An error occurs in sphereMap

[zxx01]

Thank you for your open-source code. I encountered these errors while running the example, how can I resolve them?

[ChanJoon]

I met the same problem. How did you resolve it?

[zxx01]

I met the same problem. How did you resolve it?

Hmm... I just wanted to see how the algorithm performed at that time, so I didn’t try to fix it.

[ChanJoon]

Thank you for sharing your experience and quick response. Like you, I’m interested in looking into the algorithm, but it’s sad to see how it actually works.

Anyway, if I find a solution, I’ll post it on this thread. Thanks again!

[MrTomzor]

Hi, sorry for the late reply. Thanks for bringing this up. I compiled it now on my machine with that using 'catkin build' and ran the example.launch now and did not encounter the error you sent, and I also don't remember seeing the error ever during the development, so I hope we can figure it out.

From the image you uploaded, a message above the red node crash error shows some failed assertion 'children == Null' in OcTreeDataNode, which is called in the code of OctoMap. I can't see a stack trace in the image you sent, so I'm unsure of what triggered that to be called in the Spheremap code. You could compile the C++ code with debug flags and run it with gcc to show the stack trace, that could help in figuring it out. However, I think that most likely you have an incompatible version of OctoMap. What version are you using? Our octomap package version is 1.9.8 and the version of the octomap_ros package is 0.4.1, so I suggest you try those and let us know if it helps.

I also don't see the TF_REPEATED_BUFFER warning when I run it, that one seems very weird and could be the problem. How exactly did you compile and run the code? Do you maybe run the example.launch and also play the rosbag separately? Also the map you sent in the image looks very disconnected. Did you change any parameters? Without them, the map should be fully connected like in this video: https://www.youtube.com/watch?v=NEgUuRps9Tk

[ChanJoon]

@MrTomzor Thanks. As you said, it was indeed an issue with Octomap.
I found a reason and here's how anyone facing this issue can resolve it:

1. Modify OcTreeBaseImpl.hxx in your Octomap. Refer to Fix children[] array not deleted in deleteNodeRecurs function. OctoMap/octomap#288 for details.

2. This requires manually install and build these packages octomap, octomap-ros, octomap-msgs.
   (After that, build spheremap again.)

Then you can successfully run example.launch.

I don't know why octomap_ros installed via binaries isn't working, as @MrTomzor said.
(I checked both octomap_ros and liboctomap-dev version but there was no problem.)

By the way, could you check if this is the correct visualization of darpa_subt_finals_uav_green.bag?

I don't see any meshes in LTV-map example or the purple spheres shown in the README.md.