-
Notifications
You must be signed in to change notification settings - Fork 78
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
How MINS dealwith multi thread problem? #31
Comments
Hello, When I ran roslaunch mins simulation.launch cam_enabled:=true lidar_enabled:=true, the following problems occurred: RMSE average: 0.257, 0.117 (deg,m) |
Hi, @jiachenglihxl. I'm sorry for my (extremely) late reply. The current implementation is not truly multi-threaded. This means that even if two different sensor measurements come to the system at the same time, whichever calls the callback function fist will be processed first, and the other one will wait until it can be processed. |
Hi, @aidadgy. I suspect the error comes from LiDAR, the only place I use multi-thread for fast parallel computation. However, I cannot produce your error on my end, so it is hard to debug where the error is coming from. One thing I noticed is your |
Dear author, I am glad to receive your reply and thank you for it. I put a screenshot of the last run terminating below as well, and I noticed when I was runningroslaunch mins rosbag.launch config:=kaist/kaist_LC path_gt:=urban30.txt path_bag:=urban30.bag, have the same termination problem。 |
|
In the code, each sensor callback will use function "try to update" to update system state. And they all use StateHelper::EKFUpdate in the end.
My question is, what if two sensor come together, and call EKFUpdate at the same time?
Will this leads to coredump or memory corruption?
The text was updated successfully, but these errors were encountered: