地図を作成するために以下の手順で行ったが, うまくできない.
ros2 run glim_ros glim_rosnode ターミナル1
rosbag/20250920_tukuba_glim# ros2 bag play . ターミナル2
rviz2 -d ~/ros2_ws/src/glim_ros2/rviz/glim_ros.rviz ターミナル3
ターミナル1で実行したものが途中で終わってしまう.
以下がログである.
[2026-02-20 04:33:33.703] [global] [error] an indeterminant lienar system exception was caught during global map optimization!!
[2026-02-20 04:33:33.703] [global] [error]
Indeterminant linear system detected while working near variable
8646911284551352344 (Symbol: x24).
Thrown when a linear system is ill-posed. The most common cause for this
error is having underconstrained variables. Mathematically, the system is
underdetermined. See the GTSAM Doxygen documentation at
http://borg.cc.gatech.edu/ on gtsam::IndeterminantLinearSystemException for
more information.
[2026-02-20 04:33:33.703] [global] [warning] insert a damping factor at x24 to prevent corruption
[2026-02-20 04:33:33.704] [global] [warning] reset isam2
[ros2run]: Segmentation fault
以下は実行中の様子
https://youtu.be/-u4CsndVXVk
地図を作成するために以下の手順で行ったが, うまくできない.
ros2 run glim_ros glim_rosnode ターミナル1
rosbag/20250920_tukuba_glim# ros2 bag play . ターミナル2
rviz2 -d ~/ros2_ws/src/glim_ros2/rviz/glim_ros.rviz ターミナル3
ターミナル1で実行したものが途中で終わってしまう.
以下がログである.
[2026-02-20 04:33:33.703] [global] [error] an indeterminant lienar system exception was caught during global map optimization!!
[2026-02-20 04:33:33.703] [global] [error]
Indeterminant linear system detected while working near variable
8646911284551352344 (Symbol: x24).
Thrown when a linear system is ill-posed. The most common cause for this
error is having underconstrained variables. Mathematically, the system is
underdetermined. See the GTSAM Doxygen documentation at
http://borg.cc.gatech.edu/ on gtsam::IndeterminantLinearSystemException for
more information.
[2026-02-20 04:33:33.703] [global] [warning] insert a damping factor at x24 to prevent corruption
[2026-02-20 04:33:33.704] [global] [warning] reset isam2
[ros2run]: Segmentation fault
以下は実行中の様子
https://youtu.be/-u4CsndVXVk