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RViZ no Visualization in world frame and path

Hello, thank you for sharing this great work! I was trying to run the example with the campus outdoor dataset but there are no visualization showing up in RViZ. All the setup and code builds with no errors and the command CATKIN_WS=<path-to-catkin-ws> DATA_PATH=<path-to-campus-outdoor-data-folder> LOG_DIR=<path-to-log-folder> tmuxp load 1014-example.yaml also ran fine with no errors.

However, inside RViZ it cannot find the fixed frame world and in the terminal, it also shows 0 loop-closures for the entire duration of the rosbags. I wonder if I missed anything and any suggestions would be appreciated! Thanks!

I am running ROS noetic.

Kimera-Multi - simulation in the gazebo

Hi, I'm new to ROS and need a little help. I'm trying to put Kimera-Multi working with a simulation in gazebo, instead of rosbag, and i was hoping for some guidance, does anyone have a suggestion for what should i change?
For now, I'm just using a pioneer 3dx robot and a realsense d435i camera. I've already got the gazebo open with the robot and sensors, the topics are beeing published, but I think I need some tips for what changes i need to do in kimera-multi in order to “run it”.

Integration Issues with Kimera-PGMO and Kimera-Semantics in Multi-Robot Context

Hi,
I am integrating Kimera-PGMO and Kimera-Semantics with a setup that successfully runs the front-end, back-end, and single-robot VIO, as shown in the attached image. However, I've encountered issues during integration, particularly with frame transformations for Kimera-Semantics in the multi-robot context.

I have followed the instructions in the provided launch file and modified the topic names as needed. My goal is to display kimera_semantics_node/mesh and kimera_vio_ros/odometry in the map of a single robot or to show the mesh in the world coordinates, as depicted in the paper.

Are any specific frame transformations required for Kimera-Semantics in a multi-robot setup? Did I need to include any critical steps for achieving the desired visualization per the paper?
Additionally, my PGMO module shows the following error when receiving dpgo_ros/path messages. Could this be affecting the mesh optimization process?

I would appreciate any insights or guidance on resolving these integration issues.
Thank you!

gflags relate error

I encountered the following error while executing catkin build --continue -s

Running Kimera-Multi with multiple drones in Airsim and Unreal Engine

Thanks for the great work. I am looking to simulate multi-robot SLAM using kimera-multi in a photorealistic scenario. At the moment I have found Airsim to be an excellent plugin for drones with RGB and depth streams in Unreal Engine. Can you give guidance on how to set up kimera-multi using this repo on airsim with UE?
I am trying to understand how I can integrate Kimera-multi given that I have multiple rgb and depth streams from each agent. Roughly speaking, what kinds of inputs I would require (rgb stream, depth stream, odometry, etc.)

process [acl_jackal/kimera_vio_ros/kimera_vio_ros_node-1] has died!

Hello, I am facing that process [acl_jackal/kimera_vio_ros/kimera_vio_ros_node-1] has died! I guess it is because I don't have the rosbag files. How can I obtain your rosbag files?

$tmuxp load src/kimera_multi/examples/1014-example.yaml
[Loading] /root/catkin_ws/src/kimera_multi/examples/1014-example.yaml

/acl_jackal/kimera_vio_ros/kimera_vio_ros_node/log_gt_data: True
/acl_jackal/kimera_vio_ros/kimera_vio_ros_node/map_frame_id: acl_jackal/map
/acl_jackal/kimera_vio_ros/kimera_vio_ros_node/mono_ransac_threshold: 30
/acl_jackal/kimera_vio_ros/kimera_vio_ros_node/odom_frame_id: acl_jackal/odom
/acl_jackal/kimera_vio_ros/kimera_vio_ros_node/online_run: True
/acl_jackal/kimera_vio_ros/kimera_vio_ros_node/params_folder_path: /root/catkin_ws/s...
/acl_jackal/kimera_vio_ros/kimera_vio_ros_node/position_det_threshold: 0.3
/acl_jackal/kimera_vio_ros/kimera_vio_ros_node/publish_vlc_frames: True
/acl_jackal/kimera_vio_ros/kimera_vio_ros_node/right_cam_frame_id: acl_jackal/forwar...
/acl_jackal/kimera_vio_ros/kimera_vio_ros_node/robot_id: 0
/acl_jackal/kimera_vio_ros/kimera_vio_ros_node/sensor_params_folder_path:
/acl_jackal/kimera_vio_ros/kimera_vio_ros_node/stereo_ransac_threshold: 20
/acl_jackal/kimera_vio_ros/kimera_vio_ros_node/use_external_odom: True
/acl_jackal/kimera_vio_ros/kimera_vio_ros_node/use_lcd: True
/acl_jackal/kimera_vio_ros/kimera_vio_ros_node/use_lcd_registration_server: False
/acl_jackal/kimera_vio_ros/kimera_vio_ros_node/use_rviz: True
/acl_jackal/kimera_vio_ros/kimera_vio_ros_node/velocity_det_threshold: 0.1
/acl_jackal/use_sim_time: True
/rosdistro: noetic
/rosversion: 1.16.0

NODES
/acl_jackal/
base_to_realsense (tf2_ros/static_transform_publisher)
left_img_decompress (image_transport/republish)
right_img_decompress (image_transport/republish)
/acl_jackal/kimera_vio_ros/
kimera_vio_ros_node (kimera_vio_ros/kimera_vio_ros_node)

ROS_MASTER_URI=http://localhost:11311

process[acl_jackal/kimera_vio_ros/kimera_vio_ros_node-1]: started with pid [15397]
process[acl_jackal/base_to_realsense-2]: started with pid [15403]
process[acl_jackal/left_img_decompress-3]: started with pid [15410]
process[acl_jackal/right_img_decompress-4]: started with pid [15423]
================================================================================REQUIRED process [acl_jackal/kimera_vio_ros/kimera_vio_ros_node-1] has died!
process has died [pid 15397, exit code -11, cmd /root/catkin_ws/devel/lib/kimera_vio_ros/kimera_vio_ros_node --use_lcd=true --vocabulary_path=/root/catkin_ws/src/kimera_multi_lcd/vocab/mit_voc.yml --flagfile=/root/catkin_ws/src/kimera_multi/params/D455/flags/Mesher.flags --flagfile=/root/catkin_ws/src/kimera_multi/params/D455/flags/VioBackend.flags --flagfile=/root/catkin_ws/src/kimera_multi/params/D455/flags/RegularVioBackend.flags --flagfile=/root/catkin_ws/src/kimera_multi/params/D455/flags/Visualizer3D.flags --use_external_odometry=true --do_coarse_imu_camera_temporal_sync=false --do_fine_imu_camera_temporal_sync=false --lcd_no_optimize=true --lcd_no_detection=false --depth_image_mask= --logtostderr=1 --colorlogtostderr=1 --log_prefix=1 --minloglevel=0 --v=0 --log_output=false --log_euroc_gt_data=false --output_path=/root/catkin_ws/src/kimera_ros/output_logs/ --lcd_disable_stereo_match_depth_check=true --no_incremental_pose=true --viz_type=2 --visualize=true left_cam/image_raw:=/acl_jackal/forward/infra1/image_rect_raw left_cam/image_raw/compressed:=/acl_jackal/forward/infra1/image_rect_raw/compressed right_cam/image_raw:=/acl_jackal/forward/infra2/image_rect_raw right_cam/image_raw/compressed:=/acl_jackal/forward/infra2/image_rect_raw/compressed imu:=/acl_jackal/forward/imu external_odom:=/acl_jackal/jackal_velocity_controller/odom reinit_flag:=reinit_flag reinit_pose:=reinit_pose odometry:=odometry resiliency:=resiliency imu_bias:=imu_bias optimized_trajectory:=optimized_trajectory pose_graph:=pose_graph mesh:=mesh frontend_stats:=frontend_stats debug_mesh_img/image_raw:=debug_mesh_img/image_raw feature_tracks/image_raw:=feature_tracks/image_raw time_horizon_pointcloud:=time_horizon_pointcloud __name:=kimera_vio_ros_node __log:=/root/.ros/log/b6e6df30-8d3e-11ee-b884-0242ac110002/acl_jackal-kimera_vio_ros-kimera_vio_ros_node-1.log].
log file: /root/.ros/log/b6e6df30-8d3e-11ee-b884-0242ac110002/acl_jackal-kimera_vio_ros-kimera_vio_ros_node-1*.log
Initiating shutdown!

[acl_jackal/right_img_decompress-4] killing on exit
[acl_jackal/left_img_decompress-3] killing on exit
[acl_jackal/base_to_realsense-2] killing on exit
[acl_jackal/kimera_vio_ros/kimera_vio_ros_node-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

RViz Unexpected Output

Hi, thanks for the great work. I am having some issues with RViz. I have been running it with two robots (acl_jackal and acl_jackal2) but the default RViz configuration shows no output. In order to see any RViz output I have to change the Fixed Frame from world to /acl_jackal2/map and the topics for Path0 and Path1 to /acl_jackal/kimera_vio_ros/optimized_trajectory and /acl_jackal2/kimera_vio_ros/optimized_trajectory respectively.

