cannot "roslaunch svo_ros intel_aero.launch" successfully

[sbyebss]

Hi!@szebedy
When I want to do the simulation and do this in the teminal 1:

cd ~/svo_ws/
source ./devel/setup.bash
roslaunch svo_ros intel_aero.launch

It shows that:

SUMMARY
========

CLEAR PARAMETERS
 * /svo/

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /svo/T_world_imuinit/qw: 1
 * /svo/T_world_imuinit/qx: 0
 * /svo/T_world_imuinit/qy: 0
 * /svo/T_world_imuinit/qz: 0
 * /svo/calib_file: /home/fanjiaojiao...
 * /svo/cam0_topic: /camera/mono/imag...
 * /svo/depth_filter_affine_est_gain: True
 * /svo/depth_filter_affine_est_offset: True
 * /svo/detector_threshold_primary: 10
 * /svo/detector_threshold_secondary: 200
 * /svo/grid_size: 35
 * /svo/img_align_est_illumination_gain: True
 * /svo/img_align_est_illumination_offset: True
 * /svo/img_align_max_level: 4
 * /svo/img_align_min_level: 2
 * /svo/img_align_prior_lambda_rot: 0.0
 * /svo/img_align_prior_lambda_trans: 0.0
 * /svo/imu_topic: /mavros/imu/data
 * /svo/init_min_disparity: 30
 * /svo/kfselect_criterion: FORWARD
 * /svo/kfselect_min_angle: 6
 * /svo/kfselect_min_disparity: 40
 * /svo/kfselect_min_dist_metric: 0.001
 * /svo/kfselect_numkfs_lower_thresh: 70
 * /svo/kfselect_numkfs_upper_thresh: 180
 * /svo/map_scale: 1.5
 * /svo/max_depth_inv: 0.05
 * /svo/max_fts: 180
 * /svo/max_n_kfs: 30
 * /svo/mean_depth_inv: 0.3
 * /svo/min_depth_inv: 1.0
 * /svo/n_pyr_levels: 3
 * /svo/pipeline_is_stereo: False
 * /svo/poseoptim_prior_lambda: 0.0
 * /svo/poseoptim_thresh: 2.0
 * /svo/poseoptim_using_unit_sphere: False
 * /svo/publish_every_nth_dense_input: 5
 * /svo/publish_marker_scale: 0.5
 * /svo/quality_max_drop_fts: 80
 * /svo/quality_min_fts: 40
 * /svo/reprojector_affine_est_gain: True
 * /svo/reprojector_affine_est_offset: True
 * /svo/reprojector_max_n_kfs: 5
 * /svo/scan_epi_unit_sphere: False
 * /svo/seed_convergence_sigma2_thresh: 200
 * /svo/update_seeds_with_old_keyframes: True
 * /svo/use_async_reprojectors: False
 * /svo/use_imu: False
 * /svo/use_threaded_depthfilter: False

NODES
  /
    svo (svo_ros/svo_node)

