{"action":"closed","issue":{"url":"https://api.github.com/repos/CPFL/Autoware/issues/1112","repository_url":"https://api.github.com/repos/CPFL/Autoware","labels_url":"https://api.github.com/repos/CPFL/Autoware/issues/1112/labels{/name}","comments_url":"https://api.github.com/repos/CPFL/Autoware/issues/1112/comments","events_url":"https://api.github.com/repos/CPFL/Autoware/issues/1112/events","html_url":"https://github.com/CPFL/Autoware/issues/1112","id":300111488,"number":1112,"title":"NDT mapping fails with 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only one section depending on whether you are reporting a bug or a new feature.\r\n\r\n# Bug\r\nndt mapping doesnt work with gpu  option\r\n\r\nError: an illegal memory access was encountered /home/xxx/Autoware-master/ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu/src/NormalDistributionsTransform.cu 929\r\nError: all CUDA-capable devices are busy or unavailable /home/xxxx/Autoware-master/ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu/src/MatrixDevice.cu 21\r\n[ndt_mapping-2] process has died [pid 78745, exit code 1, cmd /home/xxxxx/Autoware-master/ros/devel/lib/ndt_localizer/ndt_mapping __name:=ndt_mapping __log:=/home/xxxxx/.ros/log/3a7eb290-1a91-11e8-83fc-7085c25362be/ndt_mapping-2.log].\r\nlog file: /home/xxxx/.ros/log/3a7eb290-1a91-11e8-83fc-7085c25362be/ndt_mapping-2*.log\r\n\r\n\r\n\r\n\r\n## Actual Behavior\r\n(Processed/Input): (2319 / 4788)\r\nError: out of memory /home/xxxx/Autoware-master/ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu/src/SymmetricEigenSolver.cu 11\r\nError: invalid device pointer /home/xxxx/Autoware-master/ros/src/computing/perception/localization/lib/fast_pcl/ndt_gpu/src/MatrixDevice.cu 21\r\n[ndt_mapping-2] process has died [pid 72120, exit code 1, cmd /home/xxxx/Autoware-master/ros/devel/lib/ndt_localizer/ndt_mapping __name:=ndt_mapping __log:=/home/xxxx/.ros/log/3a7eb290-1a91-11e8-83fc-7085c25362be/ndt_mapping-2.log].\r\nlog file: /home/xxxx/.ros/log/3a7eb290-1a91-11e8-83fc-7085c25362be/ndt_mapping-2*.log\r\n\r\n\r\n## Steps to Reproduce the Problem\r\n\r\n  1. start ndt mapping with GPU option \r\n  1.\r\n  1.\r\n\r\n## Specifications\r\n\r\n  - Ubuntu version:16.04\r\n  - ROS Version:kinetic\r\n  - Autoware branch: fix/ndt mapping with gpu issue\r\n\r\n# New Feature\r\nDescribe where does new feature request come from. Add high-level picture of how the new feature should work."}}
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