Odometry is changing (not stable) at a faster rate with intelrealsense d435

[GenAIVisionary]

Hi, I have compiled your repository on nvidia jetson nano and it has been successfully built inside my catkin workspace. I have double checked the rosnode list and topics subscribed and published by nodes and they are all good. When I launched the file roslaunch orb_slam2_ros orb_slam2_d435_rgbd.launch and try to see the /orb_slam2_rgbd/pose topic, the pose looks quite unstable and changing at a faster rate (you can see inside the video attached) while the robot is static. I have attached the tf tree in this issue frames.pdf and a video link here. We are kind of stuck. Any help is appreciated.

N.B: I saw inside the launch file it was searching for a "ORBvoc.txt" file which is a vocabulary file. I found that there are 2 vocabulary files (.bin and .tar.gz). I have extracted the ORBvoc.txt.tar.gz file and got ORBvoc.txt file but still the result looks the same.

[GenAIVisionary]

Here is an update regarding this issue. I can't see the map points inside the rviz as the generated map_points are all 0s.

rostopic echo -n1 /orb_slam2_rgbd/map_points
header:
  seq: 91
  stamp:
    secs: 1645723005
    nsecs: 660154544
  frame_id: "map"
height: 1
width: 861
fields:
  -
    name: "x"
    offset: 0
    datatype: 7
    count: 1
  -
    name: "y"
    offset: 4
    datatype: 7
    count: 1
  -
    name: "z"
    offset: 8
    datatype: 7
    count: 1
is_bigendian: False
point_step: 12
row_step: 10332
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is_dense: True

The pose topic is changing continuously.

rostopic echo /orb_slam2_rgbd/pose
header:
  seq: 1281
  stamp:
    secs: 1645723935
    nsecs: 251732158
  frame_id: "map"
pose:
  position:
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    y: 0.0539343619526
    z: -0.10630566206
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[GenAIVisionary]

Also, I wanted to show something. The package is built successfully but there remains a warning message. Don't know if it's related to this issue.

[ 76%] Linking CXX shared library /home/ecl/catkin_ws/src/orb_slam_2_ros/orb_slam2/lib/liborb_slam2_ros.so
[ 92%] Built target orb_slam2_ros
[ 93%] Linking CXX executable /home/ecl/catkin_ws/devel/lib/orb_slam2_ros/orb_slam2_ros_rgbd
[ 95%] Linking CXX executable /home/ecl/catkin_ws/devel/lib/orb_slam2_ros/orb_slam2_ros_mono
[ 95%] Linking CXX executable /home/ecl/catkin_ws/devel/lib/orb_slam2_ros/orb_slam2_ros_stereo
/usr/bin/ld: warning: libopencv_core.so.4.1, needed by /home/ecl/catkin_ws/src/orb_slam_2_ros/orb_slam2/lib/liborb_slam2_ros.so, may conflict with libopencv_core.so.3.2
/usr/bin/ld: warning: libopencv_imgcodecs.so.3.2, needed by /opt/ros/melodic/lib/libcv_bridge.so, may conflict with libopencv_imgcodecs.so.4.1
[ 96%] Built target orb_slam2_ros_mono
/usr/bin/ld: warning: libopencv_core.so.4.1, needed by /home/ecl/catkin_ws/src/orb_slam_2_ros/orb_slam2/lib/liborb_slam2_ros.so, may conflict with libopencv_core.so.3.2
/usr/bin/ld: warning: libopencv_imgcodecs.so.3.2, needed by /opt/ros/melodic/lib/libcv_bridge.so, may conflict with libopencv_imgcodecs.so.4.1
[ 98%] Built target orb_slam2_ros_stereo
/usr/bin/ld: warning: libopencv_core.so.4.1, needed by /home/ecl/catkin_ws/src/orb_slam_2_ros/orb_slam2/lib/liborb_slam2_ros.so, may conflict with libopencv_core.so.3.2
/usr/bin/ld: warning: libopencv_imgcodecs.so.3.2, needed by /opt/ros/melodic/lib/libcv_bridge.so, may conflict with libopencv_imgcodecs.so.4.1
[100%] Built target orb_slam2_ros_rgbd

[Garrison-ctrl]

I have the same problem with you.Have you ever solve it? When I run the roslaunch orb_slam2_ros orb_slam2_d435_rgbd.launch ,it has the warning Could not find a connection between 'camera_link' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.

[zhongxiangrong]

Also, I wanted to show something. The package is built successfully but there remains a warning message. Don't know if it's related to this issue.

[ 76%] Linking CXX shared library /home/ecl/catkin_ws/src/orb_slam_2_ros/orb_slam2/lib/liborb_slam2_ros.so
[ 92%] Built target orb_slam2_ros
[ 93%] Linking CXX executable /home/ecl/catkin_ws/devel/lib/orb_slam2_ros/orb_slam2_ros_rgbd
[ 95%] Linking CXX executable /home/ecl/catkin_ws/devel/lib/orb_slam2_ros/orb_slam2_ros_mono
[ 95%] Linking CXX executable /home/ecl/catkin_ws/devel/lib/orb_slam2_ros/orb_slam2_ros_stereo
/usr/bin/ld: warning: libopencv_core.so.4.1, needed by /home/ecl/catkin_ws/src/orb_slam_2_ros/orb_slam2/lib/liborb_slam2_ros.so, may conflict with libopencv_core.so.3.2
/usr/bin/ld: warning: libopencv_imgcodecs.so.3.2, needed by /opt/ros/melodic/lib/libcv_bridge.so, may conflict with libopencv_imgcodecs.so.4.1
[ 96%] Built target orb_slam2_ros_mono
/usr/bin/ld: warning: libopencv_core.so.4.1, needed by /home/ecl/catkin_ws/src/orb_slam_2_ros/orb_slam2/lib/liborb_slam2_ros.so, may conflict with libopencv_core.so.3.2
/usr/bin/ld: warning: libopencv_imgcodecs.so.3.2, needed by /opt/ros/melodic/lib/libcv_bridge.so, may conflict with libopencv_imgcodecs.so.4.1
[ 98%] Built target orb_slam2_ros_stereo
/usr/bin/ld: warning: libopencv_core.so.4.1, needed by /home/ecl/catkin_ws/src/orb_slam_2_ros/orb_slam2/lib/liborb_slam2_ros.so, may conflict with libopencv_core.so.3.2
/usr/bin/ld: warning: libopencv_imgcodecs.so.3.2, needed by /opt/ros/melodic/lib/libcv_bridge.so, may conflict with libopencv_imgcodecs.so.4.1
[100%] Built target orb_slam2_ros_rgbd

This is a warning I've encountered before .It will affect using Opencv.Conflicts caused by multiple Opencv will make orb_slam2_ros run unstable.