auto-starting new master
process[master]: started with pid [1037]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to e09e93b8-a2e2-11e9-b9a7-1cbfce0abb3b
process[rosout-1]: started with pid [1050]
started core service [/rosout]
process[svo-2]: started with pid [1068]
[ INFO] [1562743093.503454066]: Found parameter: pipeline_is_stereo, value: 0
[ WARN] [1562743093.504219749]: Cannot find value for parameter: set_initial_attitude_from_gravity, assigning default: 1
[ WARN] [1562743093.505021831]: Cannot find value for parameter: automatic_reinitialization, assigning default: 0
[ INFO] [1562743093.507050296]: Found parameter: calib_file, value: /home/fanjiaojiao/svo_ws/src/rpg_svo_example/svo_ros/svo_aero/aero_OV7251_mono.yaml
loaded 1 cameras
  name = /camera/mono/image_raw
  size = [640, 480]
  Projection = Pinhole
  Focal length = (442.091, 441.935)
  Principal point = (320.84, 236.038)
  Distortion: RadTan(0.02752, -0.064054, 0.004263, -0.000398)
[ WARN] [1562743093.515467690]: Cannot find value for parameter: klt_max_level, assigning default: 4
[ WARN] [1562743093.516167388]: Cannot find value for parameter: klt_min_level, assigning default: 0
[ INFO] [1562743093.518198678]: Found parameter: reprojector_max_n_kfs, value: 5
[ INFO] [1562743093.519945392]: Found parameter: max_fts, value: 180
[ INFO] [1562743093.521564324]: Found parameter: grid_size, value: 35
[ WARN] [1562743093.522213710]: Cannot find value for parameter: reproject_unconverged_seeds, assigning default: 1
[ INFO] [1562743093.523816515]: Found parameter: reprojector_affine_est_offset, value: 1
[ INFO] [1562743093.525662438]: Found parameter: reprojector_affine_est_gain, value: 1
[ WARN] [1562743093.526442206]: Cannot find value for parameter: init_min_features, assigning default: 100
[ WARN] [1562743093.527181132]: Cannot find value for parameter: init_min_tracked, assigning default: 80
[ WARN] [1562743093.527907753]: Cannot find value for parameter: init_min_inliers, assigning default: 70
[ INFO] [1562743093.529992869]: Found parameter: init_min_disparity, value: 30
[ WARN] [1562743093.530742031]: Cannot find value for parameter: init_min_features_factor, assigning default: 2
[ WARN] [1562743093.531481266]: Cannot find value for parameter: reproj_err_thresh, assigning default: 2
[ WARN] [1562743093.532197905]: Cannot find value for parameter: init_disparity_pivot_ratio, assigning default: 0.5
[ WARN] [1562743093.532941691]: Cannot find value for parameter: init_method, assigning default: FivePoint
[ INFO] [1562743093.535033806]: Found parameter: grid_size, value: 35
[ INFO] [1562743093.536828043]: Found parameter: n_pyr_levels, value: 3
[ INFO] [1562743093.538602832]: Found parameter: detector_threshold_primary, value: 10
[ INFO] [1562743093.540244080]: Found parameter: detector_threshold_secondary, value: 200
[ WARN] [1562743093.540896012]: Cannot find value for parameter: use_edgelets, assigning default: 1
[ INFO] [1562743093.542846781]: Found parameter: n_pyr_levels, value: 3
[ INFO] [1562743093.548325415]: Found parameter: use_threaded_depthfilter, value: 0
[ INFO] [1562743093.550341511]: Found parameter: seed_convergence_sigma2_thresh, value: 200
[ INFO] [1562743093.552192040]: Found parameter: scan_epi_unit_sphere, value: 0
[ INFO] [1562743093.554040098]: Found parameter: depth_filter_affine_est_offset, value: 1
[ INFO] [1562743093.555774692]: Found parameter: depth_filter_affine_est_gain, value: 1
[ INFO] [1562743093.557644432]: Found parameter: max_fts, value: 180
[ WARN] [1562743093.558294108]: Cannot find value for parameter: max_seeds_ratio, assigning default: 3
[ INFO] [1562743093.560000791]: Found parameter: max_n_kfs, value: 30
[ INFO] [1562743093.561775717]: Found parameter: use_imu, value: 0
[ WARN] [1562743093.587471254]: Cannot find value for parameter: trace_dir, assigning default: /home/fanjiaojiao/svo_install_ws/install/share/svo/trace
[ INFO] [1562743093.589694715]: Found parameter: quality_min_fts, value: 40
[ INFO] [1562743093.591578072]: Found parameter: quality_max_drop_fts, value: 80
[ WARN] [1562743093.592162266]: Cannot find value for parameter: relocalization_max_trials, assigning default: 50
[ INFO] [1562743093.593818815]: Found parameter: poseoptim_prior_lambda, value: 0
[ INFO] [1562743093.595560903]: Found parameter: poseoptim_using_unit_sphere, value: 0
[ INFO] [1562743093.597324561]: Found parameter: img_align_prior_lambda_rot, value: 0
