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alsora / ros2-ORB_SLAM2

ROS2 node wrapping the ORB_SLAM2 library
GNU General Public License v3.0
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Not receiving any frames #2

Closed nedo99 closed 3 years ago

nedo99 commented 3 years ago

Hi,

I recently built the ros package. Running on Ubuntu 20.04 with ROS foxy. I run ros2 run ros2_orbslam mono ../ORB_SLAM2/Vocabulary/ORBvoc.txt ../ros2-ORB_SLAM2/src/rgbd/TUM1.yaml

I get two displays and text saying "Waiting for images". I see that mono example waits for data on /camera topic and I have realsense camera connected with topics:

/camera/color/camera_info
/camera/color/image_raw
/camera/depth/camera_info
/camera/depth/color/points
/camera/depth/image_rect_raw
/camera/extrinsics/depth_to_color
/parameter_events
/rosout
/tf
/tf_static

but still nothing. I tried replaying the bag file and redirecting /camera/color/image_raw to /camera, but nothing changes.

On which topic should I forward the image data?

I get this warning https://github.com/stevenlovegrove/Pangolin/issues/644, but I still get two windows open.

Regards, Nedim

nedo99 commented 3 years ago

One update. When I run without ROS, just monocular examples taking the dataset from README here https://github.com/raulmur/ORB_SLAM2 works fine.

nedo99 commented 3 years ago

Found the issue. Intel RealSense camera requires RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT for rmw_qos_reliability_policy_t. After it is set, images are being received.

Regards, Nedim

alsora commented 3 years ago

Hi! Sorry for not looking into this, I'm glad you find the solution.