Help ! ORB_SLAM3 not starting to track in D435i ?

[shyam-botsync]

I am able to launch the rs235i launch file. Everything launches fine. However the slam routine is not starting.

1. no data published to tracking data topic.
2. no transform available between world and IMU. can I get more context on the tf tree of entire system ?

[thien94]

Hi @shyam-botsync , thank you for your questions.

• For number 1: If there is no published data, most likely there are some issues with the inputs (mismatch between topic names in the launch file and real topic names), or parameters in the yaml file, or the camera has not moved yet (ORB-SLAM3 requires some initial movements to start working, so if the camera is static you might not get any outputs.
• For number 2: the tf will be published alongside tracking data topic. I suggest fixing issue 1 first, then you can view the entire tf tree for more context.

Hope this helps.