roslaunch aloam_velodyne aloam_mulran.launch # for MulRan dataset setting

[kxch928925819]

dji@dji-MANIFOLD-2-C:~/catkin_scaloam_ws/src/SC-A-LOAM$ roslaunch aloam_velodyne aloam_mulran.launch
... logging to /home/dji/.ros/log/26d237ca-c6c4-11eb-bfca-34d26269e60d/roslaunch-dji-MANIFOLD-2-C-14613.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://dji-MANIFOLD-2-C:34089/

SUMMARY

PARAMETERS

• /keyframe_meter_gap: 1.0
• /lidar_type: OS1-64
• /mapping_line_resolution: 0.4
• /mapping_plane_resolution: 0.8
• /mapping_skip_frame: 1
• /minimum_range: 0.5
• /rosdistro: melodic
• /rosversion: 1.14.11
• /save_directory: /home/user/Docume...
• /sc_dist_thres: 0.2
• /sc_max_radius: 80.0
• /scan_line: 64

NODES
/
alaserMapping (aloam_velodyne/alaserMapping)
alaserOdometry (aloam_velodyne/alaserOdometry)
alaserPGO (aloam_velodyne/alaserPGO)
ascanRegistration (aloam_velodyne/ascanRegistration)
rviz (rviz/rviz)

auto-starting new master
process[master]: started with pid [14623]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 26d237ca-c6c4-11eb-bfca-34d26269e60d
process[rosout-1]: started with pid [14634]
started core service [/rosout]
process[ascanRegistration-2]: started with pid [14641]
process[alaserOdometry-3]: started with pid [14642]
process[alaserMapping-4]: started with pid [14643]
ERROR: cannot launch node of type [aloam_velodyne/alaserPGO]: Cannot locate node of type [alaserPGO] in package [aloam_velodyne]. Make sure file exists in package path and permission is set to executable (chmod +x)
process[rviz-6]: started with pid [14649]
QFactoryLoader::QFactoryLoader() checking directory path "/usr/lib/x86_64-linux-gnu/qt5/plugins/platforms" ...
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt5/plugins/platforms/libqeglfs.so"
Found metadata in lib /usr/lib/x86_64-linux-gnu/qt5/plugins/platforms/libqeglfs.so, metadata=
{
"IID": "org.qt-project.Qt.QPA.QPlatformIntegrationFactoryInterface.5.3",
"MetaData": {
"Keys": [
"eglfs"
]
},
"className": "QEglFSIntegrationPlugin",
"debug": false,
"version": 329989
}

Got keys from plugin meta data ("eglfs")
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt5/plugins/platforms/libqlinuxfb.so"
Found metadata in lib /usr/lib/x86_64-linux-gnu/qt5/plugins/platforms/libqlinuxfb.so, metadata=
{
"IID": "org.qt-project.Qt.QPA.QPlatformIntegrationFactoryInterface.5.3",
"MetaData": {
"Keys": [
"linuxfb"
]
},
"className": "QLinuxFbIntegrationPlugin",
"debug": false,
"version": 329989
}

Got keys from plugin meta data ("linuxfb")
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt5/plugins/platforms/libqminimal.so"
Found metadata in lib /usr/lib/x86_64-linux-gnu/qt5/plugins/platforms/libqminimal.so, metadata=
{
"IID": "org.qt-project.Qt.QPA.QPlatformIntegrationFactoryInterface.5.3",
"MetaData": {
"Keys": [
"minimal"
]
},
"className": "QMinimalIntegrationPlugin",
"debug": false,
"version": 329989
}

Got keys from plugin meta data ("minimal")
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt5/plugins/platforms/libqminimalegl.so"
Found metadata in lib /usr/lib/x86_64-linux-gnu/qt5/plugins/platforms/libqminimalegl.so, metadata=
{
"IID": "org.qt-project.Qt.QPA.QPlatformIntegrationFactoryInterface.5.3",
"MetaData": {
"Keys": [
"minimalegl"
]
},
"className": "QMinimalEglIntegrationPlugin",
"debug": false,
"version": 329989
}

Got keys from plugin meta data ("minimalegl")
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt5/plugins/platforms/libqoffscreen.so"
Found metadata in lib /usr/lib/x86_64-linux-gnu/qt5/plugins/platforms/libqoffscreen.so, metadata=
{
"IID": "org.qt-project.Qt.QPA.QPlatformIntegrationFactoryInterface.5.3",
"MetaData": {
"Keys": [
"offscreen"
]
},
"className": "QOffscreenIntegrationPlugin",
"debug": false,
"version": 329989
}

