mapOtimization is killed while trying to save data

[pauldeee]

Hi,

Thanks for your addition!

When I enable the save tool it seems to save poses and everything else properly, except for the cloudGlobal.pcd. I'm guessing it might because of this:

****************************************************

Saving the posegraph ...

****************************************************

Saving map to pcd files ...

[sc_lio_sam_mapOptmization-4] escalating to SIGTERM

shutting down processing monitor...

... shutting down processing monitor complete

done

It appears the saving of cloudGlobal.pcd is interrupted as I cannot open it in CCviewer and this message is reported:

[pcl::PCDReader::read] Number of points read (6881489) is different than expected (42642378)

If anything else is needed, please let me know.

[bclaw524]

I'm having the same issue, were you able to figure out what caused it?

My guess is its an issue with GTSAM. I had to use gtsam 4.0.3 to get LIO-SAM to work with noetic.