localization_visualizer

[WanpengShao]

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System information

• OS Platform and Distribution (e.g., Linux Ubuntu 18.04):
• linux ubuntu 20.04
• Apollo installed from (source or binary):
• **Apollo 6.0 edu version
• Output of apollo.sh config if on master branch:

Steps to reproduce the issue:

• Please use bullet points and include as much details as possible:
  https://developer.apollo.auto/Apollo-Homepage-Document/Apollo_Doc_CN_6_0/%E4%B8%8A%E6%9C%BA%E4%BD%BF%E7%94%A8%E6%95%99%E7%A8%8B/%E4%B8%8A%E6%9C%BA%E5%AE%9E%E8%B7%B5Apollo%E5%AE%9A%E4%BD%8D%E8%83%BD%E5%8A%9B/%E5%9F%BA%E4%BA%8EMSFVisualizer%E7%9A%84Apollo%E5%AE%9A%E4%BD%8D%E5%8F%AF%E8%A7%86%E5%8C%96%E5%AE%9E%E8%B7%B5
  我按照这个文档跑的。

cyber_launch start /apollo/modules/localization/launch/msf_localization.launch 也正常运行
cd DATA_PATH/records
cyber_recorder play -f record.* 也正常
而且能在http://localhost:8888/ 看到车在跑 到这里为止都没有问题。
然后我想做： 基于MSFVisualizer的Apollo定位可视化实践
我也跑了这个命令：sudo apt install x11-xserver-utils
xclock也是正常能在ubuntu出来的。但是就再跑cyber_launch start /apollo/modules/localization/launch/msf_visualizer.launch
的时候 出来下面情况。 怎么搜索都找不到怎么解决这个问题 请问这个怎么解决？

[cyber_launch_2088670] INFO Launch file [/apollo/modules/localization/launch/msf_visualizer.launch]
[cyber_launch_2088670] INFO ========================================================================================================================
[cyber_launch_2088670] INFO Load module [localization_visualizer] library: [localization_visualizer] [CYBER_DEFAULT] conf: [/apollo/modules/localization/dag/dag_streaming_msf_visualizer.dag] exception_handler: []
[cyber_launch_2088670] INFO Start process [localization_visualizer] successfully. pid: 2088671
[cyber_launch_2088670] INFO ------------------------------------------------------------------------------------------------------------------------
[localization_visualizer] WARNING: Logging before InitGoogleLogging() is written to STDERR
[localization_visualizer] I1113 09:33:04.709626 2088671 module_argument.cc:81] []command: mainboard -d /apollo/modules/localization/dag/dag_streaming_msf_visualizer.dag -p localization_visualizer -s CYBER_DEFAULT
[localization_visualizer] I1113 09:33:04.710171 2088671 global_data.cc:153] []host ip: 192.168.11.13
[localization_visualizer] I1113 09:33:04.710877 2088671 module_argument.cc:57] []binary_name_ is mainboard, process_group_ is localization_visualizer, has 1 dag conf
[localization_visualizer] I1113 09:33:04.710884 2088671 module_argument.cc:60] []dag_conf: /apollo/modules/localization/dag/dag_streaming_msf_visualizer.dag
[localization_visualizer] Load lidar extrinsic succeed.
[localization_visualizer] Load map config succeed.
[localization_visualizer] terminate called after throwing an instance of 'std::invalid_argument'
[localization_visualizer] what(): stoi
[cyber_launch_2088670] ERROR Process [localization_visualizer] has died [pid 2088671, exit code -6, cmd mainboard -d /apollo/modules/localization/dag/dag_streaming_msf_visualizer.dag -p localization_visualizer -s CYBER_DEFAULT].
[cyber_launch_2088670] INFO All processes has died.
[cyber_launch_2088670] INFO Cyber exit.
[cyber_launch_2088670] INFO All processes have been stopped.

Supporting materials (screenshots, command lines, code/script snippets):