[ INFO] [1562743093.599219441]: Found parameter: img_align_prior_lambda_trans, value: 0
[ WARN] [1562743093.600195145]: Cannot find value for parameter: structure_optimization_max_pts, assigning default: 20
[ INFO] [1562743093.602961818]: Found parameter: map_scale, value: 1.5
[ INFO] [1562743093.606476555]: Found parameter: kfselect_criterion, value: FORWARD
[ WARN] [1562743093.607150126]: Cannot find value for parameter: kfselect_min_dist, assigning default: 0.12
[ INFO] [1562743093.611396817]: Found parameter: kfselect_numkfs_upper_thresh, value: 180
[ INFO] [1562743093.613967192]: Found parameter: kfselect_numkfs_lower_thresh, value: 70
[ INFO] [1562743093.615794081]: Found parameter: kfselect_min_dist_metric, value: 0.001
[ INFO] [1562743093.619167110]: Found parameter: kfselect_min_angle, value: 6
[ INFO] [1562743093.621256241]: Found parameter: kfselect_min_disparity, value: 40
[ WARN] [1562743093.621953282]: Cannot find value for parameter: kfselect_min_num_frames_between_kfs, assigning default: 2
[ INFO] [1562743093.623636549]: Found parameter: img_align_max_level, value: 4
[ INFO] [1562743093.625359556]: Found parameter: img_align_min_level, value: 2
[ WARN] [1562743093.625992318]: Cannot find value for parameter: img_align_robustification, assigning default: 0
[ WARN] [1562743093.626686576]: Cannot find value for parameter: img_align_use_distortion_jacobian, assigning default: 0
[ INFO] [1562743093.629716959]: Found parameter: img_align_est_illumination_gain, value: 1
[ INFO] [1562743093.631811069]: Found parameter: img_align_est_illumination_offset, value: 1
[ INFO] [1562743093.633968485]: Found parameter: poseoptim_thresh, value: 2
[ INFO] [1562743093.635796250]: Found parameter: update_seeds_with_old_keyframes, value: 1
[ INFO] [1562743093.637478529]: Found parameter: use_async_reprojectors, value: 0
[ INFO] [1562743093.637624426]: DepthFilter: created.
[ WARN] [1562743093.638394431]: Cannot find value for parameter: T_world_imuinit/tz, assigning default: 0
[ WARN] [1562743093.639075990]: Cannot find value for parameter: T_world_imuinit/ty, assigning default: 0
[ WARN] [1562743093.639876037]: Cannot find value for parameter: T_world_imuinit/tx, assigning default: 0
[ INFO] [1562743093.642912595]: Found parameter: T_world_imuinit/qz, value: 0
[ INFO] [1562743093.645749311]: Found parameter: T_world_imuinit/qy, value: 0
[ INFO] [1562743093.647890532]: Found parameter: T_world_imuinit/qx, value: 0
[ INFO] [1562743093.649638716]: Found parameter: T_world_imuinit/qw, value: 1
[ WARN] [1562743093.650249596]: Cannot find value for parameter: publish_img_pyr_level, assigning default: 0
[ WARN] [1562743093.650898311]: Cannot find value for parameter: publish_every_nth_img, assigning default: 1
[ INFO] [1562743093.652554037]: Found parameter: publish_every_nth_dense_input, value: 5
[ WARN] [1562743093.653964653]: Cannot find value for parameter: publish_world_in_cam_frame, assigning default: 1
[ WARN] [1562743093.654587680]: Cannot find value for parameter: publish_map_every_frame, assigning default: 0
[ WARN] [1562743093.655192140]: Cannot find value for parameter: publish_point_display_time, assigning default: 0
[ WARN] [1562743093.655788095]: Cannot find value for parameter: publish_seeds, assigning default: 1
[ WARN] [1562743093.656416315]: Cannot find value for parameter: publish_seeds_uncertainty, assigning default: 0
[ WARN] [1562743093.657055286]: Cannot find value for parameter: trace_pointcloud, assigning default: 0
[ INFO] [1562743093.658713530]: Found parameter: publish_marker_scale, value: 0.5
[ INFO] [1562743093.712918778]: Found parameter: use_imu, value: 0
[INFO] SVO: SvoNode: Started Image loop.
[ WARN] [1562743093.714036782]: Cannot find value for parameter: remote_key_topic, assigning default: svo/remote_key
[ INFO] [1562743093.718255070]: Found parameter: cam0_topic, value: /camera/mono/image_raw

Many parameters couldn't be found. And I think it's the problem of eigen's version. Could you be kind to tell me which eigen version you used to do this project, please? It seems that eigen 3.2 is too old.

[sbyebss]

Hi! @szebedy
I have solved this problem and got the proper simulation successfully. I didn't use the launch file. Instead, I run roscore, px4 with mavros, whycon, image_view and offboard_control separately. And I have seen the drone delivery process video. Thank you again for your sharing!!