problem when running slam.launch ( Gtk-ERROR **: 16:37:00.038: GTK+ 2.x symbols detected. Using GTK+ 2.x and GTK+ 3 in the same process is not supported)

[DigitalDungeon01]

Loading ORB Vocabulary. This could take a while... Traceback (most recent call last): File "/home/arief/FYPworkspaces/catkin_ws_OAFD/src/OAFD_Monocular/src/get_odom.py", line 5, in import ros_numpy File "/opt/ros/noetic/lib/python3/dist-packages/ros_numpy/init.py", line 7, in from . import point_cloud2 File "/opt/ros/noetic/lib/python3/dist-packages/ros_numpy/point_cloud2.py", line 224, in def get_xyz_points(cloud_array, remove_nans=True, dtype=np.float): File "/home/arief/.local/lib/python3.8/site-packages/numpy/init.py", line 305, in getattr Traceback (most recent call last): File "/home/arief/FYPworkspaces/catkin_ws_OAFD/src/OAFD_Monocular/src/depthmap_calibration.py", line 9, in raise AttributeError(__former_attrs__[attr]) from simple_tf import * AttributeError: module 'numpy' has no attribute 'float'. np.float was a deprecated alias for the builtin float. To avoid this error in existing code, use float by itself. Doing this will not modify any behavior and is safe. If you specifically wanted the numpy scalar type, use np.float64 here. The aliases was originally deprecated in NumPy 1.20; for more details and guidance see the original release note at: https://numpy.org/devdocs/release/1.20.0-notes.html#deprecations File "/home/arief/FYPworkspaces/catkin_ws_OAFD/src/OAFD_Monocular/src/simple_tf.py", line 6, in

import ros_numpy

File "/opt/ros/noetic/lib/python3/dist-packages/ros_numpy/init.py", line 7, in from . import point_cloud2 File "/opt/ros/noetic/lib/python3/dist-packages/ros_numpy/point_cloud2.py", line 224, in def get_xyz_points(cloud_array, remove_nans=True, dtype=np.float): File "/home/arief/.local/lib/python3.8/site-packages/numpy/init.py", line 305, in getattr raise AttributeError(former_attrs__[attr]) AttributeError: module 'numpy' has no attribute 'float'. np.float was a deprecated alias for the builtin float. To avoid this error in existing code, use float by itself. Doing this will not modify any behavior and is safe. If you specifically wanted the numpy scalar type, use np.float64 here. The aliases was originally deprecated in NumPy 1.20; for more details and guidance see the original release note at: https://numpy.org/devdocs/release/1.20.0-notes.html#deprecations [pcd_pub-2] process has died [pid 10928, exit code 1, cmd /home/arief/FYPworkspaces/catkin_ws_OAFD/src/OAFD_Monocular/src/depthmap_calibration.py name:=pcd_pub log:=/home/arief/.ros/log/46d8b71c-1a6b-11ef-9e37-8949fe58c0f8/pcd_pub-2.log]. log file: /home/arief/.ros/log/46d8b71c-1a6b-11ef-9e37-8949fe58c0f8/pcd_pub-2*.log [odom_pub-3] process has died [pid 10929, exit code 1, cmd /home/arief/FYPworkspaces/catkin_ws_OAFD/src/OAFD_Monocular/src/get_odom.py __name:=odom_pub log:=/home/arief/.ros/log/46d8b71c-1a6b-11ef-9e37-8949fe58c0f8/odom_pub-3.log]. log file: /home/arief/.ros/log/46d8b71c-1a6b-11ef-9e37-8949fe58c0f8/odom_pub-3*.log Vocabulary loaded!

Creation of new map with id: 0 Creation of new map with last KF id: 0 Seq. Name:

Camera Parameters:

• Camera: Pinhole
• fx: 910.072
• fy: 914.094
• cx: 485.523
• cy: 336.718
• k1: -0.005941
• k2: 0.055161
• p1: -0.006094
• p2: 0.003192
• fps: 20
• color order: BGR (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 Framebuffer with requested attributes not available. Using available framebuffer. You may see visual artifacts. (ORB-SLAM3: Current Frame:10927): Gtk-ERROR *: 16:37:00.038: GTK+ 2.x symbols detected. Using GTK+ 2.x and GTK+ 3 in the same process is not supported [orb_slam3_mono-1] process has died [pid 10927, exit code -5, cmd /home/arief/FYPworkspaces/tello_ros1_ws/devel/lib/orb_slam3_ros_wrapper/orb_slam3_ros_wrapper_mono name:=orb_slam3_mono log:=/home/arief/.ros/log/46d8b71c-1a6b-11ef-9e37-8949fe58c0f8/orb_slam3_mono-1.log]. log file: /home/arief/.ros/log/46d8b71c-1a6b-11ef-9e37-8949fe58c0f8/orb_slam3_mono-1.log [ WARN] [1716626229.934427833]: No transform between frames /map and /camera available after 20.118962 seconds of waiting. This warning only prints once.

[geturin]

For the numpy issue, my environment had numpy version 1.17.4 at that time. You can try rolling back to this version or modify the code to change the deprecated np.datatype. For the GTK issue, you can refer to this:

https://github.com/thien94/orb_slam3_ros_wrapper/issues/19 https://github.com/UZ-SLAMLab/ORB_SLAM3/issues/286

It looks like you need to recompile OpenCV

[DigitalDungeon01]

https://github.com/Mauhing/ORB_SLAM3/blob/master/README.md i follow this in order to build openCV package but use opencv 4.4.0

just follow this instructions : https://github.com/thien94/orb_slam3_ros_wrapper/issues/16#issuecomment-1234179588

for the numpy, i downgrade the version to version 1.17.4

then all good! thank you sir for your help !