[visual_odometry-1] process has died [pid 22808, exit code -11

[Chenbin0021]

有点类似前面issue出现的问题，我catkinmake完成，resouce也ok，roslaunch air_slam vo_euroc.launch的时候可以出现rviz界面，然后出现
... logging to /home/cug439/.ros/log/965f3f94-729f-11f0-8126-730d5f1cde1f/roslaunch-cug439-MEOW-R15-24-23201.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://cug439-MEOW-R15-24:34685/

SUMMARY

PARAMETERS

• /rosdistro: noetic
• /rosversion: 1.17.4
• /visual_odometry/camera_config_path: /home/cug439/arti...
• /visual_odometry/config_path: /home/cug439/arti...
• /visual_odometry/dataroot: /home/cug439/data...
• /visual_odometry/model_dir: /home/cug439/arti...
• /visual_odometry/saving_dir: /home/cug439/arti...

NODES
/
rviz (rviz/rviz)
visual_odometry (air_slam/visual_odometry)

ROS_MASTER_URI=http://localhost:11311

process[visual_odometry-1]: started with pid [23215]
process[rviz-2]: started with pid [23216]
config_file = /home/cug439/article/deepfeature/src/AirSLAM-ROS/AirSLAM-master/configs/visual_odometry/vo_euroc.yaml
config done
[INFO] [1754470503.511126184]: rviz version 1.14.26
[INFO] [1754470503.511175496]: compiled against Qt version 5.12.8
[INFO] [1754470503.511187288]: compiled against OGRE version 1.9.0 (Ghadamon)
[INFO] [1754470503.515838806]: Forcing OpenGl version 0.
[INFO] [1754470503.695405387]: Stereo is NOT SUPPORTED
[INFO] [1754470503.695456263]: OpenGL device: AMD YELLOW_CARP (DRM 3.42.0, 5.15.0-139-generic, LLVM 12.0.0)
[INFO] [1754470503.695470149]: OpenGl version: 4.6 (GLSL 4.6) limited to GLSL 1.4 on Mesa system.
[visual_odometry-1] process has died [pid 23215, exit code -11, cmd /home/cug439/article/deepfeature/devel/lib/air_slam/visual_odometry __name:=visual_odometry __log:=/home/cug439/.ros/log/965f3f94-729f-11f0-8126-730d5f1cde1f/visual_odometry-1.log].
log file: /home/cug439/.ros/log/965f3f94-729f-11f0-8126-730d5f1cde1f/visual_odometry-1*.log
这个问题，比较新手，所以想问问有没有出现类似的情况，有没有什么比较好的解决方法

[xukuanHIT]

@Chenbin0021 你好，程序在第一次运行时，会需要一些时间将onnx模型转成适用于本机环境的.engine文件，所以等几分钟就可以了

[Chenbin0021]

感谢您的回答，上面的问题解决了，是因为我的cuda版本用的11.8，和您的不一样，我后面重新编译了onnx后解决了这个问题，但是现在出现了新的问题：
dateroot :/home/cug439/dataset/MH_01_easy/mav0
[INFO] [1754620666.407289030]: rviz version 1.14.26
[INFO] [1754620666.407344717]: compiled against Qt version 5.12.8
[INFO] [1754620666.407355016]: compiled against OGRE version 1.9.0 (Ghadamon)
[INFO] [1754620666.412285889]: Forcing OpenGl version 0.
[INFO] [1754620666.634321917]: Stereo is NOT SUPPORTED
[INFO] [1754620666.634405947]: OpenGL device: AMD YELLOW_CARP (DRM 3.42.0, 5.15.0-139-generic, LLVM 12.0.0)
[INFO] [1754620666.634430664]: OpenGl version: 4.6 (GLSL 4.6) limited to GLSL 1.4 on Mesa system.
map_builder done
dataset done dataset_length = 3682
i ====== 0
One Frame Processinh Time: 1 ms.
i ====== 1
One Frame Processinh Time: 1 ms.
i ====== 2
One Frame Processinh Time: 1 ms.
i ====== 3
One Frame Processinh Time: 2 ms.
i ====== 4
One Frame Processinh Time: 1 ms.
i ====== 5
[visual_odometry-1] process has died [pid 8324, exit code -11, cmd /home/cug439/article/AirSLAM_ws/devel/lib/air_slam/visual_odometry __name:=visual_odometry __log:=/home/cug439/.ros/log/24679a66-73fe-11f0-84e1-15b4921596df/visual_odometry-1.log].
log file: /home/cug439/.ros/log/24679a66-73fe-11f0-84e1-15b4921596df/visual_odometry-1*.log
不知道您是否遇到过这个问题，还是cuda版本的原因吗

[xukuanHIT]

PLNet的C++代码依赖Cuda 12及以上的版本。如果你的Nvidia driver支持Cuda 12，可以先尝试用docker跑