search

suchetanrs / ORB-SLAM3-ROS2-Docker

This repository contains a full wrapper class for running ORB-SLAM3 on a docker container with ROS2 Humble with Ubuntu 22.04.
116 stars 19 forks source link

Running error #3

Open serna01 opened 2 months ago

serna01 commented 2 months ago

I run: ros2 launch orb_slam3_ros2_wrapper unirobot.launch.py

and get the following output: INFO] [launch]: All log files can be found below /root/.ros/log/2024-05-07-11-37-56-223309-asm-1523 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [rgbd-1]: process started with pid [1524] [rgbd-1] Interface constructor started [rgbd-1] [rgbd-1] ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza. [rgbd-1] ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza. [rgbd-1] This program comes with ABSOLUTELY NO WARRANTY; [rgbd-1] This is free software, and you are welcome to redistribute it [rgbd-1] under certain conditions. See LICENSE.txt. [rgbd-1] [rgbd-1] Input sensor was set to: RGB-D [rgbd-1] [rgbd-1] Loading ORB Vocabulary. This could take a while... [rgbd-1] Vocabulary loaded! [rgbd-1] [rgbd-1] Initialization of Atlas from scratch [rgbd-1] Creation of new map with id: 0 [rgbd-1] Creation of new map with last KF id: 0 [rgbd-1] Seq. Name: [rgbd-1] [rgbd-1] Camera Parameters: [rgbd-1] - Camera: Pinhole [rgbd-1] - Image scale: 1 [rgbd-1] - fx: 528.434 [rgbd-1] - fy: 528.434 [rgbd-1] - cx: 320.5 [rgbd-1] - cy: 240.5 [rgbd-1] - k1: 0 [rgbd-1] - k2: 0 [rgbd-1] - p1: 0 [rgbd-1] - p2: 0 [rgbd-1] - k3: 0 [rgbd-1] - fps: 30 [rgbd-1] - color order: BGR (ignored if grayscale) [rgbd-1] [rgbd-1] Depth Threshold (Close/Far Points): 2.80073 [rgbd-1] [rgbd-1] ORB Extractor Parameters: [rgbd-1] - Number of Features: 1250 [rgbd-1] - Scale Levels: 8 [rgbd-1] - Scale Factor: 1.2 [rgbd-1] - Initial Fast Threshold: 20 [rgbd-1] - Minimum Fast Threshold: 7 [rgbd-1] There are 1 cameras in the atlas [rgbd-1] Camera 0 is pinhole [rgbd-1] INIT COMPLETE [rgbd-1] Interface constructor complete [rgbd-1] ============================ [rgbd-1] [INFO] [1715074681.161079568] [scout_2.ORB_SLAM3_RGBD_ROS2]: CONSTRUCTOR END! [rgbd-1] [rgbd-1] (ORB-SLAM3: Current Frame:1524): dbind-WARNING **: 11:38:01.854: Couldn't connect to accessibility bus: Failed to connect to socket /run/user/1000/at-spi/bus_0: No such file or directory [rgbd-1] Gtk-Message: 11:38:01.911: Failed to load module "canberra-gtk-module" [rgbd-1] Gtk-Message: 11:38:01.914: Failed to load module "canberra-gtk-module" [rgbd-1] Starting the Viewer

suchetanrs commented 2 months ago

Hi, thanks for your ticket. Could you please let me know if the viewer opens up after running this command? The viewer here are two windows which show the map and the actively tracked points on the image.

serna01 commented 2 months ago

Thanks for the quick response. Yes indeed two viewers open, one is completely black and has a message saying waiting for images, and the other is just empty with a kind of green camera view model I would assume.

suchetanrs commented 2 months ago

Thank you for your reply. This is the expected behaviour. The wrapper is waiting for images on the required topic in this case. I believe the topic name is /<node_namespace> + "camera/image_raw". Once the messages are received on this topic, the tracking will begin. However, please note that the default camera parameter file will not work with your own images. Be sure to get your calibration parameters and put it in a file similar to this. If this does not work, I will upload a simulation container soon so you could test it with that :)