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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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Bag file can not be used #22

Closed engcang closed 1 year ago

engcang commented 2 years ago

Hi.

With recorded bag files including camera info topics and stereo images, the SLAM does not work.

It generates following error [ERROR]: Transform is impossible. canTransform(camera_infra1_frame->camera_link) returns false

With live topics, the SLAM works super well.

Thanks.

hemalshahNV commented 2 years ago

Is the tf topic being recorded in your bag? The static transform are likely not available if I read the error correctly for the frames on the camera (the imager and the camera frame).

engcang commented 2 years ago

@hemalshahNV Thanks for your reply. I thought the SLAM node only subscribes stereo images and camera info topics by looking into rqt_graph.

Let me try to record /tf_static as well. I will be back soon.

engcang commented 2 years ago

For anyone who wants to try this algorithm with recorded bag files, since recording and replaying /tf_static is not implemented in ROS2, Use tf2_ros package's static_transform_publisher node as my launch file.

You can see the result video here: https://youtu.be/V24_xtkscjc