I was trying to run the node of ORB_SLAM2. The version of ORB_SLAM2 you had in your repository had an issue that would make this unable to be run on latest versions of Ubuntu (Here). There was a suggested fix for this: Here. After I changed the codes, ran the ./build.sh in the upper level, and rebuilt the binary file under ORB_SLAM2/Examples/ROS/ORB_SLAM2/ by using the CMakelists.txt, I encountered the following error when I tried to use rosrun to test RGBD of ORB_SLAM2 for ROS with Pepper.
@kyle:~/catkin_ws$ rosrun ORB_SLAM2 RGBD /home/hcilab/catkin_ws/src/orb_slam2/Vocabulary/ORBvoc.bin /home/hcilab/catkin_ws/src/orb_slam2/Examples/RGB-D/pepperCameraSettings.yaml false
ORB-SLAM2 Copyright (C) 2014-2016 Raul Mur-Artal, University of Zaragoza.
This program comes with ABSOLUTELY NO WARRANTY;
This is free software, and you are welcome to redistribute it
under certain conditions. See LICENSE.txt.
Input sensor was set to: RGB-D
Loading ORB Vocabulary. This could take a while...
Vocabulary loaded!
0x557e21fbf5c0 : is the created map address
Camera Parameters:
- fx: 250.848
- fy: 248.75
- cx: 145.027
- cy: 129.679
- k1: 0.081206
- k2: -0.766683
- k3: 1.11578
- p1: 0
- p2: 0
- fps: 5
- color order: RGB (ignored if grayscale)
ORB Extractor Parameters:
- Number of Features: 1000
- Scale Levels: 8
- Scale Factor: 1.2
- Initial Fast Threshold: 20
- Minimum Fast Threshold: 7
- Reuse Map ?: 0
Depth Threshold (Close/Far Points): 7.97297
Segmentation fault (core dumped)
ANY suggestion about how to fix this is highly appreciated!
Thanks for sharing this amazing work!
I was trying to run the node of ORB_SLAM2. The version of ORB_SLAM2 you had in your repository had an issue that would make this unable to be run on latest versions of Ubuntu (Here). There was a suggested fix for this: Here. After I changed the codes, ran the ./build.sh in the upper level, and rebuilt the binary file under ORB_SLAM2/Examples/ROS/ORB_SLAM2/ by using the CMakelists.txt, I encountered the following error when I tried to use rosrun to test RGBD of ORB_SLAM2 for ROS with Pepper.
ANY suggestion about how to fix this is highly appreciated!