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UZ-SLAMLab / ORB_SLAM3

ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM
GNU General Public License v3.0
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Error "waiting for images " Mono ROS #617

Open pie-leroy opened 2 years ago

pie-leroy commented 2 years ago

Hello,

I am blocked for several days, I can't run ORB SLAM3 Mono. I try to connect airsim (publisher) to ORB SLAM3, the code compiles and launches but does not emit any error. I don't receive the images but it seems to me that I have correctly configured the topic names "/camera/image_raw".

Here is an example of the image I can read with RVIZ: rviz

The graph generated by rqt graph : Capture

no received images: waiting_for_images

I work on an ubuntu environment installed on windows (with X11 as graphical redirection)

Do you have an idea? thank you in advance

ghkeller commented 2 years ago

Hi -- I am experiencing the same thing. I know that the image is being published on the correct topic and being ingested by the callback (as I have included a CV window instance within the callback to present the cv_bridge image, which appears just fine), but it is stuck on "Waiting For Images". I also get the "Framebuffer with requested attributes..." line as seen in your screenshot. I am running on a dual-boot system on an Acer Nitro 5 with Ubuntu 18.04.

pie-leroy commented 2 years ago

@ghkeller I have not been able to get this code to work, as an alternative solution for the moment I have managed to run this code : https://github.com/appliedAI-Initiative/orb_slam_2_ros If ever this can unblock you

macTracyHuang commented 2 years ago

Have you guys tried to wait longer to see if it works?

When I first run ORBSLAM, I expected images show right after I play the bag and run the SLAM, I terminated the process every time when I see waiting for images. One day when I went to to toilet after commanding, when I came back, I found it starts to work!!

pie-leroy commented 2 years ago

Hello,

I finally got the code to work. I modified in the "cpp" code the topic read in input and it worked.

mamdouhmostafa commented 1 year ago

Hello,

I finally got the code to work. I modified in the "cpp" code the topic read in input and it worked.

Could you explain more how did you do it?

uestyhox1 commented 1 year ago

Hello,

I finally got the code to work. I modified in the "cpp" code the topic read in input and it worked.

follow asking

mamdouhmostafa commented 1 year ago

Hello,

I finally got the code to work. I modified in the "cpp" code the topic read in input and it worked.

If you could explain what did you modify in the CPP code and which file? Thank you

julixit commented 10 months ago

We used the Mono_Inertial method and also had no visual camera input. We then made changes in the file "ros_mono_inertial.cc" in "ORB_SLAM3/Examples_old/ROS"
In line 99 we changed the camera source of the subscriber from "camera/image_raw" to "camera/left/image_raw" to fit the naming of the running rostopics. And now it works.