After doing these config changes, the path of the first robot appears on the RViz but at a random point (I have checked several times and it seems the issue appears at different times during playback) I get the following output.

Do you know what may be causing the issue with the graph and no output being shown with the default RViz config? The library builds with no issues.

Thanks in advance!

Is it ok to use my own RGBD dataset?

Thank you for such a great job！
Is it ok to use my own RGBD dataset? I have a mutli-room RGBD dataset, but I don't have IMU, LiDAR, Stereo and other data, can your code run on this dataset?
Besides, the RGB image of my RGBD dataset is in .jpg format, the Depth image is in .png format, and the pose is in .txt format. Will this still work with your work? If not, how can I convert the data format to meet the requirements?
Thank you for your reply！

Kimera-vio & kimera-rpgo

Hello,

I'm working with the kimera-vio-ros module to extract 3D poses from the RealSense D435i camera. Currently, I can visualize the estimated odometry and the path traveled using this module, in addition to visualizing the graph generated by posegraph_viewer.

I'm now trying to integrate the RPGO module into my system. However, I'm finding it difficult to understand how to connect these two modules effectively.

I wanted to do it first for 1 robot before implementing it for more than one.

No visualization on rviz

Hello, thank you for making this project. I'm using this package in ros noetic.

I'm trying to run the example provided on the campus_outdoor_1014 dataset and I have the exact same issues as here, where after running the command CATKIN_WS=<path-to-catkin-ws> DATA_PATH=<path-to-campus-outdoor-data-folder> LOG_DIR=<path-to-log-folder> tmuxp load 1014-example.yaml, all the terminals run fine with no error output, but rviz shows no visualizations, with the Global Status Error "Unknown frame map". Nothing else in rviz shows errors (e.g. /acl_jackal/kimera_vio_ros/optimized_trajectory) but there is still nothing visualized. I also tried changing the global frame to be one of the robots' frames but it still doesn't show anything

Referencing issue #6 , I've tried installing image_transport_plugins with sudo apt-get install ros-noetic-image-transport-plugins but it didn't fix the issue.

Here is my log folder for acl_jackal: acl_jackal.zip. As can be seen, the results aren't all empty: e.g. lcd_log.csv and odometry_poses.csv have non-zero entries. It's the same for the other robots as well. When I try to compare the file trajectory_optimized.csv with the ground truth for jackal, it didn't optimize as you can see below:

Any help to identify and fix the problem would be appreciated. Thank you.

Incorrect vocabulary path: /catkin_ws/src/kimera_multi_lcd/vocab/mit_voc.yml

First, a big thumbs up for you and your team's great work, Yun Chang! You guys did such a great job making Kimera-Multi open-source.

Then, I'd like to report some bugs in my running case. In the vio window, every panel reports the following error:

And I checked there's no such a directory named /catkin_ws/src/kimera_multi_lcd/vocab.

Please check if the kimera_multi_lcd repo misses this directory.

Error installing dependencies： ros-melodic-mesh-tools : Depends: ros-melodic-rviz-mesh-plugin but it is not installable E: Unable to correct problems, you have held broken packages.

@yuluntian Hello, sorry to bother you and thanks for the great work. I am using ubuntu18.04. When installing dependencies, the following error occurs. It seems that the package has been abandoned. How can I solve the dependency problem?

The following packages have unmet dependencies:
 ros-melodicmesh-tools : Depends: ros-melodic-rviz-mesh-plugin but it is not installable
E: Unable to correct problems, you have held broken packages.

When I use:
sudo apt install ros-melodic-rviz-mesh-plugin,
The following prompt will appear：

Reading package list... Done
Analyzing the dependency tree of the package
Reading status information... Done
Package ros-melodic-rviz-mesh-plugin is not available, but it is referenced by other packages.
This may mean that the missing package may be obsolete,
or can only be found in other release sources
E: Package ros-melodic-rviz-mesh-plugin has no installation candidates

Can not install kimera-distributed and kimera-multi-lcd

Hi there,

Thank you for sharing this work! I met some problems when I am trying to vcs import

=== ./kimera_distributed (git) ===
Could not determine ref type of version: ERROR: Repository not found.
fatal: Could not read from remote repository.

Please make sure you have the correct access rights
and the repository exists.
=== ./kimera_multi_lcd (git) ===
Could not determine ref type of version: ERROR: Repository not found.
fatal: Could not read from remote repository.

Please make sure you have the correct access rights
and the repository exists.

Could anyone help? Thank you!

example yaml file doesnt works

0: frontend

1: dpgo-

2: vio

3: data

log files

I'm working with rosbag files and have configured them using the '1014-example.yaml' file. While the rosbag files are functioning correctly, I'm encountering an issue where certain log files (e.g., acl_jackal-distributed_loop_closure-distributed_loop_closure_node-1*.log) are not being generated as expected. Is there an additional setting or option that needs to be adjusted for Kimera Multi to generate these log files properly?
I'm working in Docker(Ubuntu 20.04, ROS noetic, CUDA Version 12.2(Nvidia RTX 4090) )

No RVIZ Visualization?

Thank you so much for sharing this work. I have finished the setup and get no errors when building or running the provided example; however I did initially get "Fixed Frame [world] does not exist" in RVIZ with no visualization (I just see the grid and the background). When I change the fixed frame to any other available frame, I still can't see anything being visualized. Could you help me?

Campus-Outdoor Data Testing and Custom YAML Configuration with Kimera-Multi

Hello, I have a few questions .

Firstly, I have been working with the Campus-Outdoor data set for testing with Kimera-Multi. I've followed the instructions provided, running the command CATKIN_WS= DATA_PATH= LOG_DIR= tmuxp load 1014-example.yaml. Despite the process completing without any module errors, I am unable to visualize the robot's path in RViz. I have tried solutions mentioned in closed issues MIT-SPARK/Kimera-Multi-Data#3, MIT-SPARK/Kimera-Multi-Data#6, and MIT-SPARK/Kimera-Multi-Data#8 on your repository, but the problem persists. I suspect an issue with the DPGO module, possibly related to loop closure detection. I have attached the log file from this run for your reference.

Secondly, I have created a custom YAML file, 1014-example-2robots.yaml, based on the original file logic, modifying it to operate with only two robots instead of six. However, I encounter an error during the execution of the second robot ( Total inter-robot loop closures: 0; DistributedLoopClosure.cpp:100] Check failed: robot_id >= config_.my_id_ (0 vs. 1)), which seems unexpected given the logical nature of the modifications. I am attaching this YAML file as well in the zip file and would greatly appreciate your insights into whether my approach is correct and what might be causing this error.

Thank you for your time and consideration.
klog.zip

Running Kimera-Multi on EuRoC MH: issues with results

Hello, I'm raising a new issue, as directed by @yunzc from this thread. Thank you for helping me to get it running on campus_outdoor_1014. I'm now trying to run it on EuRoC Machine Hall dataset with 5 robots.

I worked from 1014-example.yaml and took a look at kimera_vios_ros_euroc.launch as suggested by yunzc. Here's what I changed:

I edited the yaml to look like the following:

session_name: kimera-distributed-mh-example

environment:
  ROBOT0: "acl_jackal"
  ROBOT1: "acl_jackal2"
  ROBOT2: "sparkal1"
  ROBOT3: "sparkal2"
  ROBOT4: "hathor"
  #ROBOT5: "thoth"
  ROSBAG0: "$DATA_PATH/MH_01_easy.bag"
  ROSBAG1: "$DATA_PATH/MH_02_easy.bag"
  ROSBAG2: "$DATA_PATH/MH_03_medium.bag"
  ROSBAG3: "$DATA_PATH/MH_04_difficult.bag"
  ROSBAG4: "$DATA_PATH/MH_05_difficult.bag"
  #ROSBAG5: "$DATA_PATH/10_14_thoth.bag"
  RATE: "1.0"
  NUM_ROBOTS: "5"
  BOW_SKIP_NUM: "3"

options:
  default-command: /bin/bash

windows:
- window_name: frontend
  layout: tiled  
  shell_command_before:
    - source $CATKIN_WS/devel/setup.bash
    - mkdir -p $LOG_DIR/$ROBOT0/distributed
    - mkdir -p $LOG_DIR/$ROBOT1/distributed
    - mkdir -p $LOG_DIR/$ROBOT2/distributed
    - mkdir -p $LOG_DIR/$ROBOT3/distributed
    - mkdir -p $LOG_DIR/$ROBOT4/distributed
    #- mkdir -p $LOG_DIR/$ROBOT5/distributed
    - sleep 5;

  panes:
    - roslaunch kimera_distributed kimera_distributed.launch robot_id:=0 robot_name:=$ROBOT0 num_robots:=$NUM_ROBOTS dataset_name:=Jackal log_output_path:=$LOG_DIR/$ROBOT0/distributed
    - roslaunch kimera_distributed kimera_distributed.launch robot_id:=1 robot_name:=$ROBOT1 num_robots:=$NUM_ROBOTS dataset_name:=Jackal log_output_path:=$LOG_DIR/$ROBOT1/distributed
    - roslaunch kimera_distributed kimera_distributed.launch robot_id:=2 robot_name:=$ROBOT2 num_robots:=$NUM_ROBOTS dataset_name:=Jackal log_output_path:=$LOG_DIR/$ROBOT2/distributed
    - roslaunch kimera_distributed kimera_distributed.launch robot_id:=3 robot_name:=$ROBOT3 num_robots:=$NUM_ROBOTS dataset_name:=Jackal log_output_path:=$LOG_DIR/$ROBOT3/distributed
    - roslaunch kimera_distributed kimera_distributed.launch robot_id:=4 robot_name:=$ROBOT4 num_robots:=$NUM_ROBOTS dataset_name:=Jackal log_output_path:=$LOG_DIR/$ROBOT4/distributed
    #- roslaunch kimera_distributed kimera_distributed.launch robot_id:=5 robot_name:=$ROBOT5 num_robots:=$NUM_ROBOTS dataset_name:=Jackal log_output_path:=$LOG_DIR/$ROBOT5/distributed

