运行roslaunch出现错误

[xiaofanbuhuigit]

当运行slamesh_kitti_meshing.launch时，


最后[slamesher-2] process has died [pid 150023, exit code -11。
运行salmesh_kitti_odometry.launch时，

最后也是[slamesher-2] process has died [pid 150023, exit code -11
试了mai_city数据集也是一样

[RuanJY]

你好，一开始的时候没有mesh，mesh tool是会报几个错，但是后面是不影响的，程序可以正常运行。所以你process has died应该不是这个，你可以截图包含process has died前的一些输出看看。

[xiaofanbuhuigit]

[RuanJY]

将这里的logger level修改成Debug再跑一下看看
https://github.com/RuanJY/SLAMesh/blob/50b4356e8a24c4fe2e2dc1be37d682e703843314/src/slamesher_node.cpp#L931C1-L932C1
ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Debug);//Debug Info

[RuanJY]

也可以将mesh可视化关掉，这里 visualisation_type:1 设置为1,如果没有问题的话就是没mesh tool的问题

SLAMesh/config/kitti_meshing.yaml

Line 23 in 50b4356

visualisation_type: 3

[xiaofanbuhuigit]

改成1也不行，那mesh tool还有问题，会不会是因为pcl版本1.11

[RuanJY]

如果环境确实有问题也可以使用docker

[MaZhengg]

运行slamesh_maicity.launch遇到了同样的问题，其中一个关键的提示是：No more PCD file!，应该是文件读取问题，请问mai_city数据集下载后还需要处理吗？我看数据集中有 .bin .ply文件，但没有.pcd文件，是不是这个原因？ 将read_offline_pcd参数修改为false后，play mai_city数据包（bag）可以完成mesh建图，以上请参考。

xxxx@xxxx-HP-ProBook-440-G3:~/slam_ws$ roslaunch slamesh slamesh_maicity.launch seq:=01
... logging to /home/xxx/.ros/log/f8ccc612-35da-11f0-b3bf-7d1ef5ab1939/roslaunch-xxx-HP-ProBook-440-G3-5115.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://xxx-HP-ProBook-440-G3:40561/
SUMMARY
PARAMETERS

• /rosdistro: noetic
• /rosversion: 1.17.3
• /slamesh/file_loc_dataset: /home/xxx/downl...
• /slamesh/file_loc_report: /home/xxx/slam_...
• /slamesh/seq: 1
• /slamesher/cross_cell_overlap_length: 0
• /slamesher/cross_overlap: True
• /slamesher/dataset: 2
• /slamesher/full_cover: True
• /slamesher/grid: 1.5
• /slamesher/grt_available: False
• /slamesher/max_steps: 10000
• /slamesher/meshing_tsdf: False
• /slamesher/min_points_num_to_gp: 5
• /slamesher/num_margin_old_cell: 500
• /slamesher/num_test: 6
• /slamesher/num_thread: 8
• /slamesher/odom_available: False
• /slamesher/point2mesh: True
• /slamesher/range_max: 100
• /slamesher/range_min: 1.2
• /slamesher/read_offline_pcd: True
• /slamesher/register_times: 2
• /slamesher/residual_combination: True
• /slamesher/save_mesh_map: True
• /slamesher/test_param: 0
• /slamesher/use_sim_time: False
• /slamesher/variance_map_show: 0.1
• /slamesher/variance_map_update: 1.0
• /slamesher/variance_min: 1.36
• /slamesher/variance_register: 0.37
• /slamesher/variance_sensor: 0.015
• /slamesher/visualisation_type: 1
  NODES
  /
  rviz (rviz/rviz)
  slamesh (slamesh/slamesh)
  ROS_MASTER_URI=http://localhost:11311
  process[slamesh-1]: started with pid [5129]
  process[rviz-2]: started with pid [5130]
  ====START====
  max_steps: 10000
  voxel_size: 0.25000
  ====ROS INIT DONE====
  Try to save report in: /home/xxx/slam_ws/src/SLAMesh/../../slamesh_result/kitti
  [ERROR] [1747788204.306794339]: Mesh display: no visual available, can't draw mesh! (maybe no data has been received yet?)
  [ERROR] [1747788204.306992426]: Mesh display: no visual available, can't draw mesh! (maybe no data has been received yet?)
  [ERROR] [1747788204.311887820]: Mesh display: no visual available, can't draw mesh! (maybe no data has been received yet?)
  [ERROR] [1747788204.326482408]: Mesh display: no visual available, can't draw mesh! (maybe no data has been received yet?)
  [ERROR] [1747788204.326646537]: Mesh display: no visual available, can't draw mesh! (maybe no data has been received yet?)
  [ERROR] [1747788204.328850282]: Mesh display: no visual available, can't draw mesh! (maybe no data has been received yet?)
  first_transf:
  1.00000 -0.00000 0.00000 0.00000
  0.00000 1.00000 0.00000 0.00000
  -0.00000 0.00000 1.00000 0.00000
  0.00000 0.00000 0.00000 1.00000
  No more PCD file!
  [slamesh-1] process has died [pid 5129, exit code -11, cmd /home/xxx/slam_ws/devel_isolated/slamesh/lib/slamesh/slamesh __name:=slamesh __log:=/home/xxx/.ros/log/f8ccc612-35da-11f0-b3bf-7d1ef5ab1939/slamesh-1.log].
  log file: /home/xxx/.ros/log/f8ccc612-35da-11f0-b3bf-7d1ef5ab1939/slamesh-1*.log

