使用imu_utils标定，拥有了db3文件了，使用ros2 launch启动编译好的imu_an节点报错，启动不了

[小鱼]

@yuan 在 使用imu_utils标定，拥有了db3文件了，使用ros2 launch启动编译好的imu_an节点报错，启动不了 中说：

[imu_an-1] [INFO] [1722931605.611123480] [imu_an]: Waiting for IMU data...
[imu_an-1] [ERROR] [1722931605.611210670] [imu_an]: Failed to load imu_topic
[imu_an-1] [ERROR] [1722931605.612426206] [imu_an]: Failed to load imu_name
[imu_an-1] [ERROR] [1722931605.612452157] [imu_an]: Failed to load data_save_path
[imu_an-1] [ERROR] [1722931605.612457508] [imu_an]: Failed to load max_time_min
[imu_an-1] [ERROR] [1722931605.612460949] [imu_an]: Failed to load max_cluster
[imu_an-1] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[imu_an-1] what(): could not create subscription: rcl node's context is invalid, at ./src/rcl/node.c:428

看起来像是参数没有传递到代码里，代码是怎么写的，贴一下，另外检查下launch写的对不对

[yuan]

@小鱼
代码是这样的

ain( int argc, char** argv )
{
    rclcpp::init( argc, argv);
    //rclcpp::Node n( "~" );
    auto node = std::make_shared<rclcpp::Node>("n");
    //rclcpp::Logger( ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Debug );
    RCLCPP_INFO(node->get_logger(), "Waiting for IMU data...");
    std::string IMU_TOPIC;
    std::string IMU_NAME;
    int max_cluster;

    IMU_TOPIC      = ros_utils::readParam<std::string>(*node, "imu_topic");
    IMU_NAME       = ros_utils::readParam<std::string>(*node, "imu_name");
    data_save_path = ros_utils::readParam<std::string>(*node, "data_save_path");
    max_time_min   = ros_utils::readParam<int>(*node, "max_time_min");
    max_cluster    = ros_utils::readParam<int>(*node, "max_cluster");

    // rclcpp::Subscription sub_imu = n->create_subscription( IMU_TOPIC, //
    //                                        20000000,
    //                                        imu_callback,
    //                                        ros::TransportHints( ).tcpNoDelay( ) );
    //    rclcpp::Publisher pub = n.advertise< geometry_msgs::Vector3Stamped >( ALLAN_TOPIC,
    //    2000 );
    auto sub_imu = node->create_subscription<sensor_msgs::msg::Imu>(
    IMU_TOPIC, 10, imu_callback);


    auto gyr_x = std::make_shared<imu::AllanGyr>("gyr x", max_cluster);
    auto gyr_y = std::make_shared<imu::AllanGyr>("gyr y", max_cluster);
    auto gyr_z = std::make_shared<imu::AllanGyr>("gyr z", max_cluster);
    auto acc_x = std::make_shared<imu::AllanAcc>("acc x", max_cluster);
    auto acc_y = std::make_shared<imu::AllanAcc>("acc y", max_cluster);
    auto acc_z = std::make_shared<imu::AllanAcc>("acc z", max_cluster);
    std::cout << "wait for imu data." << std::endl;
    rclcpp::WallRate loop( 100 );

    //    ros::spin( );
    while ( !end )
    {
        loop.sleep( );
        rclcpp::spin_some(node);
        //rclcpp::spin(n);

    }

    ///
    gyr_x->calc( );
    std::vector< double > gyro_v_x  = gyr_x->getVariance( );
    std::vector< double > gyro_d_x  = gyr_x->getDeviation( );
    std::vector< double > gyro_ts_x = gyr_x->getTimes( );

    gyr_y->calc( );

然后就是我运行ros2 run imu_utils imu_an也报错，看起来像是没有imu_an这个节点，我是看了你那个教程也是多了一个a.out文件

[yuan]