- window_name: dpgo
  layout: tiled
  shell_command_before:
    - source $CATKIN_WS/devel/setup.bash
    - sleep 5;

  panes:
    - roslaunch kimera_distributed dpgo.launch robot_id:=0 robot_name:=$ROBOT0 num_robots:=$NUM_ROBOTS dataset_name:=Euroc multi_master:=false log_output_path:=$LOG_DIR/$ROBOT0/distributed
    - roslaunch kimera_distributed dpgo.launch robot_id:=1 robot_name:=$ROBOT1 num_robots:=$NUM_ROBOTS dataset_name:=Euroc multi_master:=false log_output_path:=$LOG_DIR/$ROBOT1/distributed
    - roslaunch kimera_distributed dpgo.launch robot_id:=2 robot_name:=$ROBOT2 num_robots:=$NUM_ROBOTS dataset_name:=Euroc multi_master:=false log_output_path:=$LOG_DIR/$ROBOT2/distributed
    - roslaunch kimera_distributed dpgo.launch robot_id:=3 robot_name:=$ROBOT3 num_robots:=$NUM_ROBOTS dataset_name:=Euroc multi_master:=false log_output_path:=$LOG_DIR/$ROBOT3/distributed
    - roslaunch kimera_distributed dpgo.launch robot_id:=4 robot_name:=$ROBOT4 num_robots:=$NUM_ROBOTS dataset_name:=Euroc multi_master:=false log_output_path:=$LOG_DIR/$ROBOT4/distributed
    #- roslaunch kimera_distributed dpgo.launch robot_id:=5 robot_name:=$ROBOT5 num_robots:=$NUM_ROBOTS dataset_name:=Euroc multi_master:=false log_output_path:=$LOG_DIR/$ROBOT5/distributed

- window_name: vio
  layout: tiled  
  shell_command_before:
    - source $CATKIN_WS/devel/setup.bash
    - sleep 5;

  panes:
    - roslaunch kimera_multi kimera_vio_jackal_MH.launch robot_name:=$ROBOT0 robot_id:=0 use_d455:=false multirobot:=true lcd_no_optimize:=true use_external_odom:=false replay:=true should_use_sim_time:=true left_cam_topic:=/$ROBOT0/cam0/image_raw right_cam_topic:=/$ROBOT0/cam1/image_raw imu_topic:=/$ROBOT0/imu0
    - roslaunch kimera_multi kimera_vio_jackal_MH.launch robot_name:=$ROBOT1 robot_id:=1 use_d455:=false multirobot:=true lcd_no_optimize:=true use_external_odom:=false replay:=true should_use_sim_time:=true left_cam_topic:=/$ROBOT1/cam0/image_raw right_cam_topic:=/$ROBOT1/cam1/image_raw imu_topic:=/$ROBOT1/imu0
    - roslaunch kimera_multi kimera_vio_jackal_MH.launch robot_name:=$ROBOT2 robot_id:=2 use_d455:=false multirobot:=true lcd_no_optimize:=true use_external_odom:=false replay:=true should_use_sim_time:=true left_cam_topic:=/$ROBOT2/cam0/image_raw right_cam_topic:=/$ROBOT2/cam1/image_raw imu_topic:=/$ROBOT2/imu0
    - roslaunch kimera_multi kimera_vio_jackal_MH.launch robot_name:=$ROBOT3 robot_id:=3 use_d455:=false multirobot:=true lcd_no_optimize:=true use_external_odom:=false replay:=true should_use_sim_time:=true left_cam_topic:=/$ROBOT3/cam0/image_raw right_cam_topic:=/$ROBOT3/cam1/image_raw imu_topic:=/$ROBOT3/imu0
    - roslaunch kimera_multi kimera_vio_jackal_MH.launch robot_name:=$ROBOT4 robot_id:=4 use_d455:=false multirobot:=true lcd_no_optimize:=true use_external_odom:=false replay:=true should_use_sim_time:=true left_cam_topic:=/$ROBOT4/cam0/image_raw right_cam_topic:=/$ROBOT4/cam1/image_raw imu_topic:=/$ROBOT4/imu0
    #- roslaunch kimera_multi kimera_vio_jackal.launch robot_name:=$ROBOT5 robot_id:=5 use_d455:=true multirobot:=true lcd_no_optimize:=true use_external_odom:=true replay:=true should_use_sim_time:=true
    - 

- window_name: data
  focus: true  
  layout: tiled  
  shell_command_before:
    - source $CATKIN_WS/devel/setup.bash

  panes:
    - sleep 15; roslaunch kimera_distributed MH_rosbag.launch bagfile:=$ROSBAG0 input_ns:=$ROBOT0 output_ns:=$ROBOT0 rate:=$RATE
    - sleep 15; roslaunch kimera_distributed MH_rosbag.launch bagfile:=$ROSBAG1 input_ns:=$ROBOT1 output_ns:=$ROBOT1 rate:=$RATE
    - sleep 15; roslaunch kimera_distributed MH_rosbag.launch bagfile:=$ROSBAG2 input_ns:=$ROBOT2 output_ns:=$ROBOT2 rate:=$RATE
    - sleep 15; roslaunch kimera_distributed MH_rosbag.launch bagfile:=$ROSBAG3 input_ns:=$ROBOT3 output_ns:=$ROBOT3 rate:=$RATE
    - sleep 15; roslaunch kimera_distributed MH_rosbag.launch bagfile:=$ROSBAG4 input_ns:=$ROBOT4 output_ns:=$ROBOT4 rate:=$RATE
    #- sleep 15; roslaunch kimera_distributed mit_rosbag.launch bagfile:=$ROSBAG5 input_ns:=$ROBOT5 output_ns:=$ROBOT5 rate:=$RATE
    - sleep 15; rviz -d $(rospack find kimera_distributed)/rviz/single_machine.rviz
    - roscore
    - rosnode kill -a \

The main edits I made in this file are:
- Changing the number of robots to 5 and commenting out commands for the 6th robot
- Paths to rosbags
- In the vio window, I changed the following argument: use_external_odom:=false, and added the arguments for the topics for the EuRoC bag file: left_cam_topic:=/$ROBOT0/cam0/image_raw right_cam_topic:=/$ROBOT0/cam1/image_raw imu_topic:=/$ROBOT0/imu0
- Changed the files kimera_vio_jackal.launch to kimera_vio_jackal_MH.launch in the vio window, and mit_rosbag.launch to MH_rosbag.launch in the data window which I'll explain the changes in 2. and 3.

Changes to kimera_vio_jackal.launch. The only changes I made are:

line 35 to
<arg name="params_folder" value="$(find kimera_vio)/params/Euroc" />
- This is so I used the appropriate parameters from the EuRoC dataset.
line 55 to
<include file="$(find kimera_vio_ros)/launch/kimera_vio_ros_euroc.launch" pass_all_args="true"/>
- This is so the appropriate parameters and values are first set from the euroc launch file (e.g. the accelerometer/gyro bias parameters) before launching kimera_vios_ros.launch.

Changes to mit_rosbag.launch. The changes are so the appropriate topics are published from the EuRoC bag files:

changed lines 14, 16, and 18 to go from (/$(arg input_ns)/forward/imu, /$(arg input_ns)/forward/infra1/image_rect_raw/compressed, /$(arg input_ns)/forward/infra2/image_rect_raw/compressed) to (/imu0, /cam0/image_raw, /cam1/image_raw)
changed lines 28, 30, and 32 to:

<remap from="/imu0"                    to="/$(arg output_ns)/imu0"/>
<remap from="/cam0/image_raw" to="/$(arg output_ns)/cam0/image_raw"/>
<remap from="/cam1/image_raw" to="/$(arg output_ns)/cam1/image_raw"/>

Added an ExternalOdometryParams.yaml file in kimera_vio/params/EuRoC folder. The contents of this folder are the exact same as from the D455 folder used for the 1014 example. The reason I did this is that the vio node crashed due to an error of not finding the ExternalOdometryParams.yaml file, even though I set use_external_odom:=false as explained in step 1.

