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luigifreda / plvs

PLVS is a real-time SLAM system with points, lines, volumetric mapping and 3D unsupervised incremental segmentation.
GNU General Public License v3.0
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./build_ros_catkin.sh #36

Closed CQnancy closed 1 week ago

CQnancy commented 2 weeks ago

When I finish running ./build_ros_catkin.sh file, I cannot run ./ros_xterm_tum_rgbd.sh rosrun PLVS octomap.launch plvs.rviz rviz_plvs.launch package.xml r200_nodelet_rgbd.launch xtion.launch I don't have RGBD....

CQnancy commented 2 weeks ago

rosrun plvs RGBD ~/ros_was/src/plvs/Vocabulary/ORBvoc.txt ~/ros_ws/src/plvs/Examples_old/RGB-D/TUM1.yaml [rosrun] Couldn't find executable named RGBD below ~/ros_ws/src/plvs/Examples_old/ROS/plvs [rosrun] Found the following, but they're either not files, [rosrun] or not executable: [rosrun] ~/ros_ws/src/plvs/Examples_old/ROS/plvs/build/devel/lib/plvs/RGBD

CQnancy commented 2 weeks ago

rosrun plvs RGBD ~/plvs/Vocabulary/ORBvoc.txt ~/plvs/Settings/ros/TUM1_ros.yaml /camera/rgb/image_raw:=/camera/rgb/image_color camera/depth_registered/image_raw:=/camera/depth/image Segmentation fault (core dumped) I don't know how to solve it

luigifreda commented 1 week ago

Hi, I've tested it again (building from scratch) and it works. You first need to build with ./build_ros_catkin.sh (if you already did it please clean with rm -Rf ros) and then you just need to launch ./ros_xterm_tum_rgbd.sh (assuming you have properly set the dataset path therein) . Please, double-check you have install xterm with sudo apt install -y xterm). You don't need anything else.

Side note that is contained in the run script 

# IMPORTANT: Refer to https://github.com/ros/ros_comm/issues/82
# Playing TUM rosbags at a normal rate is not possible since the clock publication is not reliable. 
# In order to solve the problem the bags must be decompressed with rosbag decompress! 
# A quick fix is to play the bags with half rate (it's very likely this gives time to the decoding process to finish its job on time so that clock data publication can be normally performed.