SolvedLIO SAM ImuPreintegration and ImageProjection crashing and restarting

Hi, I've been trying to make this work with a Bosch BNO055 chip until now, but recently I managed to get a Microstrain 3DM-GX5-25, like @TixiaoShan is using, but after switching to it and changing the topics around, I've noticed I started getting a lot more errors and crashes of my system with output similar to this:

terminate called after throwing an instance of 'std::runtime_error'
what(): PreintegratedImuMeasurements::integrateMeasurement: dt <=0
[lio_sam_imuPreintegration-1] process has died [pid 574, exit code -6, cmd /home/gl/catkin_ws/devel/lib/lio_sam/lio_sam_imuPreintegration __name:=lio_sam_imuPreintegration __log:=/home/gl/.ros/log/1415f1e0-bd6d-11eb-b877-64bc5855aa9b/lio_sam_imuPreintegration-1.log].
log file: /home/gl/.ros/log/1415f1e0-bd6d-11eb-b877-64bc5855aa9b/lio_sam_imuPreintegration-1*.log
[lio_sam_imuPreintegration-1] restarting process
process[lio_sam_imuPreintegration-1]: started with pid [691]
[ INFO] [1621956396.629035437]: ----> IMU Preintegration Started.
terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injectorboost::lock_error >'
what(): boost: mutex lock failed in pthread_mutex_lock: Invalid argument
[lio_sam_imageProjection-2] process has died [pid 575, exit code -6, cmd /home/gl/catkin_ws/devel/lib/lio_sam/lio_sam_imageProjection __name:=lio_sam_imageProjection __log:=/home/gl/.ros/log/1415f1e0-bd6d-11eb-b877-64bc5855aa9b/lio_sam_imageProjection-2.log].
log file: /home/gl/.ros/log/1415f1e0-bd6d-11eb-b877-64bc5855aa9b/lio_sam_imageProjection-2*.log
[lio_sam_imageProjection-2] restarting process
process[lio_sam_imageProjection-2]: started with pid [717]
[ INFO] [1621956403.494835027]: ----> Image Projection Started.

I am using an Ouster OS1-128 lidar, does anyone have any suggestions how to fix these errors? thanks

17 Answers

✔️Accepted Answer

Hi, I got similar errors as you did. I think you may have different versions of GTSAM? Or something with gtsam is messing up.
I fixed it by repeating these steps

cd ~/Downloads/gtsam-4.0.2/
cd build
cmake -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF ..
sudo make install -j8

Then roslaunch the run file. It worked for me.

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