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IntelRealSense / realsense_samples_ros

Sample code illustrating how to develop ROS applications using the Intel® RealSense™ ZR300 camera for Object Library (OR), Person Library (PT), and Simultaneous Localization And Mapping (SLAM).
Apache License 2.0
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SLAM Problem #14

Closed yunzc closed 6 years ago

yunzc commented 6 years ago

Has people gotten the demo SLAM code to work with a physical Realsense? It doesn't work for me, there are no errors shown, but it's just not mapping. Looking through the code I am a little confused by this line in setup_demo.launch

Why is the base_link statically linked with odom? (and odom is linked to map)

Also sometimes in rviz I would get the following error with accel.: "For frame [imu_accel_frame_id]: Frame [imu_accel_frame_id] does not exist" Sorry I might be missing something obvious here. Thanks in advance!

yunzc commented 6 years ago

Resolved

EdXian commented 6 years ago

Hi @yunzc , I'm curious about how you got the slam demo work ?
I use R200 camera and work fine with other packages like person or object . However,when I run roslaunch realsense_ros_slam demo_slam.launch ,I can see nothing in the RVIZ and with a warring in the left panel: screenshot from 2017-11-16 10-53-29

yunzc commented 6 years ago

Hmm I used the ZR300 camera instead of the R200, have you checked if this package is compatible with the R200?

EdXian commented 6 years ago

Hi @yunzc , Uforturnately , the slam package dosent support R200 . too bad. https://github.com/IntelRealSense/realsense_samples_ros/tree/kinetic-devel/realsense_ros_slam#hardwaresoftware-requirements

EdXian commented 6 years ago

BTW , Can you install these sample packages in /opt/ros...?