Open Cheng-Chih-Hung opened 1 year ago
Hi @Cheng-Chih-Hung , thanks for checking out the code.
At first glance, I can't really say what is the real issue. Can you try launching again with 1) enable_pangolin
set to False
, and 2) disable RViz by comment out this line?
Hi @thien94 Thank you for reply me so fast I try to set the enable_pangolin to False and comment the Visualization, but the problem still there.
If possible, can you open the log file (file name stated within the terminal output log file: /home/...
and check for any error messages?
Alternatively, since you can use the standalone ORB-SLAM3 library fine, this wrapper can output the pose and map points https://github.com/thien94/orb_slam3_ros_wrapper. There are limitations though, which you can read more in the README.
@thien94 I try to find out the log file the terminal show, but in the floder /home/ace428/.ros/log/fc4d4438-85bf-11ed-9c6d-f02f7455103d/ there's no orb_slam3-2.log.
And I try the orb_slam3_ros_wrapper https://github.com/thien94/orb_slam3_ros_wrapper, I can run the euroc_mono.launch and tum_rgbd.launch success, but I get the same error here when I try the euroc_monoimu, euroc_stereo, and euroc_stereoimu.
I think I have the same problem like this https://github.com/thien94/orb_slam3_ros_wrapper/issues/6#issuecomment-1299522167
The error might be because of incompatible setting files, specifically voc_file
and settings_file
. My suggestion for now:
voc_file
and settings_file
params in the launch file so that they point to the ones in the ORB-SLAM3/Examples@thien94 I do change the voc_file and settings_file to fit, but it still can't work. Can I ask what's you're success environmet(version of OpenCV, Boost, Eigen3, Pangolin...), I change some of the code of ORB_SLAM3 to match my environmet, will this be able to make the error ?
Hi @Cheng-Chih-Hung , if you are familiar with Docker, I suggest following the instructions here to set it up https://github.com/thien94/orb_slam3_ros#docker Everything related to environment settings can be found inside. Hence, it would be quicker than me listing all the details.
@thien94 Okay! Thank you very much : )
Was this problem ever resolved? Running into the same error. Could it have something to do with the "Stereo is NOT SUPPORTED" line?
any update? I'm facing the same problem
Hi @Tlalvani and @ergys00 , the problem seems to be system dependent as I couldn't replicate the issue on my computer. Have you tried using the docker method?
Could it have something to do with the "Stereo is NOT SUPPORTED" line?
This line is just a default message from ORB-SLAM3. So you can ignore it.
Hi @Tlalvani @ergys00 I solved this problem by reinstall Ubuntu 20.04.5 LST, but there's still some problems on pangolin, so I disable it. Now it works fine with my ZED 2 camera. I also try with the docker, it works fine too.
I have to install it on ubuntu 18.04, the normal ros wrapper with standalone orbslam works fine but that one can't work, it always gives me "process had died" error. I can't try the docker solution because, as a base, i've to use a pre-written docker file with ubuntu 18.04 + ros melodic base version + opencv. ORBSLAM3 itself or the ros wrapper with the orbslam standalone version work well with that dockerfile.
I have the same problem, my system is ubuntu 20.04, ros noetic, opencv4.2.
I just found my error.
