Running into error after executing tree_detection_ros

[chiragr15]

Coming across an error after running roslaunch on every forest.pcd file even after following previous instructions correctly.
Following error message thrown onto terminal :
tree_detection_node: /usr/include/eigen3/Eigen/src/Core/DenseCoeffsBase.h:117: Eigen::DenseCoeffsBase<Derived, 0>::CoeffReturnType Eigen::DenseCoeffsBase<Derived, 0>::operator()(Eigen::Index, Eigen::Index) const [with Derived = Eigen::Matrix<float, -1, -1>; Eigen::DenseCoeffsBase<Derived, 0>::CoeffReturnType = const float&; Eigen::Index = long int]: Assertion `row >= 0 && row < rows() && col >= 0 && col < cols()' failed.

[jelavice]

Hi @chiragr15 ,

thank you for reporting the issue. Could you please run in debug mode and share the stack trace as well as information about your system (ubuntu version, ros version, eigen version)?

Then we might get a better idea of where the problem lies.

Best,

E

[chiragr15]

Hi @jelavice ,
Could you please explain in detail what is meant by running in debug mode?
Here are the system specs :
Ubuntu version : 20.04.4 LTS
ROS version : ROS2 Noetic
Eigen version : 3.3.7

Thanks,
Chirag

[jelavice]

I mean build in mode that contains debug info and then run with gdb:
http://wiki.ros.org/roslaunch/Tutorials/Roslaunch%20Nodes%20in%20Valgrind%20or%20GDB

can you run this command in your catkin workspace, rebuild, and then run with gdb?
catkin config -DCMAKE_BUILD_TYPE=RelWithDebInfo

you can change the launch prefix on line 5 in tree_detection.launch

[chiragr15]

This solution worked.
After rebuilding it with the above command and running with gdb, the algorithm worked.
Thanks for your help!

[chiragr15]

What was the exact problem in running it with the default instructions given in the ReadMe?

[jelavice]

You don't have to run it with gdb always, that is just for debugging.

My guess is that compiling in the Release mode optimizes out parts of the code that produce the segfault which is why this solution works. When you compiled before, you did not compile in the Release mode and the problematic part of code did not get optimized out. However, this means that there is a problem somewhere that we should investigate 🙈

I'll leave this issue open until the problem is fully resolved.

[chiragr15]

Does the program run on ROS Melodic or it is catered to Noetic itself?

[jelavice]

You should be able to run it on Melodic as well, although I haven't tested this.

[chiragr15]

Running into an CMake error when trying to build the project.
'Could not find a package configuration file provided by "grid_map_pcl" with any of the following names :
grid_map_pclConfig.cmake
grid_map_pcl-config.cmake
'

Another error while launching the project:
"PluginlibFactory : plugin for class 'grid_map_rviz_plugin/GridMap', failed to load"

[jelavice]

You need to compile the grid_map_pcl and grid_map_rviz from the source as instructed in the readme