jake3991 / draco-slam Goto Github PK

Hello, thank you very much for your work, but I have a problem when running this project, as follows: When I run rosbag playsample _ data _ three _ robot.bag, I get an error: Error: index entry for topic/ROV _ one/RTI/body _ velocity/rawcontains invalid time. This message will not be loaded.
at line 651 in /tmp/binarydeb/ros-noetic-rosbag-storage-1.16.0/src/bag.cpp
Error: Index entry for topic /rov_two/vn100/imu/raw contains invalid time. This message will not be loaded.
at line 651 in /tmp/binarydeb/ros-noetic-rosbag-storage-1.16.0/src/bag.cpp
Error: Index entry for topic /rov_three/vn100/imu/raw contains invalid time. This message will not be loaded.
at line 651 in /tmp/binarydeb/ros-noetic-rosbag-storage-1.16.0/src/bag.cpp

Hello, thank you for your contribution. I encountered some problems when I reappeared your work recently, and I look forward to your reply.
First of all, in the dead_reckoning.py file, it seems that you don't have the initialization parameter self.rov_id, which makes it impossible to correctly publish the transformation from odom coordinate system to base_link coordinate system of each robot.
Next，when I run roslaunch draco_slam slam.launch, I open a new terminal to run roabag play sample_data_three_robot.bag, and it displays "unknown frame world" in rviz.
However, the launch file of each rov has the following definition: .
Why is it wrong to report "unknown frame world"? I would appreciate it if you could give me some advice.

Hello! Thank you very much for your work. When I successfully compiled and ran this demo, the terminal reported an error:
draco_slam/src/draco_slam/multi_robot_slam.py", line 1320, in merge_trajectory
isam.update(graph, values)
RuntimeError: Indeterminant linear system detected while working near variable8791026472627208192 (Symbol: z0).
Thrown when a linear system is ill-posed. The most common cause for this error is having underconstrained variables. Mathematically, the system is underdetermined.
Is this error due to a problem with the ros packet? Or is there something wrong with the parameters? I don't know how to modify it. I would appreciate it if you could answer my question.
Looking forward to your reply

Thank you very much for your work, but I have a question.The terminal running roslaunch will report an error when I run the data set sample _ data _ three _ robot.bag. The error content is: [rov_two/rov_two_feature_extraction-7] process has died [pid 39565, exit code -11, cmd /home/xlx/aa_ws/src/draco_slam/scripts/feature_extraction_node.py __name:=rov_two_feature_extraction __log:=/home/xlx/.ros/log/e61706d4-f1b3-11ee-a4c2-2997702f1df1/rov_two-rov_two_feature_extraction-7.log]. What is the reason? I have been debugging the code and failed to solve it.