Running failed

[FDwuyun]

Change the address to the following 3 packages:
<arg name="bag_path" default = "./Dataset/WAIS_Data/8-4.bag" /> or
<arg name="bag_path" default = "./Dataset/WAIS_Data/8-28.bag" /> or
<arg name="bag_path" default = "./Dataset/WAIS_Data/11-22.bag" />

roslaunch ./launch/wais.launch
report errors:

SUMMARY
========

CLEAR PARAMETERS
 * /wifio_test/

PARAMETERS
 * /cpu_monitor/poll_period: 1.0
 * /rosdistro: noetic
 * /rosversion: 1.16.0
 * /wifio_test/angleThresh: [-130, 130]
 * /wifio_test/angleThreshSquare: [45, 135]
 * /wifio_test/aoaTopic: /aoa
 * /wifio_test/apAdditionThresh: -45.0
 * /wifio_test/apLocQual: 2
 * /wifio_test/apPos: [0, 0, 0, 0, 0, 0...
 * /wifio_test/apPosPrior: [1, 1, 360]
 * /wifio_test/apsToInclude: [1, 3, 5]
 * /wifio_test/cacheLinearizedFactors: False
 * /wifio_test/camToOdom: [1, 0, 0, 0, 0, 1...
 * /wifio_test/dataDir: 
 * /wifio_test/enablePartialRelinearizationCheck: False
 * /wifio_test/featuresFilename: viofi_features_te...
 * /wifio_test/findUnusedFactorSlots: True
 * /wifio_test/fixedId: world
 * /wifio_test/graphFilename: viofi_bearing_tes...
 * /wifio_test/gravity: [0.0, 0.0, 9.81007]
 * /wifio_test/huberParam: 1.345
 * /wifio_test/odom_theta_noise: 0.1
 * /wifio_test/odom_xy_noise: 0.015
 * /wifio_test/optExtraIterations: 0
 * /wifio_test/optimizerLag: 60.0
 * /wifio_test/relinearizeSkip: 1
 * /wifio_test/relinearizeThreshold: 0.01
 * /wifio_test/rssiFilter: [-64, -64, -64]
 * /wifio_test/shouldStoreFeatures: True
 * /wifio_test/sigma_angle_AP: 32.0
 * /wifio_test/sigma_angle_bot: 32.0
 * /wifio_test/sigma_bias: 0.15
 * /wifio_test/sigma_prior_rotation: 0.1
 * /wifio_test/sigma_prior_rotation_camera: 10.0
 * /wifio_test/sigma_prior_translation: 0.005
 * /wifio_test/sigma_prior_translation_camera: 0.1
 * /wifio_test/sigma_velocity: 0.1
 * /wifio_test/topicPostFix: 
 * /wifio_test/useAPAngles: False
 * /wifio_test/useBatch: False
 * /wifio_test/useBotAngles: True
 * /wifio_test/useISAM: True
 * /wifio_test/useOdom: True
 * /wifio_test/useSquareThresh: False

NODES
  /
    cpu_monitor (cpu_monitor/monitor.py)
    image_decompress (image_transport/republish)
    odom_throttler (topic_tools/throttle)
    player (rosbag/play)
    relative_odom (python-nodes/relative_odom.py)
    rviz (rviz/rviz)
    wifio_test (wifi_backend/wifio)