[RuanJY]

记得批量转pcd是puma那个仓库里的 获取Outlook for Android<https://aka.ms/AAb9ysg>

…

________________________________ From: Zhengguang Ma ***@***.***> Sent: Wednesday, May 21, 2025 9:41:00 AM To: RuanJY/SLAMesh ***@***.***> Cc: RUAN, Jianyuan [Student] ***@***.***>; Comment ***@***.***> Subject: Re: [RuanJY/SLAMesh] 运行roslaunch出现错误 (Issue #23) CAUTION: This email is not originated from PolyU. Do not click links or open attachments unless you recognize the sender and know the content is safe. [https://avatars.githubusercontent.com/u/16028306?s=20&v=4]MaZhengg left a comment (RuanJY/SLAMesh#23)<#23 (comment)> 运行slamesh_maicity.launch遇到了同样的问题，其中一个关键的提示是：No more PCD file!，应该是文件读取问题，请问mai_city数据集下载后还需要处理吗？我看数据集中有 .bin .ply文件，但没有.pcd文件，是不是这个原因？ 将read_offline_pcd参数修改为false后，play mai_city数据包（bag）可以完成mesh建图，以上请参考。 ***@***.***:~/slam_ws$ roslaunch slamesh slamesh_maicity.launch seq:=01 ... logging to /home/xxx/.ros/log/f8ccc612-35da-11f0-b3bf-7d1ef5ab1939/roslaunch-xxx-HP-ProBook-440-G3-5115.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://xxx-HP-ProBook-440-G3:40561/ SUMMARY PARAMETERS * /rosdistro: noetic * /rosversion: 1.17.3 * /slamesh/file_loc_dataset: /home/xxx/downl... * /slamesh/file_loc_report: /home/xxx/slam_... * /slamesh/seq: 1 * /slamesher/cross_cell_overlap_length: 0 * /slamesher/cross_overlap: True * /slamesher/dataset: 2 * /slamesher/full_cover: True * /slamesher/grid: 1.5 * /slamesher/grt_available: False * /slamesher/max_steps: 10000 * /slamesher/meshing_tsdf: False * /slamesher/min_points_num_to_gp: 5 * /slamesher/num_margin_old_cell: 500 * /slamesher/num_test: 6 * /slamesher/num_thread: 8 * /slamesher/odom_available: False * /slamesher/point2mesh: True * /slamesher/range_max: 100 * /slamesher/range_min: 1.2 * /slamesher/read_offline_pcd: True * /slamesher/register_times: 2 * /slamesher/residual_combination: True * /slamesher/save_mesh_map: True * /slamesher/test_param: 0 * /slamesher/use_sim_time: False * /slamesher/variance_map_show: 0.1 * /slamesher/variance_map_update: 1.0 * /slamesher/variance_min: 1.36 * /slamesher/variance_register: 0.37 * /slamesher/variance_sensor: 0.015 * /slamesher/visualisation_type: 1 NODES / rviz (rviz/rviz) slamesh (slamesh/slamesh) ROS_MASTER_URI=http://localhost:11311 process[slamesh-1]: started with pid [5129] process[rviz-2]: started with pid [5130] ====START==== max_steps: 10000 voxel_size: 0.25000 ====ROS INIT DONE==== Try to save report in: /home/xxx/slam_ws/src/SLAMesh/../../slamesh_result/kitti [ERROR] [1747788204.306794339]: Mesh display: no visual available, can't draw mesh! (maybe no data has been received yet?) [ERROR] [1747788204.306992426]: Mesh display: no visual available, can't draw