Elevation Mapping cupy安装踩坑

s y .

于 2024-08-24 20:52:48 发布

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文章标签： c++ opencv python

本文链接：https://blog.csdn.net/arebortzz/article/details/141504305

版权

环境：ros melodic

参考：

Installation — elevation_mapping_cupy documentation

https://github.com/leggedrobotics/elevation_mapping_cupy

https://github.com/leggedrobotics/elevation_mapping_cupy/issues/41

1.按照官方文档安装，pip3对应版本安装不上的删除版本号

2.opencv需要自己编译opencv4版本的

3.本人安装的cuda为10.2，对应pytorch安装为

pip3 install torch==1.8.1+cu102 torchvision==0.9.1+cu102 torchaudio==0.8.1 --extra-index-url https://download.pytorch.org/whl/cu102

4.踩坑点：

elevation_mapping_cupy

在编译完之后运行报错如下

[elevation_mapping-6] process has died [pid 12587, exit code -6, cmd /home/fsy/code/ocs2_ws/devel/lib/elevation_mapping_cupy/elevation_mapping_node __name:=elevation_mapping __log:=/home/fsy/.ros/log/f1bc0966-6211-11ef-9197-ac675d6d428c/elevation_mapping-6.log].
log file: /home/fsy/.ros/log/f1bc0966-6211-11ef-9197-ac675d6d428c/elevation_mapping-6*.log

寻找bug过程.......

切换成编译为debug模式

catkin build elevation_mapping_cupy --cmake-args -DCMAKE_BUILD_TYPE=Debug

在turtlesim_simple_example.launch文件中加入debug参数

    <node pkg="elevation_mapping_cupy" type="elevation_mapping_node" name="elevation_mapping" output="screen" launch-prefix="">
        <rosparam command="load" file="$(find elevation_mapping_cupy)/config/core/core_param.yaml"/>
        <rosparam command="load" file="$(find elevation_mapping_cupy)/config/setups/turtle_bot/turtle_bot_simple.yaml"/>
    </node>

改为

    <node pkg="elevation_mapping_cupy" type="elevation_mapping_node" name="elevation_mapping" output="screen" launch-prefix="gdb -ex run --args">
        <rosparam command="load" file="$(find elevation_mapping_cupy)/config/core/core_param.yaml"/>
        <rosparam command="load" file="$(find elevation_mapping_cupy)/config/setups/turtle_bot/turtle_bot_simple.yaml"/>
    </node>

进入gdb，在程序挂掉后执行backtrace，定位到

Thread 1 "elevation_mappi" received signal SIGSEGV, Segmentation fault.
0x00007ffff66ad15d in std::istream::sentry::sentry(std::istream&, bool) () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
(gdb) backtrace 
#0  0x00007ffff66ad15d in std::istream::sentry::sentry(std::istream&, bool) () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#1  0x00007ffff66ae2bb in std::istream::read(char*, long) () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#2  0x00007fffdc593e68 in geos::io::WKBReader::readGeometry() () from /usr/lib/x86_64-linux-gnu/libgeos-3.6.2.so
#3  0x00007fff5728e236 in GEOSGeomFromWKB_buf_r () from /home/fsy/.local/lib/python3.6/site-packages/shapely/.libs/libgeos_c-a68605fd.so.1.13.1
#4  0x00007fffd3e64dae in ffi_call_unix64 () from /usr/lib/x86_64-linux-gnu/libffi.so.6
#5  0x00007fffd3e6471f in ffi_call () from /usr/lib/x86_64-linux-gnu/libffi.so.6
#6  0x00007fff9db965a4 in _ctypes_callproc () from /usr/lib/python3.6/lib-dynload/_ctypes.cpython-36m-x86_64-linux-gnu.so
#7  0x00007fff9db96d34 in ?? () from /usr/lib/python3.6/lib-dynload/_ctypes.cpython-36m-x86_64-linux-gnu.so
#8  0x00007ffff7692768 in PyObject_Call () from /usr/lib/x86_64-linux-gnu/libpython3.6m.so.1.0
#9  0x00007ffff75459fb in ?? () from /usr/lib/x86_64-linux-gnu/libpython3.6m.so.1.0
#10 0x00007ffff7691f29 in _PyObject_FastCallDict () from /usr/lib/x86_64-linux-gnu/libpython3.6m.so.1.0
#11 0x00007ffff75a6ec8 in ?? () from /usr/lib/x86_64-linux-gnu/libpython3.6m.so.1.0
#12 0x00007ffff75ad303 in _PyEval_EvalFrameDefault () from /usr/lib/x86_64-linux-gnu/libpython3.6m.so.1.0
#13 0x00007ffff75a5803 in ?? () from /usr/lib/x86_64-linux-gnu/libpython3.6m.so.1.0
#14 0x00007ffff75a72be in ?? () from /usr/lib/x86_64-linux-gnu/libpython3.6m.so.1.0
#15 0x00007ffff75ad303 in _PyEval_EvalFrameDefault () from /usr/lib/x86_64-linux-gnu/libpython3.6m.so.1.0
#16 0x00007ffff75a6a0f in ?? () from /usr/lib/x86_64-linux-gnu/libpython3.6m.so.1.0
#17 0x00007ffff75a74ce in PyEval_EvalCodeEx () from /usr/lib/x86_64-linux-gnu/libpython3.6m.so.1.0
#18 0x00007ffff75a824b in PyEval_EvalCode () from /usr/lib/x86_64-linux-gnu/libpython3.6m.so.1.0
#19 0x00007ffff75b355d in ?? () from /usr/lib/x86_64-linux-gnu/libpython3.6m.so.1.0
#20 0x00007ffff763e761 in PyCFunction_Call () from /usr/lib/x86_64-linux-gnu/libpython3.6m.so.1.0
#21 0x00007ffff75afb20 in _PyEval_EvalFrameDefault () from /usr/lib/x86_64-linux-gnu/libpython3.6m.so.1.0
#22 0x00007ffff75a6a0f in ?? () from /usr/lib/x86_64-linux-gnu/libpython3