error while loading shared libraries: libpango_windowing.so: cannot open shared object file: No such file or directory
just use sudo ldconfig
By putting some prints in an there in the code i found out that the problem was caused by the line 70 in System.cc in the src folder of ORBSLAM3: "cv::FileStorage fsSettings(strSettingsFile.c_str(), cv::FileStorage::READ);" That line was giving "segmentation fault" error which was caused by the fact that cv-bridge that comes with ros melodic requires opencv 3.3 and the opencv version that i was using was 4.7. I solved the problem by installing a custom-made version of cv-bridge made for OpenCV 4. That's the question in stackoverflow that i followed to solve the problem: https://stackoverflow.com/questions/70127095/conflict-between-opencv-4-and-cv-bridge-in-ros-node
@ergys00's fix resolved my issue as well :)
By putting some prints in an there in the code i found out that the problem was caused by the line 70 in System.cc in the src folder of ORBSLAM3: "cv::FileStorage fsSettings(strSettingsFile.c_str(), cv::FileStorage::READ);" That line was giving "segmentation fault" error which was caused by the fact that cv-bridge that comes with ros melodic requires opencv 3.3 and the opencv version that i was using was 4.7. I solved the problem by installing a custom-made version of cv-bridge made for OpenCV 4. That's the question in stackoverflow that i followed to solve the problem: https://stackoverflow.com/questions/70127095/conflict-between-opencv-4-and-cv-bridge-in-ros-node fix and resolved my issue as well
By putting some prints in an there in the code i found out that the problem was caused by the line 70 in System.cc in the src folder of ORBSLAM3: "cv::FileStorage fsSettings(strSettingsFile.c_str(), cv::FileStorage::READ);" That line was giving "segmentation fault" error which was caused by the fact that cv-bridge that comes with ros melodic requires opencv 3.3 and the opencv version that i was using was 4.7. I solved the problem by installing a custom-made version of cv-bridge made for OpenCV 4. That's the question in stackoverflow that i followed to solve the problem: https://stackoverflow.com/questions/70127095/conflict-between-opencv-4-and-cv-bridge-in-ros-node
hi, bro
i find a confilt that the method solve [orb_slam3 has died] problem ..
but i find a new problem..
when i make custom method to launch my cameras,, but it is [ camera1 has died]... because i have removed "ros-noetic-cv-bridge" and i install "vision-opencv" from source
fllow my error tip:
`ssz@ssz:~/workspace/catkin_ws_ORBSLAM3$ roslaunch usb_cam usb_cam_ssz.launch camera1_name:=camera1 camera2_name:=camera2 ... logging to /home/ssz/.ros/log/f30c8c9a-d51e-11ed-aaea-e77234514fc2/roslaunch-ssz-407096.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://ssz:44739/
PARAMETERS
NODES / camera1 (usb_cam/usb_cam_node) camera2 (usb_cam/usb_cam_node) image_view1 (image_view/image_view) image_view2 (image_view/image_view)
ROS_MASTER_URI=http://localhost:11311
process[camera1-1]: started with pid [407150] process[camera2-2]: started with pid [407151] process[image_view1-3]: started with pid [407152] process[image_view2-4]: started with pid [407153] [ INFO] [1680922889.988776389]: using default calibration URL [ INFO] [1680922889.989431493]: camera calibration URL: file:///home/ssz/.ros/camera_info/camera1.yaml [ INFO] [1680922889.989480831]: Unable to open camera calibration file [/home/ssz/.ros/camera_info/camera1.yaml] [ WARN] [1680922889.989495792]: Camera calibration file /home/ssz/.ros/camera_info/camera1.yaml not found. [ INFO] [1680922889.989512213]: Starting 'camera1' (/dev/video0) at 640x480 via mmap (mjpeg) at 30 FPS [ INFO] [1680922889.989842092]: using default calibration URL [ INFO] [1680922889.990189013]: camera calibration URL: file:///home/ssz/.ros/camera_info/camera2.yaml [ INFO] [1680922889.990223326]: Unable to open camera calibration file [/home/ssz/.ros/camera_info/camera2.yaml] [ WARN] [1680922889.990235559]: Camera calibration file /home/ssz/.ros/camera_info/camera2.yaml not found. [ INFO] [1680922889.990249560]: Starting 'camera2' (/dev/video2) at 640x480 via mmap (mjpeg) at 30 FPS [ INFO] [1680922890.183684051]: Initializing nodelet with 20 worker threads. [ INFO] [1680922890.185668864]: Initializing nodelet with 20 worker threads. [ INFO] [1680922891.570476700]: Using transport "raw" [ INFO] [1680922891.572644663]: Using transport "raw" [image_view2-4] process has died [pid 407153, exit code -11, cmd /opt/ros/noetic/lib/image_view/image_view image:=/camera2/image_raw name:=image_view2 log:=/home/ssz/.ros/log/f30c8c9a-d51e-11ed-aaea-e77234514fc2/image_view2-4.log]. log file: /home/ssz/.ros/log/f30c8c9a-d51e-11ed-aaea-e77234514fc2/image_view2-4*.log [image_view1-3] process has died [pid 407152, exit code -11, cmd /opt/ros/noetic/lib/image_view/image_view image:=/camera1/image_raw name:=image_view1 log:=/home/ssz/.ros/log/f30c8c9a-d51e-11ed-aaea-e77234514fc2/image_view1-3.log]. log file: /home/ssz/.ros/log/f30c8c9a-d51e-11ed-aaea-e77234514fc2/image_view1-3*.log ^C[camera2-2] killing on exit [camera1-1] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done `
when i remove "image-view code" , it work find ..
