kitti_demo.launch: runs, but publishes nothing

[doctorcolossus]

$ ./run/kitti_demo.sh
container ID: 8568d3e17368a0829d8a3d9d3b397eef703284bdd273db490a1f98f7cec6dd09
hostname: 8568d3e17368
non-network local connections being added to access control list
access control enabled, only authorized clients can connect
LOCAL:
SI:localuser:casey
8568d3e17368a0829d8a3d9d3b397eef703284bdd273db490a1f98f7cec6dd09
WARNING: Package name "pointMap_layer" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
roscore/master is not yet running, will wait for it to start
master has started, initiating launch
... logging to /root/.ros/log/0062c4e4-4513-11ef-9b9e-0242ac110002/roslaunch-8568d3e17368-249.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.

WARNING: Package name "pointMap_layer" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
started roslaunch server http://8568d3e17368:33323/

SUMMARY
========

PARAMETERS
 * /elevation_mapping_0/camera_params_yaml: /home/mav-lab/Pro...
 * /elevation_mapping_0/length_in_x: 12.0
 * /elevation_mapping_0/length_in_y: 12.0
 * /elevation_mapping_0/mahalanobis_distance_threshold: 2.5
 * /elevation_mapping_0/map_frame_id: /robot0/map
 * /elevation_mapping_0/map_saving_file: ./map.pcd
 * /elevation_mapping_0/max_variance: 10000.0
 * /elevation_mapping_0/min_variance: 0.0001
 * /elevation_mapping_0/multi_height_noise: 2e-05
 * /elevation_mapping_0/octomap_obs_resolution: 0.1
 * /elevation_mapping_0/octomap_road_resolution: 0.2
 * /elevation_mapping_0/orthomosaic_saving_dir: ./image/
 * /elevation_mapping_0/position_x: 0.0
 * /elevation_mapping_0/position_y: 0.0
 * /elevation_mapping_0/resolution: 0.1
 * /elevation_mapping_0/robot_base_frame_id: /PandarQT
 * /elevation_mapping_0/robot_id: 0
 * /elevation_mapping_0/robot_local_map_size: 20
 * /elevation_mapping_0/robot_name: robot0
 * /elevation_mapping_0/robot_pose_cache_size: 200
 * /elevation_mapping_0/sensor_frame_id: /PandarQT
 * /elevation_mapping_0/sensor_processor/beam_angle: 0.0006
 * /elevation_mapping_0/sensor_processor/beam_constant: 0.0015
 * /elevation_mapping_0/sensor_processor/ignore_points_above: 0.8
 * /elevation_mapping_0/sensor_processor/ignore_points_below: -5.0
 * /elevation_mapping_0/sensor_processor/min_radius: 0.018
 * /elevation_mapping_0/sensor_processor/type: laser
 * /elevation_mapping_0/submap_saving_dir: ./submaps/
 * /elevation_mapping_0/track_point_frame_id: /PandarQT
 * /elevation_mapping_0/track_point_x: 0.0
 * /elevation_mapping_0/track_point_y: 0.0
 * /elevation_mapping_0/track_point_z: 0.0
 * /elevation_mapping_0/travers_threshold: 0.8
 * /rosdistro: noetic
 * /rosversion: 1.16.0

NODES
  /
    elevation_mapping_0 (elevation_mapping/elevation_mapping)
    rviz (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

WARNING: Package name "pointMap_layer" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
process[elevation_mapping_0-1]: started with pid [339]
process[rviz-2]: started with pid [340]
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[ INFO] [1721313338.991893285]: get robot_id: 0
[ INFO] [1721313338.992161013]: get robot_name: robot0
[ INFO] [1721313338.992171526]: Check Format
[ INFO] [1721313338.992176331]: Check Format Done
[ INFO] [1721313338.995439779]: Elevation mapping node started.
[ INFO] [1721313338.996773700]: Elevation mapping node parameters loading ...
GPU Init mapping:14400
[ INFO] [1721313345.924326498, 1576131368.559543210]: Done.ializing ...
[ WARN] [1721313345.924942768, 1576131368.559543210]: UPDATE GLOBAL MAP

kitti_demo.sh

#!/bin/bash

containerID=$(docker create \
                --env="DISPLAY" \
                --env="NVIDIA_DRIVER_CAPABILITIES=all" \
                --env="__GLX_VENDOR_LIBRARY_NAME=nvidia" \
                --env="__NV_PRIME_RENDER_OFFLOAD=1" \
                --gpus=all \
                --rm \
                --tty \
                --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
                --volume="./rosbags/kitti.bag:/kitti.bag" \
                gem)