@小鱼
报错是这样的

ysh@ysh:~/ros2_ws$ ros2 run imu_utils imu_an 
[INFO] [1722935421.840191342] [n]: Waiting for IMU data...
[ERROR] [1722935421.840539049] [n]: Failed to load imu_topic
[ERROR] [1722935421.841680445] [n]: Failed to load imu_name
[ERROR] [1722935421.841792184] [n]: Failed to load data_save_path
[ERROR] [1722935421.841890937] [n]: Failed to load max_time_min
[ERROR] [1722935421.841986597] [n]: Failed to load max_cluster
terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
  what():  could not create subscription: rcl node's context is invalid, at ./src/rcl/node.c:428

[小鱼]

@yuan 在 使用imu_utils标定，拥有了db3文件了，使用ros2 launch启动编译好的imu_an节点报错，启动不了 中说：

IMU_TOPIC = ros_utils::readParamstd::string(*node, "imu_topic");
IMU_NAME = ros_utils::readParamstd::string(*node, "imu_name");
data_save_path = ros_utils::readParamstd::string(*node, "data_save_path");
max_time_min = ros_utils::readParam<int>(*node, "max_time_min");
max_cluster = ros_utils::readParam<int>(*node, "max_cluster");

应该是这里报错，都没获取到参数

[小鱼]

@yuan 在 使用imu_utils标定，拥有了db3文件了，使用ros2 launch启动编译好的imu_an节点报错，启动不了 中说：

terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
what(): could not create subscription: rcl node's context is invalid, at ./src/rcl/node.c:428

不过看这个错误是没有 rclcpp_init()

[小鱼]

@yuan 用gdb，debug下，看看挂在了哪一行

[yuan]

此回复已被删除！

[yuan]

此回复已被删除！

[yuan]

@小鱼 ```
Starting program: /home/ysh/ros2_ws/install/imu_utils/lib/imu_utils/imu_an --ros-args --params-file /home/ysh/ros2_ws/src/param.yaml
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[New Thread 0x7ffff4dff640 (LWP 126145)]
[New Thread 0x7ffff45fe640 (LWP 126146)]
[New Thread 0x7ffff3dfd640 (LWP 126147)]
[New Thread 0x7ffff35fc640 (LWP 126148)]
[New Thread 0x7ffff2dfb640 (LWP 126149)]
[New Thread 0x7ffff25fa640 (LWP 126150)]
[New Thread 0x7ffff1df9640 (LWP 126151)]
[New Thread 0x7ffff15f8640 (LWP 126152)]
[New Thread 0x7ffff0df7640 (LWP 126153)]
[INFO] [1722937129.258907543] [n]: Waiting for IMU data...
[ERROR] [1722937129.259067701] [n]: Failed to load imu_topic
[ERROR] [1722937129.259904065] [n]: Failed to load imu_name
[ERROR] [1722937129.259961287] [n]: Failed to load data_save_path
[ERROR] [1722937129.260008229] [n]: Failed to load max_time_min
[ERROR] [1722937129.260054711] [n]: Failed to load max_cluster
terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
what(): could not create subscription: rcl node's context is invalid, at ./src/rcl/node.c:428
[Thread 0x7ffff4dff640 (LWP 126145) exited]

Thread 1 "imu_an" received signal SIGABRT, Aborted.
__pthread_kill_implementation (no_tid=0, signo=6, threadid=140737322031168) at ./nptl/pthread_kill.c:44
44 ./nptl/pthread_kill.c: 没有那个文件或目录.

[小鱼]

@yuan 在 使用imu_utils标定，拥有了db3文件了，使用ros2 launch启动编译好的imu_an节点报错，启动不了 中说：

ros_utils::readParamstd::string

这个函数怎么写的

[yuan]

此回复已被删除！

[yuan]

@小鱼

template< typename T >
T
readParam( rclcpp::Node& n, std::string name )
{
    T ans;
    if ( n.get_parameter( name, ans ) )
    {
        RCLCPP_INFO_STREAM(n.get_logger(), "Loaded " << name << ": " << ans );
    }
    else
    {
        RCLCPP_ERROR_STREAM(n.get_logger(), "Failed to load " << name );
        rclcpp::shutdown();
    }
    return ans;
}

