Segmentation fault while running orbslam3 on ros2 gazebo

[raviS123-dot]

v3@v3:~/ORB_SLAM3$ ros2 run orbslam3 mono /home/v3/colcon_ws/src/orbslam3_ros2/vocabulary/ORBvoc.txt /home/v3/colcon_ws/src/orbslam3_ros2/config/rgb-d/TUM1.yaml

ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza. ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, 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: Monocular

Loading ORB Vocabulary. This could take a while... Vocabulary loaded!

Initialization of Atlas from scratch Creation of new map with id: 0 Creation of new map with last KF id: 0 Seq. Name:

Camera Parameters:

• Camera: Pinhole
• Image scale: 1
• fx: 517.306
• fy: 516.469
• cx: 318.643
• cy: 255.314
• k1: 0.262383
• k2: -0.953104
• p1: -0.005358
• p2: 0.002628
• k3: 1.16331
• fps: 30
• 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 There are 1 cameras in the atlas Camera 0 is pinhole Starting the Viewer [ros2run]: Segmentation fault

[alsora]

This is a repository for a ROS 2 wrapper of orbslam2 (which is not even maintained anymore) you should open the issue elsewhere.