[FATAL] [1672077317.645195442]: [Obstacle Extractor]: Unexpected error

[PeisenWong]

I got this error when trying to run obstacle detector in raspberry pi 4 with 4GB RAM.

I am unable to run obstacle extractor nodes.

I have checked that there are values published out from scan merger which is pcl

Not sure that is this the computational problem of raspberry pi or any problems else, i have tried to run the same code in my pc, everything seems fine until i git clone the code into raspberry pi.

I have also downloaded all dependencies, including armadillo C++, OpenBLAS, LAPACK into raspberry pi, every node works fine except for obstacle extractor.

Is anyone doing the same thing, which is trying to implement obstacle detector in raspberry pi? Pls share some of ur opinion if available. Thx very much.

Here is my launch file:

<launch>
    
    <!-- Activate rplidar (Publish laser scan data to topic /scan) -->
    <node name="rplidarNode"          pkg="rplidar_ros"  type="rplidarNode" output="screen">
        <param name="serial_port"         type="string" value="/dev/rplidar"/>  
        <param name="serial_baudrate"     type="int"    value="256000"/>
        <param name="frame_id"            type="string" value="front_scanner"/>
        <param name="inverted"            type="bool"   value="false"/>
        <param name="angle_compensate"    type="bool"   value="true"/>
        <remap from="scan" to="front_scan"/>
    </node>

    <!-- Scan Merger -->
    <node name="scans_merger" pkg="obstacle_detector" type="scans_merger_node">
        <param name="active"            value="true"/>
        <param name="publish_scan"      value="true"/>
        <param name="publish_pcl"       value="true"/>

        <param name="ranges_num"        value="1000"/>

        <param name="min_scanner_range" value="0.05"/>
        <param name="max_scanner_range" value="10.0"/>

        <param name="min_x_range"       value="-10.0"/>
        <param name="max_x_range"       value="10.0"/>
        <param name="min_y_range"       value="-10.0"/>
        <param name="max_y_range"       value="10.0"/>

        <param name="fixed_frame_id"   value="map"/>
        <param name="target_frame_id"   value="robot"/>
    </node>

    <!-- Obstacle Extraction -->
    <node name="obstacle_extractor" pkg="obstacle_detector" type="obstacle_extractor_node">
        <param name="active"               value="true"/>
        <param name="use_scan"             value="true"/>
        <param name="use_pcl"              value="true"/>

        <param name="use_split_and_merge"    value="true"/>
        <param name="circles_from_visibles"  value="true"/>
        <param name="discard_converted_segments" value="true"/>
        <param name="transform_coordinates"  value="true"/>

        <param name="min_group_points"     value="5"/>

        <param name="max_group_distance"   value="0.1"/>
        <param name="distance_proportion"  value="0.00628"/>
        <param name="max_split_distance"   value="0.2"/>
        <param name="max_merge_separation" value="0.2"/>
        <param name="max_merge_spread"     value="0.2"/>
        <param name="max_circle_radius"    value="0.07"/>
        <param name="min_circle_radius"    value="0.05"/>
        <param name="max_circle_radius2"    value="0.09"/>
        <param name="min_circle_radius2"    value="0.08"/>
        <param name="radius_enlargement"   value="0.3"/>

        <param name="min_x_limit"    value="-3.0"/>
        <param name="min_y_limit"    value="-3.0"/>
        <param name="max_x_limit"    value="3.0"/>
        <param name="max_y_limit"    value="3.0"/>

        <param name="frame_id"             value="front_scanner"/>
    </node>

    <node name="obstacle_tracker" pkg="obstacle_detector" type="obstacle_tracker_node">
        <param name="active"                  value="true"/>

        <param name="loop_rate"               value="20"/>
        <param name="tracking_duration"       value="2.0"/>
        <param name="min_correspondence_cost" value="0.6"/>
        <param name="std_correspondence_dev"  value="0.15"/>
        <param name="process_variance"        value="0.1"/>  
        <param name="process_rate_variance"   value="0.1"/>  
        <param name="measurement_variance"    value="1.0"/> 

        <param name="frame_id"                value="front_scanner"/>

    </node>

    <!-- Obstacle Publisher -->
    <node name="obstacle_publisher" pkg="obstacle_detector" type="obstacle_publisher_node">
        <param name="active"           value="true"/>
        <param name="reset"            value="false"/>

        <param name="fusion_example"   value="false"/>
        <param name="fission_example"  value="false"/>

        <param name="loop_rate"        value="10.0"/>
        <param name="radius_margin"    value="0.25"/>

        <rosparam param="x_vector">[-3.0, -2.5, -2.5, -1.0, -1.0, -0.5, 2.5, 0.2, 2.0, 4.5, 4.0, 1.5]</rosparam>
        <rosparam param="y_vector">[1.5, 0.0, -2.5, 3.0, 1.0, -4.0, -3.0, -0.9, 0.0, 0.0, 2.0, 2.0]</rosparam>
        <rosparam param="r_vector">[0.5, 0.5, 1.5, 0.5, 0.7, 0.5, 1.5, 0.7, 0.7, 1.0, 0.5, 1.0]</rosparam>
        <rosparam param="vx_vector">[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]</rosparam>
        <rosparam param="vy_vector">[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]</rosparam>

        <param name="frame_id"         value="map"/>
    </node>

    <!-- Static transform publisher -->
    <node pkg="tf" type="static_transform_publisher" name="front_scanner_to_base" args="0 0 0 0 0 0 robot front_scanner 100" />
    <node pkg="tf" type="static_transform_publisher" name="base_to_map" args="0 0 0 0 0 0 map robot 100" />
</launch>