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geturin / OAFD_Monocular

Master Thesis
MIT License
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Odometry details are not published #7

Open RavDas opened 6 months ago

RavDas commented 6 months ago

Hi @geturin,

After I ran roslaunch oafd ego_tello.launch command, it gave me below output.What is the reason for that?

IMG-20240506-WA0043

geturin commented 6 months ago

You need to run ORB_SLAM3 and have the drone take off to complete monocular initialization in order to obtain the odometry. If you have already done so but the odometry is not being published to ROS, you may want to check the ORB_SLAM3 terminal for any error codes.

RavDas commented 6 months ago

Drone is taking off and it starts monocular initialization and still the odometry is not published and there is no error given in ORB_SLAM3 terminal as well.

geturin commented 6 months ago

If ORB_SLAM3 initialization is complete, it should publish the camera's poststamp through the orb_slam3_ros_wrapper on the topic '/orb_slam3_ros/camera'. I've converted the poststamp into Odometry here. https://github.com/geturin/OAFD_Monocular/blob/master/src/get_odom.py

You can check whether '/orb_slam3_ros/camera' is being published or if you've modified any topic name in the launch file before.