Got keys from plugin meta data ("offscreen")
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt5/plugins/platforms/libqvnc.so"
Found metadata in lib /usr/lib/x86_64-linux-gnu/qt5/plugins/platforms/libqvnc.so, metadata=
{
"IID": "org.qt-project.Qt.QPA.QPlatformIntegrationFactoryInterface.5.3",
"MetaData": {
"Keys": [
"vnc"
]
},
"className": "QVncIntegrationPlugin",
"debug": false,
"version": 329989
}

Got keys from plugin meta data ("vnc")
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt5/plugins/platforms/libqxcb.so"
Found metadata in lib /usr/lib/x86_64-linux-gnu/qt5/plugins/platforms/libqxcb.so, metadata=
{
"IID": "org.qt-project.Qt.QPA.QPlatformIntegrationFactoryInterface.5.3",
"MetaData": {
"Keys": [
"xcb"
]
},
"className": "QXcbIntegrationPlugin",
"debug": false,
"version": 329989
}

Got keys from plugin meta data ("xcb")
QFactoryLoader::QFactoryLoader() checking directory path "/opt/ros/melodic/lib/rviz/platforms" ...
loaded library "/usr/lib/x86_64-linux-gnu/qt5/plugins/platforms/libqxcb.so"
loaded library "Xcursor"
QFactoryLoader::QFactoryLoader() checking directory path "/usr/lib/x86_64-linux-gnu/qt5/plugins/xcbglintegrations" ...
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt5/plugins/xcbglintegrations/libqxcb-egl-integration.so"
Found metadata in lib /usr/lib/x86_64-linux-gnu/qt5/plugins/xcbglintegrations/libqxcb-egl-integration.so, metadata=
{
"IID": "org.qt-project.Qt.QPA.Xcb.QXcbGlIntegrationFactoryInterface.5.5",
"MetaData": {
"Keys": [
"xcb_egl"
]
},
"className": "QXcbEglIntegrationPlugin",
"debug": false,
"version": 329989
}

Got keys from plugin meta data ("xcb_egl")
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt5/plugins/xcbglintegrations/libqxcb-glx-integration.so"
Found metadata in lib /usr/lib/x86_64-linux-gnu/qt5/plugins/xcbglintegrations/libqxcb-glx-integration.so, metadata=
{
"IID": "org.qt-project.Qt.QPA.Xcb.QXcbGlIntegrationFactoryInterface.5.5",
"MetaData": {
"Keys": [
"xcb_glx"
]
},
"className": "QXcbGlxIntegrationPlugin",
"debug": false,
"version": 329989
}

Got keys from plugin meta data ("xcb_glx")
QFactoryLoader::QFactoryLoader() checking directory path "/opt/ros/melodic/lib/rviz/xcbglintegrations" ...
loaded library "/usr/lib/x86_64-linux-gnu/qt5/plugins/xcbglintegrations/libqxcb-glx-integration.so"
QFactoryLoader::QFactoryLoader() checking directory path "/usr/lib/x86_64-linux-gnu/qt5/plugins/platformthemes" ...
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt5/plugins/platformthemes/libqgtk3.so"
Found metadata in lib /usr/lib/x86_64-linux-gnu/qt5/plugins/platformthemes/libqgtk3.so, metadata=
{
"IID": "org.qt-project.Qt.QPA.QPlatformThemeFactoryInterface.5.1",
"MetaData": {
"Keys": [
"gtk3"
]
},
"className": "QGtk3ThemePlugin",
"debug": false,
"version": 329989
}

Got keys from plugin meta data ("gtk3")
QFactoryLoader::QFactoryLoader() checking directory path "/opt/ros/melodic/lib/rviz/platformthemes" ...
loaded library "/usr/lib/x86_64-linux-gnu/qt5/plugins/platformthemes/libqgtk3.so"
QFactoryLoader::QFactoryLoader() checking directory path "/usr/lib/x86_64-linux-gnu/qt5/plugins/platforminputcontexts" ...
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt5/plugins/platforminputcontexts/libcomposeplatforminputcontextplugin.so"
Found metadata in lib /usr/lib/x86_64-linux-gnu/qt5/plugins/platforminputcontexts/libcomposeplatforminputcontextplugin.so, metadata=
{
"IID": "org.qt-project.Qt.QPlatformInputContextFactoryInterface.5.1",
"MetaData": {
"Keys": [
"compose",
"xim"
]
},
"className": "QComposePlatformInputContextPlugin",
"debug": false,
"version": 329989
}

