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thien94 / orb_slam3_ros

A ROS implementation of ORB_SLAM3
GNU General Public License v3.0
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Empty IMU measurements vector!!! #38

Open ALFONSOBUGRA opened 3 months ago

ALFONSOBUGRA commented 3 months ago

I ran successfully on my own dataset in a monocular scenario. But when I try to run monocular-inertial scenario on my own dataset, I get errors.

IMU: 200Hz Images: 20Hz Camera type: Pinhole Imu calibration params: default values of EuRoC dataset Timestamps: IMU and images start at the same time then match certain periods. Fail to track local map! IMU is not recently initialized. Reseting active map... SYSTEM-> Reseting active map in monocular case LM: Active map reset received LM: Active map reset waiting... LM: End reseting Local Mapping... LM: Reset free the mutex LM: Active map reset, Done!!! mnFirstFrameId = 38 mnInitialFrameId = 0 New map created with 68 points Empty IMU measurement vector!!!

Above errors are repeated periodically.

How can I solve it? I received these errors when i run without ros. After this, I tried that calibrate Zed camera and IMU then use a rosbag file to run but i received take errors again like that:

Error: Frame with a timestamp older than previous frame detected. Map point vector is empty. TimeStamp jump detected, before IMU initialization.

What should i do solve these problems? How can i run ZED camera on mono-inertial mode?