Problem running ORB_SLAM node on ROS Kinetic Kame

raulmur / ORB_SLAM

A Versatile and Accurate Monocular SLAM

http://webdiis.unizar.es/~raulmur/orbslam/

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Problem running ORB_SLAM node on ROS Kinetic Kame #151

Open latifAnjum opened 7 years ago

latifAnjum commented 7 years ago

My launch command: rosrun ORB_SLAM ORB_SLAM Data/ORBvoc.yml Data/Settings.yaml Generates this error.

Files (ORBvoc.yml and Settings.yaml) are placed in the mentioned path, unzipped.

System Info: I have Ubuntu 16.04 with ROS Kinetic Kame. Please help. I have successfully built ORBSLAM in ROS Kinetic Kame, so I guess this distro of ROS is not the problem.

Gasethata commented 7 years ago

I think I have a similar issue as yours. I used the ORBvoc.txt then edited the TUM1.yaml (only changed the camera calibration parameters) and use it as my SETTINGS_FILE, and the following is what I get, till I terminate.

vip@vip-OptiPlex-7040:~/ORB_SLAM2$ rosrun ORB_SLAM2 Mono /home/vip/ORB_SLAM2/Vocabulary/ORBvoc.txt /home/vip/ORB_SLAM2/Examples/ROS/ORB_SLAM2/SettingsFile/microsoftWebcam.yaml [ERROR] [1505333162.065357875]: [registerPublisher] Failed to contact master at [localhost:11311]. Retrying...

Then this:

Input sensor was set to: Monocular Failed to open settings file at: /home/vip/ORB_SLAM2/Examples/ROS/ORB_SLAM2/SettingsFile/microsoftWebcam.yaml

Can someone please help.

wangzhaoguang commented 7 years ago

I met the similar issues.

Gasethata commented 7 years ago

I solved the problem "Input file is empty in function cvOpenFileStorage"

The cvOpenFileStorage function reads .XML or .YAML of your camera that you have to have in the Settings_File. I replaced the camera calibration parameters of TUMX.YAML with my camera calibration file i got after opencv calibration.

The camera calibration file was not edited, I just copied it and replaced those in the TUMX.YAML. Hope this helps.

wangzhaoguang commented 7 years ago

@Gasethata hello, you mean you edited Settings.yaml file?

latifAnjum commented 7 years ago

@Gasethata: Isn't your code related to ORB_SLAM2? That is different than ORB_SLAM.

Gasethata commented 7 years ago

@wangzhaoguang I edited the TUM1.YAML file from the ~/ORB_SLAM2/Examples/Monocular, where I replaced the calibration parameters after I calibrated my camera (Microsoft Webcam Model:1407)....and also replaced the frame rate (fps --> Frames Per Second) with that of my camera.

Gasethata commented 7 years ago

@latifAnjum I'm using ORB_SLAM2, I haven't played with ORB_SLAM yet. So I'm not sure if they are different or not....but I guess if they are different, it shouldn't be that much.

johnchars commented 5 years ago

I met same error, but fixed the path it worked.

$ pwd
~/ORB_SLAM
rosrun ORB_SLAM ORB_SLAM Data/ORBvoc.txt Data/Settings.yaml

May help you!