kimera_semantics_euroc

[LauGasp]

Description:

Hello, I already have Kimera-VIO-ROS and Kimera-Semantic-ROS installed and to check that everything is correct, I ran the examples provided. In the Euroc dataset (without semantics), my RViz provides the output of Kimera-VIO-ROS, however, I cannot visualize VoxbloxMesh... I'm following exactly the steps in https://github.com/MIT-SPARK/Kimera-Semantics?tab=readme-ov-file#in-euroc-dataset-without-semantics. When I run roslaunch kimera_semantics_ros kimera_semantics_euroc.launch, I get:

Console output:

roslaunch kimera_semantics_ros kimera_semantics_euroc.launch
... logging to /home/lauragaspar/.ros/log/c4813be8-0572-11ef-a13a-177fc7c04d93/roslaunch-Asus-ROG-GL504GW-15812.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://Asus-ROG-GL504GW:38095/

SUMMARY
========

CLEAR PARAMETERS
 * /kimera_semantics_node/

PARAMETERS
 * /kimera_semantics_node/color_mode: lambert_color
 * /kimera_semantics_node/dynamic_semantic_labels: [20]
 * /kimera_semantics_node/enable_icp: False
 * /kimera_semantics_node/icp_iterations: 10
 * /kimera_semantics_node/max_ray_length_m: 5
 * /kimera_semantics_node/mesh_filename: /home/lauragaspar...
 * /kimera_semantics_node/method: fast
 * /kimera_semantics_node/min_time_between_msgs_sec: 0.2
 * /kimera_semantics_node/publish_pointclouds: False
 * /kimera_semantics_node/semantic_color_mode: semantic
 * /kimera_semantics_node/semantic_label_2_color_csv_filepath: /home/lauragaspar...
 * /kimera_semantics_node/semantic_measurement_probability: 0.8
 * /kimera_semantics_node/sensor_frame: cam0
 * /kimera_semantics_node/slice_level: 1.0
 * /kimera_semantics_node/tsdf_voxel_size: 0.1
 * /kimera_semantics_node/tsdf_voxels_per_side: 32
 * /kimera_semantics_node/update_mesh_every_n_sec: 1.0
 * /kimera_semantics_node/use_const_weight: False
 * /kimera_semantics_node/use_freespace_pointcloud: True
 * /kimera_semantics_node/use_tf_transforms: True
 * /kimera_semantics_node/verbose: True
 * /kimera_semantics_node/voxel_carving_enabled: True
 * /rosdistro: noetic
 * /rosversion: 1.16.0
 * /use_sim_time: True

NODES
  /
    kimera_semantics_node (voxblox_ros/tsdf_server)

ROS_MASTER_URI=http://localhost:11311

process[kimera_semantics_node-1]: started with pid [15827]
[ INFO] [1714318864.472091720, 1403715290.413065946]: Updating mesh.
[ INFO] [1714318864.474081400, 1403715290.413065946]: Updating mesh.
[ INFO] [1714318865.479229166, 1403715291.420454612]: Updating mesh.
[ INFO] [1714318866.477418733, 1403715292.418860040]: Updating mesh.
[ INFO] [1714318867.475458963, 1403715293.416410299]: Updating mesh.
[ERROR] [1714318867.927764781, 1403715293.859570770]: Input pointcloud queue getting too long! Dropping some pointclouds. Either unable to look up transform timestamps or the processing is taking too long.
[ INFO] [1714318868.472467178, 1403715294.413370528]: Updating mesh.
[ INFO] [1714318869.479869197, 1403715295.420869426]: Updating mesh.
[ INFO] [1714318870.477294845, 1403715296.418126980]: Updating mesh.
[ INFO] [1714318871.475188358, 1403715297.416368202]: Updating mesh.
[ INFO] [1714318872.471847219, 1403715298.413420708]: Updating mesh.
[ INFO] [1714318873.479653230, 1403715299.420540627]: Updating mesh.

What exactly is this launch supposed to do?

When I check the mesh topic, I get:

rostopic echo /kimera_semantics_node/mesh
ERROR: Cannot load message class for [voxblox_msgs/Mesh]. Are your messages built?