Got keys from plugin meta data ("compose", "xim")
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt5/plugins/platforminputcontexts/libibusplatforminputcontextplugin.so"
Found metadata in lib /usr/lib/x86_64-linux-gnu/qt5/plugins/platforminputcontexts/libibusplatforminputcontextplugin.so, metadata=
{
"IID": "org.qt-project.Qt.QPlatformInputContextFactoryInterface.5.1",
"MetaData": {
"Keys": [
"ibus"
]
},
"className": "QIbusPlatformInputContextPlugin",
"debug": false,
"version": 329989
}

Got keys from plugin meta data ("ibus")
QFactoryLoader::QFactoryLoader() checking directory path "/opt/ros/melodic/lib/rviz/platforminputcontexts" ...
loaded library "/usr/lib/x86_64-linux-gnu/qt5/plugins/platforminputcontexts/libibusplatforminputcontextplugin.so"
QFactoryLoader::QFactoryLoader() checking directory path "/usr/lib/x86_64-linux-gnu/qt5/plugins/styles" ...
QFactoryLoader::QFactoryLoader() checking directory path "/opt/ros/melodic/lib/rviz/styles" ...
QFactoryLoader::QFactoryLoader() checking directory path "/usr/lib/x86_64-linux-gnu/qt5/plugins/iconengines" ...
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt5/plugins/iconengines/libqsvgicon.so"
Found metadata in lib /usr/lib/x86_64-linux-gnu/qt5/plugins/iconengines/libqsvgicon.so, metadata=
{
"IID": "org.qt-project.Qt.QIconEngineFactoryInterface",
"MetaData": {
"Keys": [
"svg",
"svgz",
"svg.gz"
]
},
"className": "QSvgIconPlugin",
"debug": false,
"version": 329989
}

Got keys from plugin meta data ("svg", "svgz", "svg.gz")
QFactoryLoader::QFactoryLoader() checking directory path "/opt/ros/melodic/lib/rviz/iconengines" ...
QFactoryLoader::QFactoryLoader() checking directory path "/usr/lib/x86_64-linux-gnu/qt5/plugins/imageformats" ...
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt5/plugins/imageformats/libqgif.so"
Found metadata in lib /usr/lib/x86_64-linux-gnu/qt5/plugins/imageformats/libqgif.so, metadata=
{
"IID": "org.qt-project.Qt.QImageIOHandlerFactoryInterface",
"MetaData": {
"Keys": [
"gif"
],
"MimeTypes": [
"image/gif"
]
},
"className": "QGifPlugin",
"debug": false,
"version": 329989
}

Got keys from plugin meta data ("gif")
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt5/plugins/imageformats/libqico.so"
Found metadata in lib /usr/lib/x86_64-linux-gnu/qt5/plugins/imageformats/libqico.so, metadata=
{
"IID": "org.qt-project.Qt.QImageIOHandlerFactoryInterface",
"MetaData": {
"Keys": [
"ico",
"cur"
],
"MimeTypes": [
"image/vnd.microsoft.icon"
]
},
"className": "QICOPlugin",
"debug": false,
"version": 329989
}

Got keys from plugin meta data ("ico", "cur")
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt5/plugins/imageformats/libqjpeg.so"
Found metadata in lib /usr/lib/x86_64-linux-gnu/qt5/plugins/imageformats/libqjpeg.so, metadata=
{
"IID": "org.qt-project.Qt.QImageIOHandlerFactoryInterface",
"MetaData": {
"Keys": [
"jpg",
"jpeg"
],
"MimeTypes": [
"image/jpeg",
"image/jpeg"
]
},
"className": "QJpegPlugin",
"debug": false,
"version": 329989
}

Got keys from plugin meta data ("jpg", "jpeg")
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt5/plugins/imageformats/libqsvg.so"
Found metadata in lib /usr/lib/x86_64-linux-gnu/qt5/plugins/imageformats/libqsvg.so, metadata=
{
"IID": "org.qt-project.Qt.QImageIOHandlerFactoryInterface",
"MetaData": {
"Keys": [
"svg",
"svgz"
],
"MimeTypes": [
"image/svg+xml",
"image/svg+xml-compressed"
]
},
"className": "QSvgPlugin",
"debug": false,
"version": 329989
}

