Multiple tests failing about distributed-mapper

[itzsid]

@akashsharma02, It will be great if you can create a PR. I can review the changes.

[akashsharma02]

Additionally when I run the DistributedMapper on the dataset, I get the following output, is this expected:

./runDistributedMapper --nrRobots 4 --dataDir ../../data/example_4robots/
[optimizeRotation] Change (Robot 0): 1.79769e+308
Copying initial to optimized

[Xianhyy]

Hi Sid,

I tried compiling the codebase with the latest gtsam after making some changes.
However, when I run the tests using the command specified:

make testDistributedMapper.run

I get the following errors:

/home/akashsharma/Documents/projects/distributed-mapper/distributed_mapper_core/cpp/tests/testDistributedMapper.cpp:171: Failure: "Exception: Requested variable 'Z9999999' is not in this VectorValues."
/home/akashsharma/Documents/projects/distributed-mapper/distributed_mapper_core/cpp/tests/testDistributedMapper.cpp:189: Failure: "Exception: Requested variable 'Z9999999' is not in this VectorValues."
/home/akashsharma/Documents/projects/distributed-mapper/distributed_mapper_core/cpp/tests/testDistributedMapper.cpp:208: Failure: "Exception: Requested variable 'Z9999999' is not in this VectorValues."
/home/akashsharma/Documents/projects/distributed-mapper/distributed_mapper_core/cpp/tests/testDistributedMapper.cpp:227: Failure: "Exception: Requested variable 'Z9999999' is not in this VectorValues."
/home/akashsharma/Documents/projects/distributed-mapper/distributed_mapper_core/cpp/tests/testDistributedMapper.cpp:247: Failure: "Exception: Requested variable 'Z9999999' is not in this VectorValues."
/home/akashsharma/Documents/projects/distributed-mapper/distributed_mapper_core/cpp/tests/testDistributedMapper.cpp:267: Failure: "Exception: Requested variable 'Z9999999' is not in this VectorValues."
/home/akashsharma/Documents/projects/distributed-mapper/distributed_mapper_core/cpp/tests/testDistributedMapper.cpp:287: Failure: "Exception: Requested variable 'Z9999999' is not in this VectorValues."
There were 7 failures
make[3]: *** [tests/CMakeFiles/testDistributedMapper.run.dir/build.make:77: tests/CMakeFiles/testDistributedMapper.run] Error 7
make[2]: *** [CMakeFiles/Makefile2:459: tests/CMakeFiles/testDistributedMapper.run.dir/all] Error 2
make[1]: *** [CMakeFiles/Makefile2:466: tests/CMakeFiles/testDistributedMapper.run.dir/rule] Error 2
make: *** [Makefile:351: testDistributedMapper.run] Error 2

If the tests are resolved, I can submit a PR with my edits to support the latest GTSAM version as well.

Have you solved it? I meet the same question.

[akashsharma02]

@Xianhyy Yes, I've made some fixes in my fork that seem to work for now: Distributed Mapper
Although cannot guarantee results matching the paper.

[itzsid]

Merged in #4, closing this.