Campus-Outdoor Data Testing and Custom YAML Configuration with Kimera-Multi

[CSH-1220]

Firstly, I have been working with the Campus-Outdoor data set for testing with Kimera-Multi. I've followed the instructions provided, running the command CATKIN_WS=<path-to-catkin-ws> DATA_PATH=<path-to-campus-outdoor-data-folder> LOG_DIR=<path-to-log-folder> tmuxp load 1014-example.yaml. Despite the process completing without any module errors, I am unable to visualize the robot's path in RViz. I have tried solutions mentioned in closed issues #3, #6, and #8 on your repository, but the problem persists. I suspect an issue with the DPGO module, possibly related to loop closure detection. I have attached the log file from this run for your reference.

Secondly, I have created a custom YAML file, 1014-example-2robots.yaml, based on the original file logic, modifying it to operate with only two robots instead of six. However, I encounter an error during the execution of the second robot ( Total inter-robot loop closures: 0; DistributedLoopClosure.cpp:100] Check failed: robot_id >= config_.my_id_ (0 vs. 1)), which seems unexpected given the logical nature of the modifications. I am attaching this YAML file as well in the zip file and would greatly appreciate your insights into whether my approach is correct and what might be causing this error.

Thank you for your time and consideration.
klog.zip

[CSH-1220]

I apologize for the confusion, but I realized that my issue was mistakenly posted here. It was intended for the kimera-multi repository. I'm sorry for any inconvenience caused. Please feel free to delete this issue. Thank you for your understanding.