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tentone / tello-ros2

ROS2 node for DJI Tello and Visual SLAM for mapping of indoor environments.
MIT License
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Cannot build SLAM node #9

Open PhilShaw852 opened 1 year ago

PhilShaw852 commented 1 year ago

I have followed the steps religiously, and can build the tello nodes, and can build ORB_SLAM.

When I attempt to build the SLAM node however I get the following errors:

`/home/ps/ros2_ws/src/slam/src/orbslam2/src/monocular/monocular-slam-node.cpp: In member function ‘void MonocularSlamNode::UpdateSLAMState()’:

/home/ps/ros2_ws/src/slam/src/orbslam2/src/monocular/monocular-slam-node.cpp:183:45: error: ‘class ORB_SLAM2::System’ has no member named ‘GetCurrentFrame’ 183 | ORB_SLAM2::Frame currentFrame = m_SLAM->GetCurrentFrame(); | ^~~~~~~ /home/ps/ros2_ws/src/slam/src/orbslam2/src/monocular/monocular-slam-node.cpp:194:29: error: ‘class ORB_SLAM2::System’ has no member named ‘GetInitialKeys’ 194 | mvIniKeys = m_SLAM->GetInitialKeys(); | ^~~~~~ /home/ps/ros2_ws/src/slam/src/orbslam2/src/monocular/monocular-slam-node.cpp:195:32: error: ‘class ORB_SLAM2::System’ has no member named ‘GetInitialMatches’ 195 | mvIniMatches = m_SLAM->GetInitialMatches(); | ^~~~~ /home/ps/ros2_ws/src/slam/src/orbslam2/src/monocular/monocular-slam-node.cpp: In member function ‘void MonocularSlamNode::UpdateMapState()’: /home/ps/ros2_ws/src/slam/src/orbslam2/src/monocular/monocular-slam-node.cpp:230:17: error: ‘class ORB_SLAM2::System’ has no member named ‘IsMapOptimized’ 230 | if (m_SLAM->IsMapOptimized()) | ^~~~~~ /home/ps/ros2_ws/src/slam/src/orbslam2/src/monocular/monocular-slam-node.cpp:234:31: error: ‘class ORB_SLAM2::System’ has no member named ‘GetAllKeyFrames’ 234 | mvKeyFrames = m_SLAM->GetAllKeyFrames(); | ^~~~~~~ /home/ps/ros2_ws/src/slam/src/orbslam2/src/monocular/monocular-slam-node.cpp:235:31: error: ‘class ORB_SLAM2::System’ has no member named ‘GetAllMapPoints’; did you mean ‘GetTrackedMapPoints’? 235 | mvMapPoints = m_SLAM->GetAllMapPoints(); | ^~~~~~~ | GetTrackedMapPoints /home/ps/ros2_ws/src/slam/src/orbslam2/src/monocular/monocular-slam-node.cpp:236:34: error: ‘class ORB_SLAM2::System’ has no member named ‘GetReferenceMapPoints’ 236 | mvRefMapPoints = m_SLAM->GetReferenceMapPoints(); | ^~~~~ /home/ps/ros2_ws/src/slam/src/orbslam2/src/monocular/monocular-slam-node.cpp: In member function ‘void MonocularSlamNode::PublishFrame()’: /home/ps/ros2_ws/src/slam/src/orbslam2/src/monocular/monocular-slam-node.cpp:255:63: error: no matching function for call to ‘rclcpp::Publisher<sensormsgs::msg::Image<std::allocator > >::publish(sensormsgs::msg::Image<std::allocator >::SharedPtr)’ 255 | m_annotated_image_publisher->publish(rosImage.toImageMsg()); `

Any suggestions would be appreciated.

dlebedinsky commented 12 months ago

What operating system are you trying to build on? I have not tried to build this project yet, but I will keep this in mind.

PhilShaw852 commented 12 months ago

What operating system are you trying to build on? I have not tried to build this project yet, but I will keep this in mind.

Ubuntu Linux - Focal Fossa (20.04) ROS2 Foxy

Everything installed following the guides in the repo.

tentone commented 12 months ago

Hello

This was developed on ubuntu 20.04 with ros2 foxy as well.

Should be fairly direct to compile the project