mesh! (maybe no data has been received yet?) [ERROR] [1747788204.311887820]: Mesh display: no visual available, can't draw mesh! (maybe no data has been received yet?) [ERROR] [1747788204.326482408]: Mesh display: no visual available, can't draw mesh! (maybe no data has been received yet?) [ERROR] [1747788204.326646537]: Mesh display: no visual available, can't draw mesh! (maybe no data has been received yet?) [ERROR] [1747788204.328850282]: Mesh display: no visual available, can't draw mesh! (maybe no data has been received yet?) first_transf: 1.00000 -0.00000 0.00000 0.00000 0.00000 1.00000 0.00000 0.00000 -0.00000 0.00000 1.00000 0.00000 0.00000 0.00000 0.00000 1.00000 No more PCD file! [slamesh-1] process has died [pid 5129, exit code -11, cmd /home/xxx/slam_ws/devel_isolated/slamesh/lib/slamesh/slamesh __name:=slamesh __log:=/home/xxx/.ros/log/f8ccc612-35da-11f0-b3bf-7d1ef5ab1939/slamesh-1.log]. log file: /home/xxx/.ros/log/f8ccc612-35da-11f0-b3bf-7d1ef5ab1939/slamesh-1*.log ― Reply to this email directly, view it on GitHub<#23 (comment)>, or unsubscribe<https://github.com/notifications/unsubscribe-auth/AF3YWJFXRT5KPDKSQEE5BKL27PKSZAVCNFSM6AAAAABUSZYAACVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDQOJWGIZDIMJUGA>. You are receiving this because you commented.Message ID: ***@***.***> [https://www.polyu.edu.hk/emaildisclaimer/PolyU_Email_Signature-v2.jpg] Disclaimer: This message (including any attachments) contains confidential information intended for a specific individual and purpose. If you are not the intended recipient, you should delete this message and notify the sender and The Hong Kong Polytechnic University (the University) immediately. Any disclosure, copying, or distribution of this message, or the taking of any action based on it, is strictly prohibited and may be unlawful. The University specifically denies any responsibility for the accuracy or quality of information obtained through University E-mail Facilities. Any views and opinions expressed are only those of the author(s) and do not necessarily represent those of the University and the University accepts no liability whatsoever for any losses or damages incurred or caused to any party as a result of the use of such information.

[MaZhengg]

记得批量转pcd是puma那个仓库里的

获取Outlook for Androidhttps://aka.ms/AAb9ysg
…

搞清楚了，不是文件格式的问题，是代码读取数据集和config配置不一致导致的。
if(param.read_offline_pcd) { if(!readKitti(param.file_loc_dataset, param.seq, g_data.step, data_set, *pcl_raw_ptr)){ std::cout << "No more PCD file!" << std::endl; return false; } }
这里读取的是配置文件中的参数file_loc_dataset，但在maicity.yaml配置文件中并没有定义该变量，也就是launch文件中参数配置暂时没起到作用，这个暂时没深入查找。

同时，因为launch中参数配置暂未起作用，导致保存ply文件总是以00命名。 #25