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NVIDIA-ISAAC-ROS / isaac_ros_visual_slam

Visual SLAM/odometry package based on NVIDIA-accelerated cuVSLAM
https://developer.nvidia.com/isaac-ros-gems
Apache License 2.0
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vslam with custom camera #108

Closed lgjonathan closed 1 year ago

lgjonathan commented 1 year ago

Hi, I have successfully ran the vslam quickstart with the realsense camera. But there's a problem when I try to run the vslam with custom cameras. I have tried with 2 Arducam OV9281 and published following topics. They seemed to be published successfully when I echo them.

After publishing, I launched the /visual_slam_node. The /visual_slam_node is subscribing to the abovementioned topics but the fixed frame is saying "No tf data. Actual error: Frame [map] does not exist". So my guess is that the vslam node is not calculating the stereo images and stuck somewhere in the process. Is there a way for me to debug where the problem is?

Same problem occurs when I use 2 webcams instead. I am wondering if I should do more in my end than just publishing the topics. I am quite new to the ROS, so any suggestions or directions will be appreciated.

lgjonathan commented 1 year ago

I found out that I needed to publish the camera_info with the same rate of image. After fixing that, It's working.

hemalshahNV commented 1 year ago

Yes, camera images by ROS convention publish as sensor_msgs::Image and a matching CameraInfo on a separate topic. You could get away with one CameraInfo for the entire stream of sensor_msgs::Image, but it is also possible that the calibration parameters could change in CameraInfo dynamically say because you're currently calibrating the camera or something else.