RESULTS
I get proper output for all the windows: frontend receives candidate loop closures and performed robust initialization of robots in the global frame, dpgo performed optimization of the poses, and the vio was properly running for each robot.

The output in rviz, however gives a poor trajectory:

when I evaluated one of the trajectories (e.g. robot 1: jackal) with the latest kimera_distributed_poses_xxx.csv file in the output log, it seems there are only a few trajectories given in a short span.

What I think are causing the issue:

The use_external_odom parameter. It's set to false in the kimera_vio_ros.launch and kimera_vio_ros_euroc.launch files, but is set to true in kimera_vio_jackal.launch. I had to set it to false, because if I set it to true, the frontend wouldn't detect any loop closure. I'm thinking this parameter is true if the system has an IMU external to the camera, but I'm not sure.
Line 141 of kimera_vio_ros.launch being commented out. Maybe I thought this was related to loading calibration parameters and also would be helpful with my own datasets, but I realize there is no calibration.yaml file under the params folder.

Any help would be appreciated. Thank you.

process died one by one

i run your example and the frontend died one by one after a while, and i checked the LOG folder and found nothing in loop_closure.csv

the vio met the same problem after that

Conflicting requirements during installation leading to failed build

Hello,

I am trying to install kimera multi, my machine is running ubuntu 20.04, with ros noetic, and I have an issue I cannot work out with installing it. I've posted the errors at the end of the post, but the problem seems to be that two of the dependencies on the package are not compatible: the pcl libraries (installed with sudo apt-get install ros-noetic-pcl-ros during the installation steps) and the libvtk6-dev package (also installed the same way during installation steps) cannot be on the machine at the same time, installing one removes the other. How can I work around this and get kimera-multi to work?

Thanks,
Marina

Errors with libvtk6-dev installed:

---------------------------------------------------------------------------------
Profile:                     default
Extending:          [cached] /home/user/uuv_ws/devel:/opt/ros/noetic
Workspace:                   /home/user/kimera_ws
---------------------------------------------------------------------------------
Build Space:        [exists] /home/user/kimera_ws/build
Devel Space:        [exists] /home/user/kimera_ws/devel
Install Space:      [unused] /home/user/kimera_ws/install
Log Space:          [exists] /home/user/kimera_ws/logs
Source Space:       [exists] /home/user/kimera_ws/src
DESTDIR:            [unused] None
---------------------------------------------------------------------------------
Devel Space Layout:          linked
Install Space Layout:        None
---------------------------------------------------------------------------------
Additional CMake Args:       -DCMAKE_BUILD_TYPE=RelWithDebInfo -DGTSAM_TANGENT_PREINTEGRATION=OFF -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF -DOPENGV_BUILD_WITH_MARCH_NATIVE=OFF
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
---------------------------------------------------------------------------------
Buildlisted Packages:        None
Skiplisted Packages:         None
---------------------------------------------------------------------------------
Workspace configuration appears valid.
---------------------------------------------------------------------------------
[build] Found 45 packages in 0.0 seconds.                                       
[build] Package table is up to date.                                            
Starting  >>> catkin_boost_python_buildtool                                     
Starting  >>> catkin_simple                                                     
Starting  >>> dpgo                                                              
Starting  >>> gtsam                                                             
Starting  >>> hdf5_map_io                                                       
Starting  >>> image_undistort                                                   
Starting  >>> kimera_multi                                                      
Starting  >>> mesh_msgs                                                         
Starting  >>> pybind11_catkin                                                   
Finished  <<< catkin_simple                                     [ 0.2 seconds ] 
Starting  >>> cmake_external_project_catkin                                     
Starting  >>> eigen_catkin                                                      
Starting  >>> gflags_catkin                                                     
Starting  >>> kimera_rviz_markers                                               
Starting  >>> mesh_rviz_plugins                                                 
Starting  >>> opencv3_catkin                                                    
Starting  >>> pose_graph_tools                                                  
Starting  >>> protobuf_catkin                                                   
Finished  <<< hdf5_map_io                                       [ 0.2 seconds ] 
Starting  >>> voxblox_msgs                                                      
Finished  <<< catkin_boost_python_buildtool                     [ 0.1 seconds ] 
Finished  <<< kimera_multi                                      [ 0.1 seconds ] 
Finished  <<< pybind11_catkin                                   [ 0.1 seconds ] 
Finished  <<< protobuf_catkin                                   [ 0.1 seconds ] 
________________________________________________________________________________
Errors     << image_undistort:cmake /home/user/kimera_ws/logs/image_undistort/build.cmake.001.log
CMake Error at /opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "pcl_ros" with any
  of the following names:

    pcl_rosConfig.cmake
    pcl_ros-config.cmake

  Add the installation prefix of "pcl_ros" to CMAKE_PREFIX_PATH or set
  "pcl_ros_DIR" to a directory containing one of the above files.  If
  "pcl_ros" provides a separate development package or SDK, be sure it has
  been installed.
Call Stack (most recent call first):
  CMakeLists.txt:21 (find_package)


cd /home/user/kimera_ws/build/image_undistort; catkin build --get-env image_undistort | catkin env -si  /usr/bin/cmake /home/user/kimera_ws/src/image_undistort --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/user/kimera_ws/devel/.private/image_undistort -DCMAKE_INSTALL_PREFIX=/home/user/kimera_ws/install -DCMAKE_BUILD_TYPE=RelWithDebInfo -DGTSAM_TANGENT_PREINTEGRATION=OFF -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF -DOPENGV_BUILD_WITH_MARCH_NATIVE=OFF; cd -

................................................................................
Failed     << image_undistort:cmake                             [ Exited with code 1 ]
Failed    <<< image_undistort                                   [ 0.4 seconds ] 
Abandoned <<< catkin_boost_python_buildtool_test                [ Unrelated job failed ]
Abandoned <<< glog_catkin                                       [ Unrelated job failed ]
Abandoned <<< eigen_checks                                      [ Unrelated job failed ]
Abandoned <<< kimera_rpgo                                       [ Unrelated job failed ]
Abandoned <<< label_manager                                     [ Unrelated job failed ]
Abandoned <<< mesh_msgs_hdf5                                    [ Unrelated job failed ]
Abandoned <<< mesh_msgs_transform                               [ Unrelated job failed ]
Abandoned <<< mesh_tools                                        [ Unrelated job failed ]
Abandoned <<< minkindr                                          [ Unrelated job failed ]
Abandoned <<< minkindr_conversions                              [ Unrelated job failed ]
Abandoned <<< numpy_eigen                                       [ Unrelated job failed ]
Abandoned <<< minkindr_python                                   [ Unrelated job failed ]
Abandoned <<< dbow2_catkin                                      [ Unrelated job failed ]
Abandoned <<< opengv_catkin                                     [ Unrelated job failed ]
Abandoned <<< kimera_vio                                        [ Unrelated job failed ]
Abandoned <<< dpgo_ros                                          [ Unrelated job failed ]
Abandoned <<< kimera_multi_lcd                                  [ Unrelated job failed ]
Abandoned <<< kimera_distributed                                [ Unrelated job failed ]
Abandoned <<< kimera_vio_ros                                    [ Unrelated job failed ]
Abandoned <<< rviz_map_plugin                                   [ Unrelated job failed ]
Abandoned <<< rviz_mesh_plugin                                  [ Unrelated job failed ]
Abandoned <<< voxblox                                           [ Unrelated job failed ]
Abandoned <<< kimera_semantics                                  [ Unrelated job failed ]
Abandoned <<< kimera_pgmo                                       [ Unrelated job failed ]
Abandoned <<< voxblox_rviz_plugin                               [ Unrelated job failed ]
Abandoned <<< voxblox_ros                                       [ Unrelated job failed ]
Abandoned <<< kimera_semantics_ros                              [ Unrelated job failed ]
Finished  <<< cmake_external_project_catkin                     [ 0.1 seconds ] 
Finished  <<< mesh_msgs                                         [ 0.7 seconds ] 
Finished  <<< opencv3_catkin                                    [ 0.2 seconds ] 
Finished  <<< gflags_catkin                                     [ 0.1 seconds ] 
Finished  <<< eigen_catkin                                      [ 0.1 seconds ] 
Finished  <<< pose_graph_tools                                  [ 0.4 seconds ] 
Finished  <<< kimera_rviz_markers                               [ 0.3 seconds ] 
Finished  <<< voxblox_msgs                                      [ 0.2 seconds ] 
Finished  <<< dpgo                                              [ 0.5 seconds ] 
________________________________________________________________________________
Errors     << mesh_rviz_plugins:cmake /home/user/kimera_ws/logs/mesh_rviz_plugins/build.cmake.001.log
CMake Error at /home/user/kimera_ws/devel/share/catkin_simple/cmake/catkin_simple-extras.cmake:38 (find_package):
  By not providing "Findpcl_ros.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "pcl_ros", but
  CMake did not find one.