Got keys from plugin meta data ("svg", "svgz")
QFactoryLoader::QFactoryLoader() checking directory path "/opt/ros/melodic/lib/rviz/imageformats" ...
loaded library "/usr/lib/x86_64-linux-gnu/qt5/plugins/imageformats/libqgif.so"
loaded library "/usr/lib/x86_64-linux-gnu/qt5/plugins/imageformats/libqico.so"
loaded library "/usr/lib/x86_64-linux-gnu/qt5/plugins/imageformats/libqjpeg.so"
loaded library "/usr/lib/x86_64-linux-gnu/qt5/plugins/imageformats/libqsvg.so"
QFactoryLoader::QFactoryLoader() checking directory path "/usr/lib/x86_64-linux-gnu/qt5/plugins/accessible" ...
QFactoryLoader::QFactoryLoader() checking directory path "/opt/ros/melodic/lib/rviz/accessible" ...
QFactoryLoader::QFactoryLoader() checking directory path "/usr/lib/x86_64-linux-gnu/qt5/plugins/accessiblebridge" ...
QFactoryLoader::QFactoryLoader() checking directory path "/opt/ros/melodic/lib/rviz/accessiblebridge" ...
loaded library "/usr/lib/x86_64-linux-gnu/qt5/plugins/iconengines/libqsvgicon.so"
^C[rviz-6] killing on exit
[alaserMapping-4] killing on exit
[alaserOdometry-3] killing on exit
[ascanRegistration-2] killing on exit
terminate called without an active exception
QLibraryPrivate::unload succeeded on "/usr/lib/x86_64-linux-gnu/qt5/plugins/imageformats/libqgif.so"
QLibraryPrivate::unload succeeded on "/usr/lib/x86_64-linux-gnu/qt5/plugins/imageformats/libqico.so"
QLibraryPrivate::unload succeeded on "/usr/lib/x86_64-linux-gnu/qt5/plugins/imageformats/libqjpeg.so"
QLibraryPrivate::unload succeeded on "/usr/lib/x86_64-linux-gnu/qt5/plugins/imageformats/libqsvg.so"
QLibraryPrivate::unload succeeded on "/usr/lib/x86_64-linux-gnu/qt5/plugins/iconengines/libqsvgicon.so"
QLibraryPrivate::unload succeeded on "/usr/lib/x86_64-linux-gnu/qt5/plugins/platforminputcontexts/libibusplatforminputcontextplugin.so"
QLibraryPrivate::unload succeeded on "/usr/lib/x86_64-linux-gnu/qt5/plugins/platformthemes/libqgtk3.so"
QLibraryPrivate::unload succeeded on "/usr/lib/x86_64-linux-gnu/qt5/plugins/xcbglintegrations/libqxcb-glx-integration.so"
QLibraryPrivate::unload succeeded on "/usr/lib/x86_64-linux-gnu/qt5/plugins/platforms/libqxcb.so"
QLibraryPrivate::unload succeeded on "Xcursor" (faked)
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
dji@dji-MANIFOLD-2-C:~/catkin_scaloam_ws/src/SC-A-LOAM$ ls

ERROR: cannot launch node of type [aloam_velodyne/alaserPGO]: Cannot locate node of type [alaserPGO] in package [aloam_velodyne]. Make sure file exists in package path and permission is set to executable (chmod +x)

[kxch928925819]

https://blog.csdn.net/qq_42700518/article/details/115320251?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522162305708316780255242971%2522%252C%2522scm%2522%253A%252220140713.130102334.pc%255Fall.%2522%257D&request_id=162305708316780255242971&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~all~first_rank_v2~rank_v29-1-115320251.first_rank_v2_pc_rank_v29&utm_term=cmake%E7%BC%96%E8%AF%91+cannot+find+-lBoost%3A%3Atimer&spm=1018.2226.3001.4187

[gisbi-kim]

@kxch928925819 did you solve the problem?

I guess, it might be the directory making issue
please consider a right path for save_directory in the launch file

[kxch928925819]

谢谢🙏！解决了，需要在cankefile里添加find packbag ！

…

------------------ Original ------------------ From: Giseop Kim ***@***.***&gt; Date: Sat,Jun 12,2021 8:56 PM To: gisbi-kim/SC-A-LOAM ***@***.***&gt; Cc: Weiguo Zhao ***@***.***&gt;, Mention ***@***.***&gt; Subject: Re: [gisbi-kim/SC-A-LOAM] roslaunch aloam_velodyne aloam_mulran.launch # for MulRan dataset setting (#1) @kxch928925819 did you solve the problem? I guess, it might be the directory making issue please consider a right path for save_directory in the launch file — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub, or unsubscribe.

[gisbi-kim]

great. close this issue.