启动fast_lio_localization sentry_localize.launch时无法启动global_localization.py和transform_fusion.py #21
Description
hello@hello:~$ roslaunch fast_lio_localization sentry_localize.launch
... logging to /home/hello/.ros/log/37bf66ee-6570-11f0-af0c-3c6d660d784b/roslaunch-hello-23366.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://hello:36211/
SUMMARY
PARAMETERS
- /common/imu_topic: /livox/imu
- /common/lid_topic: /livox/lidar
- /common/time_offset_lidar_to_imu: 0.0
- /common/time_sync_en: False
- /cube_side_length: 1000.0
- /feature_extract_enable: False
- /filter_size_map: 0.5
- /filter_size_surf: 0.5
- /mapping/acc_cov: 0.1
- /mapping/b_acc_cov: 0.0001
- /mapping/b_gyr_cov: 0.0001
- /mapping/det_range: 100.0
- /mapping/extrinsic_R: [1, 0, 0, 0, 1, 0...
- /mapping/extrinsic_T: [-0.011, -0.02329...
- /mapping/extrinsic_est_en: False
- /mapping/fov_degree: 360
- /mapping/gyr_cov: 0.1
- /max_iteration: 3
- /pcd_save/interval: -1
- /pcd_save/pcd_save_en: False
- /pcd_save_en: False
- /point_filter_num: 3
- /pointcloud_to_laserscan/angle_increment: 0.0087
- /pointcloud_to_laserscan/angle_max: 3.14159
- /pointcloud_to_laserscan/angle_min: -3.14159
- /pointcloud_to_laserscan/concurrency_level: 1
- /pointcloud_to_laserscan/inf_epsilon: 1.0
- /pointcloud_to_laserscan/max_height: 1.0
- /pointcloud_to_laserscan/min_height: 0.0
- /pointcloud_to_laserscan/range_max: 30.0
- /pointcloud_to_laserscan/range_min: 0.05
- /pointcloud_to_laserscan/scan_time: 10
- /pointcloud_to_laserscan/transform_tolerance: 0.01
- /pointcloud_to_laserscan/use_inf: True
- /preprocess/blind: 0.5
- /preprocess/lidar_type: 1
- /preprocess/scan_line: 4
- /publish/dense_publish_en: True
- /publish/path_en: False
- /publish/scan_bodyframe_pub_en: True
- /publish/scan_publish_en: True
- /rosdistro: noetic
- /rosversion: 1.17.4
- /runtime_pos_log_enable: False
NODES
/
global_localization (fast_lio_localization/global_localization.py)
laserMapping (fast_lio/fastlio_mapping)
map_publishe (pcl_ros/pcd_to_pointcloud)
map_server (map_server/map_server)
pointcloud_to_laserscan (pointcloud_to_laserscan/pointcloud_to_laserscan_node)
rviz (rviz/rviz)
tf_pub_1 (tf2_ros/static_transform_publisher)
tf_pub_2 (tf2_ros/static_transform_publisher)
transform_fusion (fast_lio_localization/transform_fusion.py)
auto-starting new master
process[master]: started with pid [23381]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 37bf66ee-6570-11f0-af0c-3c6d660d784b
process[rosout-1]: started with pid [23398]
started core service [/rosout]
process[laserMapping-2]: started with pid [23405]
ERROR: cannot launch node of type [fast_lio_localization/global_localization.py]: Cannot locate node of type [global_localization.py] in package [fast_lio_localization]. Make sure file exists in package path and permission is set to executable (chmod +x)
ERROR: cannot launch node of type [fast_lio_localization/transform_fusion.py]: Cannot locate node of type [transform_fusion.py] in package [fast_lio_localization]. Make sure file exists in package path and permission is set to executable (chmod +x)
process[map_publishe-5]: started with pid [23406]
process[rviz-6]: started with pid [23407]
process[map_server-7]: started with pid [23408]
process[pointcloud_to_laserscan-8]: started with pid [23413]
[INFO] [1753019310.519006248]: Recognized the following parameters
[INFO] [1753019310.520912863]: * file_name: /home/hello/sentry_nav_ws/src/NEXTE_Sentry_Nav/sentry_slam/FAST_LIO/PCD/scans.pcd
[INFO] [1753019310.521006852]: * interval: 5
[INFO] [1753019310.521050726]: * frame_id: map
[INFO] [1753019310.521100520]: * topic_name: /map
[INFO] [1753019310.521143274]: * latch: false
process[tf_pub_1-9]: started with pid [23416]
process[tf_pub_2-10]: started with pid [23422]
Multi thread started
[INFO] [1753019310.643163928]: Loaded pointcloud with the following stats
[INFO] [1753019310.643276637]: * number of points: 2958312
[INFO] [1753019310.643330495]: * total size [bytes]: 94665984
[INFO] [1753019310.643377602]: * channel names: x y z intensity normal_x normal_y normal_z curvature
p_pre->lidar_type 1
^C[tf_pub_2-10] killing on exit
[tf_pub_1-9] killing on exit
[pointcloud_to_laserscan-8] killing on exit
[map_server-7] killing on exit
[rviz-6] killing on exit
[map_publishe-5] killing on exit
[laserMapping-2] killing on exit
[WARN] [1753019411.922117158]: catch sig 2
Rebuild thread terminated normally
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done