  Could not find a package configuration file provided by "pcl_ros" with any
  of the following names:

    pcl_rosConfig.cmake
    pcl_ros-config.cmake

  Add the installation prefix of "pcl_ros" to CMAKE_PREFIX_PATH or set
  "pcl_ros_DIR" to a directory containing one of the above files.  If
  "pcl_ros" provides a separate development package or SDK, be sure it has
  been installed.
Call Stack (most recent call first):
  CMakeLists.txt:5 (catkin_simple)


cd /home/user/kimera_ws/build/mesh_rviz_plugins; catkin build --get-env mesh_rviz_plugins | catkin env -si  /usr/bin/cmake /home/user/kimera_ws/src/mesh_rviz_plugins --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/user/kimera_ws/devel/.private/mesh_rviz_plugins -DCMAKE_INSTALL_PREFIX=/home/user/kimera_ws/install -DCMAKE_BUILD_TYPE=RelWithDebInfo -DGTSAM_TANGENT_PREINTEGRATION=OFF -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF -DOPENGV_BUILD_WITH_MARCH_NATIVE=OFF; cd -

................................................................................
Failed     << mesh_rviz_plugins:cmake                           [ Exited with code 1 ]
Failed    <<< mesh_rviz_plugins                                 [ 0.5 seconds ] 
Finished  <<< gtsam                                             [ 4.2 seconds ] 
[build] Summary: 16 of 45 packages succeeded.                                   
[build]   Ignored:   None.                                                      
[build]   Warnings:  None.                                                      
[build]   Abandoned: 27 packages were abandoned.                                
[build]   Failed:    2 packages failed.

Erros with pcl installed:


---------------------------------------------------------------------------------
Profile:                     default
Extending:          [cached] /home/user/uuv_ws/devel:/opt/ros/noetic
Workspace:                   /home/user/kimera_ws
---------------------------------------------------------------------------------
Build Space:        [exists] /home/user/kimera_ws/build
Devel Space:        [exists] /home/user/kimera_ws/devel
Install Space:      [unused] /home/user/kimera_ws/install
Log Space:          [exists] /home/user/kimera_ws/logs
Source Space:       [exists] /home/user/kimera_ws/src
DESTDIR:            [unused] None
---------------------------------------------------------------------------------
Devel Space Layout:          linked
Install Space Layout:        None
---------------------------------------------------------------------------------
Additional CMake Args:       -DCMAKE_BUILD_TYPE=RelWithDebInfo -DGTSAM_TANGENT_PREINTEGRATION=OFF -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF -DOPENGV_BUILD_WITH_MARCH_NATIVE=OFF
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
---------------------------------------------------------------------------------
Buildlisted Packages:        None
Skiplisted Packages:         None
---------------------------------------------------------------------------------
Workspace configuration appears valid.
---------------------------------------------------------------------------------
[build] Found 45 packages in 0.0 seconds.                                       
[build] Package table is up to date.                                            
Starting  >>> catkin_boost_python_buildtool                                     
Starting  >>> catkin_simple                                                     
Starting  >>> dpgo                                                              
Starting  >>> gtsam                                                             
Starting  >>> hdf5_map_io                                                       
Starting  >>> image_undistort                                                   
Starting  >>> kimera_multi                                                      
Starting  >>> mesh_msgs                                                         
Starting  >>> pybind11_catkin                                                   
Finished  <<< catkin_boost_python_buildtool                     [ 0.2 seconds ] 
Finished  <<< hdf5_map_io                                       [ 0.2 seconds ] 
Finished  <<< kimera_multi                                      [ 0.1 seconds ] 
Finished  <<< image_undistort                                   [ 0.4 seconds ] 
Finished  <<< pybind11_catkin                                   [ 0.2 seconds ] 
Finished  <<< catkin_simple                                     [ 0.1 seconds ] 
Starting  >>> catkin_boost_python_buildtool_test                                
Starting  >>> cmake_external_project_catkin                                     
Starting  >>> eigen_catkin                                                      
Starting  >>> gflags_catkin                                                     
Starting  >>> kimera_rviz_markers                                               
Starting  >>> mesh_rviz_plugins                                                 
Starting  >>> opencv3_catkin                                                    
Starting  >>> pose_graph_tools                                                  
Starting  >>> protobuf_catkin                                                   
Starting  >>> voxblox_msgs                                                      
Finished  <<< mesh_msgs                                         [ 0.3 seconds ] 
Starting  >>> label_manager                                                     
Starting  >>> mesh_msgs_transform                                               
Starting  >>> rviz_map_plugin                                                   
Starting  >>> rviz_mesh_plugin                                                  
Finished  <<< dpgo                                              [ 0.8 seconds ] 
Finished  <<< protobuf_catkin                                   [ 0.1 seconds ] 
Finished  <<< gflags_catkin                                     [ 0.1 seconds ] 
Finished  <<< voxblox_msgs                                      [ 0.4 seconds ] 
Finished  <<< catkin_boost_python_buildtool_test                [ 0.1 seconds ] 
Finished  <<< kimera_rviz_markers                               [ 0.5 seconds ] 
Finished  <<< eigen_catkin                                      [ 0.1 seconds ] 
Finished  <<< opencv3_catkin                                    [ 0.2 seconds ] 
Finished  <<< cmake_external_project_catkin                     [ 0.1 seconds ] 
Finished  <<< pose_graph_tools                                  [ 0.5 seconds ] 
Finished  <<< mesh_rviz_plugins                                 [ 0.6 seconds ] 
Finished  <<< rviz_mesh_plugin                                  [ 0.4 seconds ] 
Starting  >>> glog_catkin                                                       
Finished  <<< label_manager                                     [ 0.5 seconds ] 
Starting  >>> mesh_msgs_hdf5                                                    
Starting  >>> numpy_eigen                                                       
Starting  >>> dbow2_catkin                                                      
Starting  >>> dpgo_ros                                                          
Finished  <<< mesh_msgs_transform                               [ 0.4 seconds ] 
Finished  <<< gtsam                                             [ 3.1 seconds ] 
Starting  >>> kimera_rpgo                                                       
Starting  >>> opengv_catkin                                                     
Finished  <<< glog_catkin                                       [ 0.1 seconds ] 
Starting  >>> eigen_checks                                                      
Finished  <<< dbow2_catkin                                      [ 0.1 seconds ] 
Starting  >>> kimera_multi_lcd                                                  
________________________________________________________________________________
Errors     << kimera_multi_lcd:cmake /home/user/kimera_ws/logs/kimera_multi_lcd/build.cmake.001.log
CMake Error: The source "/home/user/kimera_ws/src/kimera_multi_lcd/CMakeLists.txt" does not match the source "/home/user/kimera_ws/src/Kimera-Multi-LCD/CMakeLists.txt" used to generate cache.  Re-run cmake with a different source directory.
cd /home/user/kimera_ws/build/kimera_multi_lcd; catkin build --get-env kimera_multi_lcd | catkin env -si  /usr/bin/cmake /home/user/kimera_ws/src/kimera_multi_lcd --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/user/kimera_ws/devel/.private/kimera_multi_lcd -DCMAKE_INSTALL_PREFIX=/home/user/kimera_ws/install -DCMAKE_BUILD_TYPE=RelWithDebInfo -DGTSAM_TANGENT_PREINTEGRATION=OFF -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF -DOPENGV_BUILD_WITH_MARCH_NATIVE=OFF; cd -

