in preprocess.cpp at line 147 and line 160 as hinted

[zz1997361]

在启动配置文件中，点过滤器数量为 5，下采样为 0.3，我将其更改为点过滤器 1，下采样为 0.05，但 cloud_size 仍然只有 60-70 点。

另外，您可以将 mid360 与 livox_ros_driver2/CustomMsg 格式一起使用，只需按照提示在 preprocess.cpp 的第 147 行和第 160 行进行一些更改即可

我正在使用 MID360

当我使用 Mid360 输出 /livox/lidar 主题时，消息的格式默认为 livox_ros_driver2/CustomMsg，我遇到了和你一样的问题，当我将 MID 360 /livox/lidar topc 消息类型更改为 sensor_msgs/PointCloud2 时，问题就解决了（我猜）

hi，我遇到了同样的问题，并按照你的建议将 MID 360 /livox/lidar topc 消息类型更改为 sensor_msgs/PointCloud2 时，可以运行一段时间了，但还是会有process has died的问题