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floatlazer / semantic_slam

Real time semantic slam in ROS with a hand held RGB-D camera
GNU General Public License v3.0
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Unable to run slam.launch #58

Closed jolags313 closed 3 months ago

jolags313 commented 5 months ago

Hello- I am also trying to run everything with a D435i camera, but I have been having some trouble. When I run roslaunch semantic_slam slam.launch, the process just dies immediately, and I get the following output

SUMMARY
========

PARAMETERS
 * /rosdistro: noetic
 * /rosversion: 1.15.15

NODES
  /
    rgbd (orb_slam2/rgbd)

ROS_MASTER_URI=http://localhost:11311

process[rgbd-1]: started with pid [23023]

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
[rgbd-1] process has died [pid 23023, exit code -11, cmd /home/conlab/ss_ws/devel/lib/orb_slam2/rgbd /home/conlab/ss_ws/src/semantic_slam/ORB_SLAM2/Examples/ROS/ORB_SLAM2/../../../Vocabulary/ORBvoc.txt /home/conlab/ss_ws/src/semantic_slam/semantic_slam/params/d435i.yaml __name:=rgbd __log:=/home/conlab/.ros/log/87c1673a-c154-11ee-a59a-01f5218c67b6/rgbd-1.log].
log file: /home/conlab/.ros/log/87c1673a-c154-11ee-a59a-01f5218c67b6/rgbd-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done

I am using the Realsense rs_rgbd.launch file, and I changed the semantic_cloud.yaml parameters to

semantic_pcl:
  color_image_topic: "/camera/color/image_raw"
  depth_image_topic: "/camera/depth_registered/points"

I also made a settings file d435i.yaml to use, which I reference in slam.launch. I believe everything is set up correctly, but it isn't working. Could someone please tell me how I can fix this?