auto-starting new master
process[master]: started with pid [503337]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to fa55160c-7bb7-11ef-81f0-e7e9bef89723
process[rosout-1]: started with pid [503355]
started core service [/rosout]
process[rviz-2]: started with pid [503363]
process[odom_throttler-3]: started with pid [503364]
process[relative_odom-4]: started with pid [503365]
process[cpu_monitor-5]: started with pid [503366]
process[image_decompress-6]: started with pid [503371]
process[wifio_test-7]: started with pid [503373]
process[player-8]: started with pid [503374]
[ INFO] [1727321558.578111922]: AP Addition Thresh: -45.000000
Storing Wifi odometery estimates in ./WAIS/src/wifi_backend/logs/viofi_features_test.txt
	- fixed ID: world
	- gravity: [0, 0, 9.81007]
Initialization:
	- prior_ap: 
    1     1 6.282
Noise Parameters:
	- sigma_prior_rotation: 0.001745
	- sigma_prior_translation: 0.005
	- sigma_velocity: 0.1
	- sigma_bias: 0.15
	- sigma_angle_AP (deg): 32
	- sigma_angle_bot (deg): 32
	- AP's consider: 5 3 1 
	- cam_to_odom: 
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
[ INFO] [1727321558.588150951]: Camera UV Feat measurements, subscribing: /camera/color/image_raw/compressed
[ INFO] [1727321558.589578113]: Relative Odom, subscribing: /relOdom
[ INFO] [1727321558.590819064]: Subscribing: /aoa
[ INFO] [1727321558.591448102]: Publishing: /wifio/pose_robot
[ INFO] [1727321558.591772762]: Publishing: /wifio/pose_ap
[ INFO] [1727321558.592273774]: Publishing: /wifio/path_robot
[ INFO] [1727321558.592617225]: Publishing: /wifio/data_odom
Traceback (most recent call last):
  File "./WAIS/src/python-nodes/relative_odom.py", line 10, in <module>
    from scipy.spatial.transform import Rotation as R
ModuleNotFoundError: No module named 'scipy'
[INFO] [1727321558.986512]: [cpu monitor] adding new node /rviz
[INFO] [1727321558.990170]: [cpu monitor] adding new node /player
[INFO] [1727321558.993948]: [cpu monitor] adding new node /wifio_test
[INFO] [1727321558.997623]: [cpu monitor] adding new node /image_decompress
[INFO] [1727321559.002548]: [cpu monitor] adding new node /cpu_monitor
[INFO] [1727321559.009803]: [cpu monitor] adding new node /rosout
[INFO] [1727321559.018152]: [cpu monitor] adding new node /odom_throttler
[relative_odom-4] process has died [pid 503365, exit code 1, cmd /home/npu-drone-1/QLF/WAIS/src/python-nodes/relative_odom.py /odom_throttle /relOdom __name:=relative_odom __log:=/home/npu-drone-1/.ros/log/fa55160c-7bb7-11ef-81f0-e7e9bef89723/relative_odom-4.log].
log file: /home/npu-drone-1/.ros/log/fa55160c-7bb7-11ef-81f0-e7e9bef89723/relative_odom-4*.log
advertised as /odom_throttle
[ WARN] [1727321559.455529293]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint (parent odom) at time 1628139893.034670 according to authority unknown_publisher
[ WARN] [1727321559.515524067]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint (parent odom) at time 1628139893.094550 according to authority unknown_publisher
[ WARN] [1727321559.575407024]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint (parent odom) at time 1628139893.154543 according to authority unknown_publisher
[ WARN] [1727321559.575499357]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame wheel_left_link (parent base_link) at time 1628139893.154568 according to authority unknown_publisher
[ WARN] [1727321559.575533165]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame wheel_right_link (parent base_link) at time 1628139893.154568 according to authority unknown_publisher
[ WARN] [1727321559.635158694]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint (parent odom) at time 1628139893.214479 according to authority unknown_publisher
[ WARN] [1727321559.693292036]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint (parent odom) at time 1628139893.272408 according to authority unknown_publisher
[ WARN] [1727321559.715313199]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint (parent odom) at time 1628139893.294404 according to authority unknown_publisher
[ WARN] [1727321559.773548231]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint (parent odom) at time 1628139893.352323 according to authority unknown_publisher
[ WARN] [1727321559.796581828]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint (parent odom) at time 1628139893.375349 according to authority unknown_publisher
[ WARN] [1727321559.796658898]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame wheel_left_link (parent base_link) at time 1628139893.375378 according to authority unknown_publisher
[ WARN] [1727321559.796692419]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame wheel_right_link (parent base_link) at time 1628139893.375378 according to authority unknown_publisher
[ WARN] [1727321559.812168136]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint (parent odom) at time 1628139893.391306 according to authority unknown_publisher
[ WARN] [1727321559.835077617]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint (parent odom) at time 1628139893.414268 according to authority unknown_publisher
[ WARN] [1727321559.893107377]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint (parent odom) at time 1628139893.472270 according to authority unknown_publisher
[ WARN] [1727321559.915120889]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint (parent odom) at time 1628139893.494148 according to authority unknown_publisher
[ WARN] [1727321560.015867712]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint (parent odom) at time 1628139893.594995 according to authority unknown_publisher
[ WARN] [1727321560.015932966]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame wheel_left_link (parent base_link) at time 1628139893.595015 according to authority unknown_publisher
[ WARN] [1727321560.015961004]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame wheel_right_link (parent base_link) at time 1628139893.595015 according to authority unknown_publisher
[ WARN] [1727321560.076168028]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint (parent odom) at time 1628139893.654941 according to authority unknown_publisher
[ WARN] [1727321560.135908059]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint (parent odom) at time 1628139893.714981 according to authority unknown_publisher
[ WARN] [1727321560.196050803]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint (parent odom) at time 1628139893.774880 according to authority unknown_publisher
[ WARN] [1727321560.256033493]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint (parent odom) at time 1628139893.834809 according to authority unknown_publisher
[ WARN] [1727321560.256173862]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame wheel_left_link (parent base_link) at time 1628139893.834835 according to authority unknown_publisher
[ WARN] [1727321560.256214053]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame wheel_right_link (parent base_link) at time 1628139893.834835 according to authority unknown_publisher
[ WARN] [1727321560.319800659]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint (parent odom) at time 1628139893.894728 according to authority unknown_publisher
[ WARN] [1727321560.373614168]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint (parent odom) at time 1628139893.952738 according to authority unknown_publisher
[ WARN] [1727321560.395452450]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint (parent odom) at time 1628139893.974737 according to authority unknown_publisher
[ WARN] [1727321560.453247696]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint (parent odom) at time 1628139894.032630 according to authority unknown_publisher
[ WARN] [1727321560.475486191]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint (parent odom) at time 1628139894.054635 according to authority unknown_publisher
[ WARN] [1727321560.475570730]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame wheel_left_link (parent base_link) at time 1628139894.054669 according to authority unknown_publisher
[ WARN] [1727321560.475603433]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame wheel_right_link (parent base_link) at time 1628139894.054669 according to authority unknown_publisher
[ WARN] [1727321560.576146813]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint (parent odom) at time 1628139894.155422 according to authority unknown_publisher