................................................................................
Failed     << kimera_multi_lcd:cmake                            [ Exited with code 1 ]
Failed    <<< kimera_multi_lcd                                  [ 0.1 seconds ] 
Abandoned <<< mesh_tools                                        [ Unrelated job failed ]
Abandoned <<< minkindr                                          [ Unrelated job failed ]
Abandoned <<< minkindr_conversions                              [ Unrelated job failed ]
Abandoned <<< minkindr_python                                   [ Unrelated job failed ]
Abandoned <<< kimera_vio                                        [ Unrelated job failed ]
Abandoned <<< kimera_distributed                                [ Unrelated job failed ]
Abandoned <<< kimera_vio_ros                                    [ Unrelated job failed ]
Abandoned <<< voxblox                                           [ Unrelated job failed ]
Abandoned <<< kimera_semantics                                  [ Unrelated job failed ]
Abandoned <<< kimera_pgmo                                       [ Unrelated job failed ]
Abandoned <<< voxblox_rviz_plugin                               [ Unrelated job failed ]
Abandoned <<< voxblox_ros                                       [ Unrelated job failed ]
Abandoned <<< kimera_semantics_ros                              [ Unrelated job failed ]
Finished  <<< dpgo_ros                                          [ 0.7 seconds ] 
Finished  <<< eigen_checks                                      [ 1.8 seconds ] 
________________________________________________________________________________
Errors     << rviz_map_plugin:make /home/user/kimera_ws/logs/rviz_map_plugin/build.make.001.log
In file included from /home/user/kimera_ws/src/mesh_tools/rviz_map_plugin/src/ClusterLabelTool.cpp:49:
/home/user/kimera_ws/src/mesh_tools/rviz_map_plugin/include/ClusterLabelTool.hpp:57:10: fatal error: CL/cl2.hpp: No such file or directory
   57 | #include <CL/cl2.hpp>
      |          ^~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/rviz_map_plugin.dir/build.make:102: CMakeFiles/rviz_map_plugin.dir/src/ClusterLabelTool.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
In file included from /home/user/kimera_ws/src/mesh_tools/rviz_map_plugin/include/ClusterLabelPanel.hpp:56,
                 from /home/user/kimera_ws/src/mesh_tools/rviz_map_plugin/src/ClusterLabelPanel.cpp:49:
/home/user/kimera_ws/src/mesh_tools/rviz_map_plugin/include/ClusterLabelTool.hpp:57:10: fatal error: CL/cl2.hpp: No such file or directory
   57 | #include <CL/cl2.hpp>
      |          ^~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/rviz_map_plugin.dir/build.make:89: CMakeFiles/rviz_map_plugin.dir/src/ClusterLabelPanel.cpp.o] Error 1
In file included from /home/user/kimera_ws/src/mesh_tools/rviz_map_plugin/include/ClusterLabelPanel.hpp:56,
                 from /home/user/kimera_ws/build/rviz_map_plugin/rviz_map_plugin_autogen/6YEA5652QU/moc_ClusterLabelPanel.cpp:9,
                 from /home/user/kimera_ws/build/rviz_map_plugin/rviz_map_plugin_autogen/mocs_compilation.cpp:3:
/home/user/kimera_ws/src/mesh_tools/rviz_map_plugin/include/ClusterLabelTool.hpp:57:10: fatal error: CL/cl2.hpp: No such file or directory
   57 | #include <CL/cl2.hpp>
      |          ^~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/rviz_map_plugin.dir/build.make:63: CMakeFiles/rviz_map_plugin.dir/rviz_map_plugin_autogen/mocs_compilation.cpp.o] Error 1
In file included from /home/user/kimera_ws/src/mesh_tools/rviz_map_plugin/src/ClusterLabelDisplay.cpp:51:
/home/user/kimera_ws/src/mesh_tools/rviz_map_plugin/include/ClusterLabelTool.hpp:57:10: fatal error: CL/cl2.hpp: No such file or directory
   57 | #include <CL/cl2.hpp>
      |          ^~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/rviz_map_plugin.dir/build.make:76: CMakeFiles/rviz_map_plugin.dir/src/ClusterLabelDisplay.cpp.o] Error 1
In file included from /home/user/kimera_ws/src/mesh_tools/rviz_map_plugin/src/MapDisplay.cpp:51:
/home/user/kimera_ws/src/mesh_tools/rviz_map_plugin/include/ClusterLabelTool.hpp:57:10: fatal error: CL/cl2.hpp: No such file or directory
   57 | #include <CL/cl2.hpp>
      |          ^~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/rviz_map_plugin.dir/build.make:128: CMakeFiles/rviz_map_plugin.dir/src/MapDisplay.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:291: CMakeFiles/rviz_map_plugin.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
cd /home/user/kimera_ws/build/rviz_map_plugin; catkin build --get-env rviz_map_plugin | catkin env -si  /usr/bin/make --jobserver-auth=3,4; cd -