[小鱼]

@yuan 在 使用imu_utils标定，拥有了db3文件了，使用ros2 launch启动编译好的imu_an节点报错，启动不了 中说：

rclcpp::shutdown();

这里这里，你给shutdown() 干啥！！！！！

删掉！！！！！

[yuan]

@小鱼 没有呀，现在是这个样子的

int
main( int argc, char** argv )
{
    rclcpp::init( argc, argv);
    //rclcpp::Node n( "~" );
    auto node = std::make_shared<rclcpp::Node>("n");
    //rclcpp::Logger( ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Debug );
    RCLCPP_INFO(node->get_logger(), "Waiting for IMU data...");
    std::string IMU_TOPIC;
    std::string IMU_NAME;
    int max_cluster;


    IMU_TOPIC      = ros_utils::readParam<std::string>(*node, "imu_topic");
    IMU_NAME       = ros_utils::readParam<std::string>(*node, "imu_name");
    data_save_path = ros_utils::readParam<std::string>(*node, "data_save_path");
    max_time_min   = ros_utils::readParam<int>(*node, "max_time_min");
    max_cluster    = ros_utils::readParam<int>(*node, "max_cluster");

    // rclcpp::Subscription sub_imu = n->create_subscription( IMU_TOPIC, //
    //                                        20000000,
    //                                        imu_callback,
    //                                        ros::TransportHints( ).tcpNoDelay( ) );
    //    rclcpp::Publisher pub = n.advertise< geometry_msgs::Vector3Stamped >( ALLAN_TOPIC,
    //    2000 );
    auto sub_imu = node->create_subscription<sensor_msgs::msg::Imu>(
    IMU_TOPIC, 10, imu_callback);


    auto gyr_x = std::make_shared<imu::AllanGyr>("gyr x", max_cluster);
    auto gyr_y = std::make_shared<imu::AllanGyr>("gyr y", max_cluster);
    auto gyr_z = std::make_shared<imu::AllanGyr>("gyr z", max_cluster);
    auto acc_x = std::make_shared<imu::AllanAcc>("acc x", max_cluster);
    auto acc_y = std::make_shared<imu::AllanAcc>("acc y", max_cluster);
    auto acc_z = std::make_shared<imu::AllanAcc>("acc z", max_cluster);
    std::cout << "wait for imu data." << std::endl;
    rclcpp::WallRate loop( 100 );

    //    ros::spin( );
    while ( !end )
    {
        loop.sleep( );
        rclcpp::spin_some(node);
        //rclcpp::spin(n);

    }

[yuan]

@yuan
你的意思是read文件里面吗

[yuan]

@小鱼
删掉重新编译还是一样的鱼哥

ysh@ysh:~/ros2_ws$ ros2 run imu_utils imu_an
[INFO] [1723018093.544028406] [n]: Waiting for IMU data...
[ERROR] [1723018093.544215273] [n]: Failed to load imu_topic
[ERROR] [1723018093.544802558] [n]: Failed to load imu_name
[ERROR] [1723018093.544864169] [n]: Failed to load data_save_path
[ERROR] [1723018093.544946202] [n]: Failed to load max_time_min
[ERROR] [1723018093.544995910] [n]: Failed to load max_cluster
terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
  what():  could not create subscription: rcl node's context is invalid, at ./src/rcl/node.c:428
[ros2run]: Aborted

[小鱼]

@yuan 在 使用imu_utils标定，拥有了db3文件了，使用ros2 launch启动编译好的imu_an节点报错，启动不了 中说：

  RCLCPP_ERROR_STREAM(n.get_logger(), "Failed to load " << name );
    rclcpp::shutdown();

这里，兄弟，你获取失败为什么要shutdown，就算不执行了，你也要直接抛出异常推出

[yuan]

@小鱼 他源码是这样的，我把它删掉还是报错了呀

[小鱼]

@yuan 删掉重新构建，你现在没办法给我证明你现在运行的是之前的程序，还是你删除之后的

[yuan]

@小鱼
您能远程帮我看下吗，孩子都要重装系统了，磕头感谢