type:              ISAM2GaussNewtonParams
wildfireThreshold: 0.001
relinearizeThreshold:              0.01
relinearizeSkip:                   1
enableRelinearization:             1
evaluateNonlinearError:            0
factorization:                     CHOLESKY
cacheLinearizedFactors:            0
enableDetailedResults:             0
enablePartialRelinearizationCheck: 0
findUnusedFactorSlots:             0
[ WARN] [1727321560.634864024]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint (parent odom) at time 1628139894.214432 according to authority unknown_publisher
[ WARN] [1727321560.655892420]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint (parent odom) at time 1628139894.235364 according to authority unknown_publisher
[ WARN] [1727321560.719154252]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint (parent odom) at time 1628139894.295265 according to authority unknown_publisher
[ WARN] [1727321560.719205237]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame wheel_left_link (parent base_link) at time 1628139894.295289 according to authority unknown_publisher
[ WARN] [1727321560.719221230]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame wheel_right_link (parent base_link) at time 1628139894.295289 according to authority unknown_publisher
================================================================================REQUIRED process [wifio_test-7] has died!
process has died [pid 503373, exit code -11, cmd /home/npu-drone-1/QLF/WAIS/devel/lib/wifi_backend/wifio /wifio/data_cam:=/camera/color/image_raw/compressed /wifio/data_rel_odom:=/relOdom __name:=wifio_test __log:=/home/npu-drone-1/.ros/log/fa55160c-7bb7-11ef-81f0-e7e9bef89723/wifio_test-7.log].
log file: /home/npu-drone-1/.ros/log/fa55160c-7bb7-11ef-81f0-e7e9bef89723/wifio_test-7*.log
Initiating shutdown!
================================================================================
[ WARN] [1727321560.774085763]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint (parent odom) at time 1628139894.353279 according to authority unknown_publisher
[ WARN] [1727321560.796288931]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint (parent odom) at time 1628139894.375256 according to authority unknown_publisher
[player-8] killing on exit
[wifio_test-7] killing on exit
[image_decompress-6] killing on exit
[cpu_monitor-5] killing on exit
[odom_throttler-3] killing on exit
[rviz-2] killing on exit
QFileSystemWatcher::removePaths: list is empty
QFileSystemWatcher::removePaths: list is empty
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

<arg name="bag_path" default = "/home/npu-drone-1/Dataset/WAIS_Data/7-22.bag" /> can run successfully, but abnormal trajectory display in RVIZ.

May I ask how to solve the above problems?