elevation_mapping_node dies on startup due to pybind import problem

[camkisailus]

Hi! I am trying to run this code on Ubuntu 18.04 with ROS melodic. I am able to build the code successfully (using catkin build -DPYTHON_EXECUTABLE=$(which python3)) , but am encountering a runtime error

that I have traced to this line. I have already tried setting the PYTHONPATH env variable in the launch file as discussed in the README, but that does not fix the problem.

What is interesting is that I am able to call py::module::import("elevation_mapping_cupy") without error, but py::module::import("elevation_mapping_cupy.elevation_mapping") will cause the node to die.

Any help on this problem would be greatly appreciated!

[mktk1117]

Thank you for this!
Can you check which line in elevation_mapping.py kills the process?
I suspect one of the import in that file.

[huangyoupingben]

@mktk1117 ,Hi there.
Same issue for me. py::module::import("elevation_mapping_cupy.elevation_mapping") cause the error.
I check elevation_mapping.py with some print. I find that the following code is the reason that kill the process.
1) from .map_initializer import MapInitializer
2) from .plugins.plugin_manager import PluginManger
3) from .traversability_polygon import (
get_masked_traversability,
is_traversable,
calculate_area,
transform_to_map_position,
transform_to_map_index,
)

Code run on Ubuntu 18.04 with ROS melodic.

[huangyoupingben]

More details

1. from .map_initializer import MapInitializer
   from scipy.interpolate import griddata in map_initializer.py cause the dead process.
2. from .plugins.plugin_manager import PluginManger
   from ruamel.yaml import YAML in plugin_manager.py cause the dead process.
3. from .traversability_polygon import
   from shapely.geometry import Polygon, MultiPoint in traversability_polygon.py cause the dead process.

[mktk1117]

thanks for detailed checks. seems like it is from some library installation or version.
Could you resolve this issue?

[hsurya08]

Hi, I was facing the same issue with the convex_plane_decomposition_ros node. Any possible solutions?
Thanks in advance!

[zhengnx0906]

More details

1. from .map_initializer import MapInitializer
   from scipy.interpolate import griddata in map_initializer.py cause the dead process.
2. from .plugins.plugin_manager import PluginManger
   from ruamel.yaml import YAML in plugin_manager.py cause the dead process.
3. from .traversability_polygon import
   from shapely.geometry import Polygon, MultiPoint in traversability_polygon.py cause the dead process.

I solved part of the problem by change the import like this: import shapely
in the used function: shapely.geometry.Polygon

but i met the new problem, and i can't locate it

[zhengnx0906]

More details

1. from .map_initializer import MapInitializer
   from scipy.interpolate import griddata in map_initializer.py cause the dead process.
2. from .plugins.plugin_manager import PluginManger
   from ruamel.yaml import YAML in plugin_manager.py cause the dead process.
3. from .traversability_polygon import
   from shapely.geometry import Polygon, MultiPoint in traversability_polygon.py cause the dead process.

I solved part of the problem by change the import like this: import shapely in the used function: shapely.geometry.Polygon

but i met the new problem, and i can't locate it

Ok, I finanlly sloved this problem by using this method one by one.

How can i import the publishing rate? Is it related to my hardware? And what is the maximum capacity