problems with assets_writer

[MrGitGo]

I'm trying to run the assets_writer. You can see my tf tree here: #1174

assets_writer.lua

VOXEL_SIZE = 5e-2

include "transform.lua"

options = {
  tracking_frame = "imu",
  pipeline = {
    {
      action = "min_max_range_filter",
      min_range = 1.,
      max_range = 60.,
    },
    {
      action = "dump_num_points",
    },

    -- Gray X-Rays. These only use geometry to color pixels.
    {
      action = "write_xray_image",
      voxel_size = VOXEL_SIZE,
      filename = "xray_yz_all",
      transform = YZ_TRANSFORM,
    },
    {
      action = "write_xray_image",
      voxel_size = VOXEL_SIZE,
      filename = "xray_xy_all",
      transform = XY_TRANSFORM,
    },
    {
      action = "write_xray_image",
      voxel_size = VOXEL_SIZE,
      filename = "xray_xz_all",
      transform = XZ_TRANSFORM,
    },

    -- Now we recolor our points by frame and write another batch of X-Rays. It
    -- is visible in them what was seen by the horizontal and the vertical
    -- laser.
    {
      action = "color_points",
      frame_id = "royale_camera_link",
      color = { 255., 0., 0. },
    },

    {
      action = "write_xray_image",
      voxel_size = VOXEL_SIZE,
      filename = "xray_yz_all_color",
      transform = YZ_TRANSFORM,
    },
    {
      action = "write_xray_image",
      voxel_size = VOXEL_SIZE,
      filename = "xray_xy_all_color",
      transform = XY_TRANSFORM,
    },
    {
      action = "write_xray_image",
      voxel_size = VOXEL_SIZE,
      filename = "xray_xz_all_color",
      transform = XZ_TRANSFORM,
    },
  }
}

return options

These are the commands I'm typing:

rosbag record -a

rosservice call /finish_trajectory 0

rosservice call /write_state "{filename: '${HOME}/Documents/bagfiles/pbfile.bag.pbstream'}"

roslaunch emili_launch assets_writer.launch bag_filenames:=/home/nvidia/Documents/bagfiles/bagfile.bag pose_graph_filename:=/home/nvidia/Documents/bagfiles/pbfile.bag.pbstream

I'm not sure if I'm doing this in the right order. I'm recording, finishing the trajectory, writing the state stopping the record

After the last one I get the error:

I0205 12:16:36.353701  4144 assets_writer.cc:254] Processed 0 of 57.7834 bag time seconds...
terminate called after throwing an instance of 'tf2::ExtrapolationException'
  what():  Lookup would require extrapolation into the past.  Requested time 1549365143.510014000 but the earliest data is at time 1549365143.774466768, when looking up transform from frame [map] to frame [imu]
================================================================================REQUIRED process [cartographer_assets_writer-1] has died!
process has died [pid 4144, exit code -6, cmd /home/nvidia/catkin_ws/devel_isolated/cartographer_ros/lib/cartographer_ros/cartographer_assets_writer -configuration_directory /home/nvidia/catkin_ws/src/emili_launch/configuration_files -configuration_basename emili_assets_writer_3d.lua -urdf_filename /home/nvidia/catkin_ws/src/emili_launch/urdf/emili_3d.urdf -bag_filenames /home/nvidia/Documents/bagfiles/bagfile.bag -pose_graph_filename /home/nvidia/Documents/bagfiles/pbfile.bag.pbstream __name:=cartographer_assets_writer __log:=/home/nvidia/.ros/log/0fc4f624-2880-11e9-b241-00044ba5c3ef/cartographer_assets_writer-1.log].
log file: /home/nvidia/.ros/log/0fc4f624-2880-11e9-b241-00044ba5c3ef/cartographer_assets_writer-1*.log
Initiating shutdown!
================================================================================

I don't know what I'm doing wrong. This is my bag and pbstream file : https://www.dropbox.com/sh/mmjvco2wafjc03t/AABlFiIeokA99lvrb4RzZgRTa?dl=0

[eparham-88]

@MrGitGo - Were you ever able to solve the "REQUIRED process [cartographer_assets_writer-1] has died!" issue?

I am encountering this during the "Filtering outliers..." process.