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thien94 / orb_slam3_ros

A ROS implementation of ORB_SLAM3
GNU General Public License v3.0
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Trying to run with my own bags #16

Open daelisa opened 10 months ago

daelisa commented 10 months ago

Hello! I'm new to this so I will probably need a deep explanation. I'm trying to run my own bags with orb_slam3_ros, more specifically the tum_rgbd.launch since my camera is d435i. however, i'm facing a lot of problems that I don't know how to fix.

First of all, I changed the launch txt to accomodate the topics that I had. So the launch code looks like that:

So I'm able to open the Rivz with no problem, but once I run my bag I face two warnings. and one error. Frame World simply doesn't exist, the tf is unable to make the transformation and, the weirdest one, is the tracking img one.

Screenshot from 2023-10-09 16-15-46

On the tracking img, here's the problem. The topic exists but no image shows up. Screenshot from 2023-10-09 16-15-26

I don't know what to do, and I would really appreaciate some insight on what might help.

ThakurSarveshGit commented 6 months ago

For debugging, start with knowing the names of topics in your bag file: rosbag info bag_file_path.bag This will give you the names of the topics your bag file is publishing to.

In the launch file, make sure your orb_slam3 ros nodes are listening to these topics.