................................................................................
Failed     << rviz_map_plugin:make                              [ Exited with code 2 ]
Failed    <<< rviz_map_plugin                                   [ 8.9 seconds ] 
Finished  <<< mesh_msgs_hdf5                                    [ 17.0 seconds ]
________________________________________________________________________________
Errors     << numpy_eigen:make /home/user/kimera_ws/logs/numpy_eigen/build.make.001.log
In file included from /home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/NumpyEigenConverter.hpp:30,
                 from /home/user/kimera_ws/src/numpy_eigen/src/autogen_module/import_float.cpp:4:
/home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/type_traits.hpp: In static member function ‘static bool TypeToNumPy<unsigned char>::canConvert(int)’:
/home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/type_traits.hpp:63:61: warning: ‘NPY_CHAR’ is deprecated: Use NPY_STRING [-Wdeprecated-declarations]
   63 |     return type == NPY_UBYTE || type == NPY_BYTE || type == NPY_CHAR;
      |                                                             ^~~~~~~~
In file included from /home/user/.local/lib/python3.8/site-packages/numpy/core/include/numpy/ndarrayobject.h:12,
                 from /home/user/.local/lib/python3.8/site-packages/numpy/core/include/numpy/arrayobject.h:5,
                 from /home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/NumpyEigenConverter.hpp:28,
                 from /home/user/kimera_ws/src/numpy_eigen/src/autogen_module/import_float.cpp:4:
/home/user/.local/lib/python3.8/site-packages/numpy/core/include/numpy/ndarraytypes.h:84:21: note: declared here
   84 |                     NPY_CHAR NPY_ATTR_DEPRECATE("Use NPY_STRING"),
      |                     ^~~~~~~~
In file included from /home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/NumpyEigenConverter.hpp:30,
                 from /home/user/kimera_ws/src/numpy_eigen/src/autogen_module/import_float.cpp:4:
/home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/type_traits.hpp: In static member function ‘static bool TypeToNumPy<char>::canConvert(int)’:
/home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/type_traits.hpp:74:61: warning: ‘NPY_CHAR’ is deprecated: Use NPY_STRING [-Wdeprecated-declarations]
   74 |     return type == NPY_UBYTE || type == NPY_BYTE || type == NPY_CHAR;
      |                                                             ^~~~~~~~
In file included from /home/user/.local/lib/python3.8/site-packages/numpy/core/include/numpy/ndarrayobject.h:12,
                 from /home/user/.local/lib/python3.8/site-packages/numpy/core/include/numpy/arrayobject.h:5,
                 from /home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/NumpyEigenConverter.hpp:28,
                 from /home/user/kimera_ws/src/numpy_eigen/src/autogen_module/import_float.cpp:4:
/home/user/.local/lib/python3.8/site-packages/numpy/core/include/numpy/ndarraytypes.h:84:21: note: declared here
   84 |                     NPY_CHAR NPY_ATTR_DEPRECATE("Use NPY_STRING"),
      |                     ^~~~~~~~
In file included from /home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/NumpyEigenConverter.hpp:30,
                 from /home/user/kimera_ws/src/numpy_eigen/src/autogen_module/import_float.cpp:4:
/home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/type_traits.hpp: In function ‘const char* npyTypeToString(int)’:
/home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/type_traits.hpp:166:10: warning: ‘NPY_CHAR’ is deprecated: Use NPY_STRING [-Wdeprecated-declarations]
  166 |     case NPY_CHAR:
      |          ^~~~~~~~
In file included from /home/user/.local/lib/python3.8/site-packages/numpy/core/include/numpy/ndarrayobject.h:12,
                 from /home/user/.local/lib/python3.8/site-packages/numpy/core/include/numpy/arrayobject.h:5,
                 from /home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/NumpyEigenConverter.hpp:28,
                 from /home/user/kimera_ws/src/numpy_eigen/src/autogen_module/import_float.cpp:4:
/home/user/.local/lib/python3.8/site-packages/numpy/core/include/numpy/ndarraytypes.h:84:21: note: declared here
   84 |                     NPY_CHAR NPY_ATTR_DEPRECATE("Use NPY_STRING"),
      |                     ^~~~~~~~
In file included from /home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/NumpyEigenConverter.hpp:30,
                 from /home/user/kimera_ws/src/numpy_eigen/src/autogen_module/numpy_eigen_export_module.cpp:2:
/home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/type_traits.hpp: In static member function ‘static bool TypeToNumPy<unsigned char>::canConvert(int)’:
/home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/type_traits.hpp:63:61: warning: ‘NPY_CHAR’ is deprecated: Use NPY_STRING [-Wdeprecated-declarations]
   63 |     return type == NPY_UBYTE || type == NPY_BYTE || type == NPY_CHAR;
      |                                                             ^~~~~~~~
In file included from /home/user/.local/lib/python3.8/site-packages/numpy/core/include/numpy/ndarrayobject.h:12,
                 from /home/user/.local/lib/python3.8/site-packages/numpy/core/include/numpy/arrayobject.h:5,
                 from /home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/NumpyEigenConverter.hpp:28,
                 from /home/user/kimera_ws/src/numpy_eigen/src/autogen_module/numpy_eigen_export_module.cpp:2:
/home/user/.local/lib/python3.8/site-packages/numpy/core/include/numpy/ndarraytypes.h:84:21: note: declared here
   84 |                     NPY_CHAR NPY_ATTR_DEPRECATE("Use NPY_STRING"),
      |                     ^~~~~~~~
In file included from /home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/NumpyEigenConverter.hpp:30,
                 from /home/user/kimera_ws/src/numpy_eigen/src/autogen_module/numpy_eigen_export_module.cpp:2:
/home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/type_traits.hpp: In static member function ‘static bool TypeToNumPy<char>::canConvert(int)’:
/home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/type_traits.hpp:74:61: warning: ‘NPY_CHAR’ is deprecated: Use NPY_STRING [-Wdeprecated-declarations]
   74 |     return type == NPY_UBYTE || type == NPY_BYTE || type == NPY_CHAR;
      |                                                             ^~~~~~~~
In file included from /home/user/.local/lib/python3.8/site-packages/numpy/core/include/numpy/ndarrayobject.h:12,
                 from /home/user/.local/lib/python3.8/site-packages/numpy/core/include/numpy/arrayobject.h:5,
                 from /home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/NumpyEigenConverter.hpp:28,
                 from /home/user/kimera_ws/src/numpy_eigen/src/autogen_module/numpy_eigen_export_module.cpp:2:
/home/user/.local/lib/python3.8/site-packages/numpy/core/include/numpy/ndarraytypes.h:84:21: note: declared here
   84 |                     NPY_CHAR NPY_ATTR_DEPRECATE("Use NPY_STRING"),
      |                     ^~~~~~~~
In file included from /home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/NumpyEigenConverter.hpp:30,
                 from /home/user/kimera_ws/src/numpy_eigen/src/autogen_module/numpy_eigen_export_module.cpp:2:
/home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/type_traits.hpp: In function ‘const char* npyTypeToString(int)’:
/home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/type_traits.hpp:166:10: warning: ‘NPY_CHAR’ is deprecated: Use NPY_STRING [-Wdeprecated-declarations]
  166 |     case NPY_CHAR:
      |          ^~~~~~~~
In file included from /home/user/.local/lib/python3.8/site-packages/numpy/core/include/numpy/ndarrayobject.h:12,
                 from /home/user/.local/lib/python3.8/site-packages/numpy/core/include/numpy/arrayobject.h:5,
                 from /home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/NumpyEigenConverter.hpp:28,
                 from /home/user/kimera_ws/src/numpy_eigen/src/autogen_module/numpy_eigen_export_module.cpp:2:
/home/user/.local/lib/python3.8/site-packages/numpy/core/include/numpy/ndarraytypes.h:84:21: note: declared here
   84 |                     NPY_CHAR NPY_ATTR_DEPRECATE("Use NPY_STRING"),
      |                     ^~~~~~~~
In file included from /usr/include/x86_64-linux-gnu/bits/types/stack_t.h:23,
                 from /usr/include/signal.h:303,
                 from /home/user/.local/lib/python3.8/site-packages/numpy/core/include/numpy/npy_interrupt.h:23,
                 from /home/user/.local/lib/python3.8/site-packages/numpy/core/include/numpy/arrayobject.h:6,
                 from /home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/NumpyEigenConverter.hpp:28,
                 from /home/user/kimera_ws/src/numpy_eigen/src/autogen_module/numpy_eigen_export_module.cpp:2:
/home/user/kimera_ws/src/numpy_eigen/src/autogen_module/numpy_eigen_export_module.cpp: In function ‘void init_module_libnumpy_eigen()’:
/home/user/.local/lib/python3.8/site-packages/numpy/core/include/numpy/__multiarray_api.h:1553:151: error: return-statement with a value, in function returning ‘void’ [-fpermissive]
 1553 | #define import_array() {if (_import_array() < 0) {PyErr_Print(); PyErr_SetString(PyExc_ImportError, "numpy.core.multiarray failed to import"); return NULL; } }
      |                                                                                                                                                       ^~~~
/home/user/kimera_ws/src/numpy_eigen/src/autogen_module/numpy_eigen_export_module.cpp:258:2: note: in expansion of macro ‘import_array’
  258 |  import_array();
      |  ^~~~~~~~~~~~
make[2]: *** [CMakeFiles/numpy_eigen.dir/build.make:63: CMakeFiles/numpy_eigen.dir/src/autogen_module/numpy_eigen_export_module.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
In file included from /home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/NumpyEigenConverter.hpp:30,
                 from /home/user/kimera_ws/src/numpy_eigen/src/autogen_module/import_double.cpp:4:
/home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/type_traits.hpp: In static member function ‘static bool TypeToNumPy<unsigned char>::canConvert(int)’:
/home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/type_traits.hpp:63:61: warning: ‘NPY_CHAR’ is deprecated: Use NPY_STRING [-Wdeprecated-declarations]
   63 |     return type == NPY_UBYTE || type == NPY_BYTE || type == NPY_CHAR;
      |                                                             ^~~~~~~~
In file included from /home/user/.local/lib/python3.8/site-packages/numpy/core/include/numpy/ndarrayobject.h:12,
                 from /home/user/.local/lib/python3.8/site-packages/numpy/core/include/numpy/arrayobject.h:5,
                 from /home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/NumpyEigenConverter.hpp:28,
                 from /home/user/kimera_ws/src/numpy_eigen/src/autogen_module/import_double.cpp:4:
/home/user/.local/lib/python3.8/site-packages/numpy/core/include/numpy/ndarraytypes.h:84:21: note: declared here
   84 |                     NPY_CHAR NPY_ATTR_DEPRECATE("Use NPY_STRING"),
      |                     ^~~~~~~~
In file included from /home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/NumpyEigenConverter.hpp:30,
                 from /home/user/kimera_ws/src/numpy_eigen/src/autogen_module/import_double.cpp:4:
/home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/type_traits.hpp: In static member function ‘static bool TypeToNumPy<char>::canConvert(int)’:
/home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/type_traits.hpp:74:61: warning: ‘NPY_CHAR’ is deprecated: Use NPY_STRING [-Wdeprecated-declarations]
   74 |     return type == NPY_UBYTE || type == NPY_BYTE || type == NPY_CHAR;
      |                                                             ^~~~~~~~
In file included from /home/user/.local/lib/python3.8/site-packages/numpy/core/include/numpy/ndarrayobject.h:12,
                 from /home/user/.local/lib/python3.8/site-packages/numpy/core/include/numpy/arrayobject.h:5,
                 from /home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/NumpyEigenConverter.hpp:28,
                 from /home/user/kimera_ws/src/numpy_eigen/src/autogen_module/import_double.cpp:4:
/home/user/.local/lib/python3.8/site-packages/numpy/core/include/numpy/ndarraytypes.h:84:21: note: declared here
   84 |                     NPY_CHAR NPY_ATTR_DEPRECATE("Use NPY_STRING"),
      |                     ^~~~~~~~
In file included from /home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/NumpyEigenConverter.hpp:30,
                 from /home/user/kimera_ws/src/numpy_eigen/src/autogen_module/import_double.cpp:4:
/home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/type_traits.hpp: In function ‘const char* npyTypeToString(int)’:
/home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/type_traits.hpp:166:10: warning: ‘NPY_CHAR’ is deprecated: Use NPY_STRING [-Wdeprecated-declarations]
  166 |     case NPY_CHAR:
      |          ^~~~~~~~
In file included from /home/user/.local/lib/python3.8/site-packages/numpy/core/include/numpy/ndarrayobject.h:12,
                 from /home/user/.local/lib/python3.8/site-packages/numpy/core/include/numpy/arrayobject.h:5,
                 from /home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/NumpyEigenConverter.hpp:28,
                 from /home/user/kimera_ws/src/numpy_eigen/src/autogen_module/import_double.cpp:4:
/home/user/.local/lib/python3.8/site-packages/numpy/core/include/numpy/ndarraytypes.h:84:21: note: declared here
   84 |                     NPY_CHAR NPY_ATTR_DEPRECATE("Use NPY_STRING"),
      |                     ^~~~~~~~
In file included from /home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/NumpyEigenConverter.hpp:30,
                 from /home/user/kimera_ws/src/numpy_eigen/src/autogen_module/import_long.cpp:4:
/home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/type_traits.hpp: In static member function ‘static bool TypeToNumPy<unsigned char>::canConvert(int)’:
/home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/type_traits.hpp:63:61: warning: ‘NPY_CHAR’ is deprecated: Use NPY_STRING [-Wdeprecated-declarations]
   63 |     return type == NPY_UBYTE || type == NPY_BYTE || type == NPY_CHAR;
      |                                                             ^~~~~~~~
In file included from /home/user/.local/lib/python3.8/site-packages/numpy/core/include/numpy/ndarrayobject.h:12,
                 from /home/user/.local/lib/python3.8/site-packages/numpy/core/include/numpy/arrayobject.h:5,
                 from /home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/NumpyEigenConverter.hpp:28,
                 from /home/user/kimera_ws/src/numpy_eigen/src/autogen_module/import_long.cpp:4:
/home/user/.local/lib/python3.8/site-packages/numpy/core/include/numpy/ndarraytypes.h:84:21: note: declared here
   84 |                     NPY_CHAR NPY_ATTR_DEPRECATE("Use NPY_STRING"),
      |                     ^~~~~~~~
In file included from /home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/NumpyEigenConverter.hpp:30,
                 from /home/user/kimera_ws/src/numpy_eigen/src/autogen_module/import_long.cpp:4:
/home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/type_traits.hpp: In static member function ‘static bool TypeToNumPy<char>::canConvert(int)’:
/home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/type_traits.hpp:74:61: warning: ‘NPY_CHAR’ is deprecated: Use NPY_STRING [-Wdeprecated-declarations]
   74 |     return type == NPY_UBYTE || type == NPY_BYTE || type == NPY_CHAR;
      |                                                             ^~~~~~~~
In file included from /home/user/.local/lib/python3.8/site-packages/numpy/core/include/numpy/ndarrayobject.h:12,
                 from /home/user/.local/lib/python3.8/site-packages/numpy/core/include/numpy/arrayobject.h:5,
                 from /home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/NumpyEigenConverter.hpp:28,
                 from /home/user/kimera_ws/src/numpy_eigen/src/autogen_module/import_long.cpp:4:
/home/user/.local/lib/python3.8/site-packages/numpy/core/include/numpy/ndarraytypes.h:84:21: note: declared here
   84 |                     NPY_CHAR NPY_ATTR_DEPRECATE("Use NPY_STRING"),
      |                     ^~~~~~~~
In file included from /home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/NumpyEigenConverter.hpp:30,
                 from /home/user/kimera_ws/src/numpy_eigen/src/autogen_module/import_long.cpp:4:
/home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/type_traits.hpp: In function ‘const char* npyTypeToString(int)’:
/home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/type_traits.hpp:166:10: warning: ‘NPY_CHAR’ is deprecated: Use NPY_STRING [-Wdeprecated-declarations]
  166 |     case NPY_CHAR:
      |          ^~~~~~~~
In file included from /home/user/.local/lib/python3.8/site-packages/numpy/core/include/numpy/ndarrayobject.h:12,
                 from /home/user/.local/lib/python3.8/site-packages/numpy/core/include/numpy/arrayobject.h:5,
                 from /home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/NumpyEigenConverter.hpp:28,
                 from /home/user/kimera_ws/src/numpy_eigen/src/autogen_module/import_long.cpp:4:
/home/user/.local/lib/python3.8/site-packages/numpy/core/include/numpy/ndarraytypes.h:84:21: note: declared here
   84 |                     NPY_CHAR NPY_ATTR_DEPRECATE("Use NPY_STRING"),
      |                     ^~~~~~~~
In file included from /home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/NumpyEigenConverter.hpp:30,
                 from /home/user/kimera_ws/src/numpy_eigen/src/autogen_module/import_uchar.cpp:4:
/home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/type_traits.hpp: In static member function ‘static bool TypeToNumPy<unsigned char>::canConvert(int)’:
/home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/type_traits.hpp:63:61: warning: ‘NPY_CHAR’ is deprecated: Use NPY_STRING [-Wdeprecated-declarations]
   63 |     return type == NPY_UBYTE || type == NPY_BYTE || type == NPY_CHAR;
      |                                                             ^~~~~~~~
In file included from /home/user/.local/lib/python3.8/site-packages/numpy/core/include/numpy/ndarrayobject.h:12,
                 from /home/user/.local/lib/python3.8/site-packages/numpy/core/include/numpy/arrayobject.h:5,
                 from /home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/NumpyEigenConverter.hpp:28,
                 from /home/user/kimera_ws/src/numpy_eigen/src/autogen_module/import_uchar.cpp:4:
/home/user/.local/lib/python3.8/site-packages/numpy/core/include/numpy/ndarraytypes.h:84:21: note: declared here
   84 |                     NPY_CHAR NPY_ATTR_DEPRECATE("Use NPY_STRING"),
      |                     ^~~~~~~~
In file included from /home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/NumpyEigenConverter.hpp:30,
                 from /home/user/kimera_ws/src/numpy_eigen/src/autogen_module/import_uchar.cpp:4:
/home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/type_traits.hpp: In static member function ‘static bool TypeToNumPy<char>::canConvert(int)’:
/home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/type_traits.hpp:74:61: warning: ‘NPY_CHAR’ is deprecated: Use NPY_STRING [-Wdeprecated-declarations]
   74 |     return type == NPY_UBYTE || type == NPY_BYTE || type == NPY_CHAR;
      |                                                             ^~~~~~~~
In file included from /home/user/.local/lib/python3.8/site-packages/numpy/core/include/numpy/ndarrayobject.h:12,
                 from /home/user/.local/lib/python3.8/site-packages/numpy/core/include/numpy/arrayobject.h:5,
                 from /home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/NumpyEigenConverter.hpp:28,
                 from /home/user/kimera_ws/src/numpy_eigen/src/autogen_module/import_uchar.cpp:4:
/home/user/.local/lib/python3.8/site-packages/numpy/core/include/numpy/ndarraytypes.h:84:21: note: declared here
   84 |                     NPY_CHAR NPY_ATTR_DEPRECATE("Use NPY_STRING"),
      |                     ^~~~~~~~
In file included from /home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/NumpyEigenConverter.hpp:30,
                 from /home/user/kimera_ws/src/numpy_eigen/src/autogen_module/import_uchar.cpp:4:
/home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/type_traits.hpp: In function ‘const char* npyTypeToString(int)’:
/home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/type_traits.hpp:166:10: warning: ‘NPY_CHAR’ is deprecated: Use NPY_STRING [-Wdeprecated-declarations]
  166 |     case NPY_CHAR:
      |          ^~~~~~~~
In file included from /home/user/.local/lib/python3.8/site-packages/numpy/core/include/numpy/ndarrayobject.h:12,
                 from /home/user/.local/lib/python3.8/site-packages/numpy/core/include/numpy/arrayobject.h:5,
                 from /home/user/kimera_ws/src/numpy_eigen/include/numpy_eigen/NumpyEigenConverter.hpp:28,
                 from /home/user/kimera_ws/src/numpy_eigen/src/autogen_module/import_uchar.cpp:4:
/home/user/.local/lib/python3.8/site-packages/numpy/core/include/numpy/ndarraytypes.h:84:21: note: declared here
   84 |                     NPY_CHAR NPY_ATTR_DEPRECATE("Use NPY_STRING"),
      |                     ^~~~~~~~
make[1]: *** [CMakeFiles/Makefile2:422: CMakeFiles/numpy_eigen.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
cd /home/user/kimera_ws/build/numpy_eigen; catkin build --get-env numpy_eigen | catkin env -si  /usr/bin/make --jobserver-auth=3,4; cd -

