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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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Few errors when using realsense camera #19

Closed beomsu7 closed 1 year ago

beomsu7 commented 2 years ago

I'm using docker and realsense d435i. After setting up everyting, launched isaac_ros_visual_slam_realsense.launch.py and there were few erros.

error 1. parameter type error

[realsense2_camera_node-2] what(): parameter 'stereo_module.emitter_enabled' has invalid type: expected [integer] got [bool] image

edit for error1. type change

I changed 'stereo_module.emitter_enabled' from 'False' to '0', after changing it's fine image

error 2. In the launch file, there is no declaration about namesapce, so when launching the file, the tf tree looks like this image

edit1 for error 2. added namesapce declaration(failed) image image

edit2 for error 2. edited the name of frame, it worked for me image image

As a result, I think in this case(error 2) adding namespace is the right way, but it didn't work well So Is there anything what I need to check or miss?

hemalshahNV commented 1 year ago

The Intel Realsense package had some breaking changes for parameter names. These should be fixed in the latest version of Isaac ROS Visual SLAM if you're able to try it out.