echo "container ID: $containerID"

hostname=$(docker inspect --format='{{ .Config.Hostname }}' $containerID)

echo "hostname: $hostname"

xhost +local:$hostname

xhost

docker start $containerID

sourceROS="source /opt/ros/noetic/setup.bash; "`
          `"source /catkin_workspace/devel/setup.bash; "

docker exec \
  --detach \
  $containerID \
  /bin/bash -c \
    "$sourceROS"`
    `"sleep 6s; "`
    `"rosbag play kitti.bag --clock"

docker exec \
  --detach \
  $containerID \
  /bin/bash -c \
    "$sourceROS"`
    `"roslaunch /catkin_workspace/src/GEM/filter.launch"

docker exec \
  --detach \
  $containerID \
  /bin/bash -c \
    "$sourceROS"`
    `"roslaunch --wait pointMap_layer create_globalmap.launch"

clean_up() {

  docker stop $containerID

  xhost -local:$hostname

}

trap clean_up SIGINT

docker exec \
  --interactive \
  --tty \
  $containerID \
  /bin/bash -c \
    "$sourceROS"`
    `"roslaunch --wait elevation_mapping_demos simple_demo.launch"

clean_up

Dockerfile

FROM nvidia/cuda:12.3.2-cudnn9-devel-ubuntu20.04

ARG DEBIAN_FRONTEND=noninteractive

ARG ROS_DISTRO=noetic

RUN apt-key adv \
      --keyserver "hkp://keyserver.ubuntu.com:80" \
      --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 && \
    echo "deb http://packages.ros.org/ros/ubuntu focal main" \
      > /etc/apt/sources.list.d/ros-latest.list && \
    apt-get update && \
    apt-get install \
      --yes \
      --no-install-recommends \
      git \
      libeigen3-dev \
      libpcl-dev \
      python3-pip \
      python3.8 \
      ros-$ROS_DISTRO-costmap-2d \
      ros-$ROS_DISTRO-eigen-conversions \
      ros-$ROS_DISTRO-grid-map \
      ros-$ROS_DISTRO-move-base \
      ros-$ROS_DISTRO-octomap-ros \
      ros-$ROS_DISTRO-pcl-ros \
      ros-$ROS_DISTRO-ros-base \
      ros-$ROS_DISTRO-rqt-gui \
      ros-$ROS_DISTRO-rqt-gui-py \
      ros-$ROS_DISTRO-rviz \
      ros-$ROS_DISTRO-tf-conversions && \
    apt-get clean && \
    rm -rf /var/lib/apt/lists/* && \
    mkdir -p /catkin_workspace/src && \
    cd /catkin_workspace/src && \
    git clone https://github.com/anybotics/kindr && \
    git clone https://github.com/ANYbotics/kindr_ros.git && \
    git clone https://github.com/ZJU-Robotics-Lab/slam_msg.git && \
    git clone https://github.com/ZJU-Robotics-Lab/GEM.git && \
    sed -i "s/++11/++14/g" GEM/layers/CMakeLists.txt && \
    cd /catkin_workspace && \
    . /opt/ros/$ROS_DISTRO/setup.sh && \
    catkin_make # https://github.com/ZJU-Robotics-Lab/GEM/issues/2

RUN echo "source /opt/ros/noetic/setup.bash" >> /etc/bash.bashrc && \
    echo "source /catkin_workspace/devel/setup.bash" >> /etc/bash.bashrc

[whwbht]

i have met same problems with you , when i run the bash , only can i get is the picture same as you , i have not met the elevation map . do you solve this problem?

[doctorcolossus]

Hey @whwbht, unfortunately I never was able to figure out this issue. 😔

GEM looks like it would be cool if we could get it to run, but it relies on an ancient version of ROS and Ubuntu, doesn't seem to be maintained, and as we can see, the authors don't seem to respond to issues, so I would recommend giving some other options a try.

I am currently using elevation_mapping_cupy instead.

LeSTA also looks very promising with its recent updates, but I haven't gotten around to trying them yet.

My master's thesis offers an overview of some other available open-source traversability libraries, if you're curious.

[whwbht]

thanks a lot , i will try your  elevation_mapping_cupy instead .  王浩文 ***@***.***

[whwbht]

Can I get your contact information? Because my graduation thesis is also about navigable area navigation, and the recommendations you provided are exactly what I need. 王浩文 ***@***.***