................................................................................
Failed     << numpy_eigen:make                                  [ Exited with code 2 ]
Failed    <<< numpy_eigen                                       [ 38.9 seconds ]
Finished  <<< kimera_rpgo                                       [ 53.7 seconds ]
________________________________________________________________________________
Warnings   << opengv_catkin:make /home/user/kimera_ws/logs/opengv_catkin/build.make.000.log
Cloning into 'opengv_src'...
Already on 'master'
Submodule 'python/pybind11' (https://github.com/pybind/pybind11.git) registered for path 'python/pybind11'
Cloning into '/home/user/kimera_ws/build/opengv_catkin/opengv_src-prefix/src/opengv_src/python/pybind11'...
Submodule 'tools/clang' (https://github.com/wjakob/clang-cindex-python3) registered for path 'python/pybind11/tools/clang'
Cloning into '/home/user/kimera_ws/build/opengv_catkin/opengv_src-prefix/src/opengv_src/python/pybind11/tools/clang'...
make[3]: warning: -j8 forced in submake: resetting jobserver mode.
make[3]: warning: jobserver unavailable: using -j1.  Add '+' to parent make rule.
cd /home/user/kimera_ws/build/opengv_catkin; catkin build --get-env opengv_catkin | catkin env -si  /usr/bin/make --jobserver-auth=3,4; cd -

................................................................................
Finished  <<< opengv_catkin                                     [ 1 minute and 7.8 seconds ]
[build] Summary: 29 of 45 packages succeeded.                                   
[build]   Ignored:   None.                                                      
[build]   Warnings:  1 packages succeeded with warnings.                        
[build]   Abandoned: 13 packages were abandoned.                                
[build]   Failed:    3 packages failed.

Algorithm diverges

I've been running the code for around 4h, yet the dpgo still can't converge. Here's the tmux windows.

`frontend` window

In the end, there's no loop closure candidates ready for verification for all 6 robots.

`dpgo` window

In the end, no loop closures are accepted by any robot.

Every robot successfully initializes in global frame, which is printed in its own panel. But panel 0 indicates that robot 0 still published INITIALIZE command. I have no idea why this situation happened.

`vio` window

rviz

In the end, rviz is stuck like this.

According to the above outputs, could you please help me find what leads to the divergence? Thx!!

Kimera-VIO and Loop closure

Hello, I am currently testing Kimera-Multi using the 1014-example.yaml configuration file.
In RViz, the paths appear to be correctly visualized; however, I am experiencing issues with loop closure and mesh generation not functioning.
Below is an image illustrating the current state:

I have noticed that this issue looks similar to what is described in issue #6. While playing the rosbag (10_14_sparkal1-004.bag), it appears to only play for 66 seconds.
Is this the expected duration for this bag file?
Additionally, how should I proceed to troubleshoot the non-functional loop closure and mesh generation processes?

Here is another image from my tests:

Thank you for your assistance.

Can not find kimera_vio_jackal.launch

Hi there
Thank you for sharing this work! I met some problems when I am trying to CATKIN_WS= DATA_PATH= LOG_DIR=/home/yunchang/logs/kimera_distributed_10_14 tmuxp load 1014-example.yaml

There is a command on line 65 of this yaml file, roslaunch kimera_core kimera_vio_jackal.launch, but this file and kimera_core are not in the installed project。

Could anyone help? Thank you!

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