sudo ldconfig
hi where do I command this? I have the same setup with yours
I had the same issue solved by cloning https://github.com/ros-perception/vision_opencv/tree/noetic (noetic branch) into the /src folder. The answer above is similar but clones a fork that gives me an issue with a "boost_python3" package.
git clone https://github.com/ros-perception/vision_opencv.git -b noetic
I have the same problem, but as regared to the upper said, "used the docker", so I remake this on docker, the docker images was provieded by @jahaniam https://github.com/jahaniam/orbslam3_docker on nvidia-docker, so fully fullied. Thanks Docker
我也遇到了相同的问题,就像上面有人说的一样,在docker上运行正常。所以我也在docker重试了这个,用的是现成的docker环境 https://github.com/jahaniam/orbslam3_docker,在有nvidia支持的docker上运行成功并且opengl显示其输出调用显卡。感谢Docker!
I had the same issue solved by cloning https://github.com/ros-perception/vision_opencv/tree/noetic (noetic branch) into the /src folder. The answer above is similar but clones a fork that gives me an issue with a "boost_python3" package.
git clone https://github.com/ros-perception/vision_opencv.git -b noetic
only useful comment, even though don't know why.
Hi~ I run the euroc_mono, tum_rgbd and those launch file and i get :
[orb_slam3-2] process has died [pid 2417, exit code -11, cmd /home/ace428/catkin_ws/devel/lib/orb_slam3_ros/ros_mono /camera/image_raw:=/cam0/image_raw __name:=orb_slam3 __log:=/home/ace428/.ros/log/fc4d4438-85bf-11ed-9c6d-f02f7455103d/orb_slam3-2.log]. log file: /home/ace428/.ros/log/fc4d4438-85bf-11ed-9c6d-f02f7455103d/orb_slam3-2*.log
I can run the ORB-SLAM3 with ROS success from 'https://github.com/UZ-SLAMLab/ORB_SLAM3' V1.0, but i'll need the ROS output of pose and map
Did I do some thing wrong? Thank you very much
############ Full Output ######## $ roslaunch orb_slam3_ros euroc_mono.launch ... logging to /home/ace428/.ros/log/fc4d4438-85bf-11ed-9c6d-f02f7455103d/roslaunch-ace428-System-Product-Name-2359.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://ace428-System-Product-Name:39841/
SUMMARY
PARAMETERS
NODES / orb_slam3 (orb_slam3_ros/ros_mono) rviz (rviz/rviz) /orb_slam3_ros/ trajectory_server_orb_slam3 (hector_trajectory_server/hector_trajectory_server)
auto-starting new master process[master]: started with pid [2384] ROS_MASTER_URI=http://localhost:11311
setting /run_id to fc4d4438-85bf-11ed-9c6d-f02f7455103d process[rosout-1]: started with pid [2410] started core service [/rosout] process[orb_slam3-2]: started with pid [2417] process[rviz-3]: started with pid [2418] process[orb_slam3_ros/trajectory_server_orb_slam3-4]: started with pid [2419] [ INFO] [1672129514.430482407]: Waiting for tf transform data between frames /world and /camera to become available [ INFO] [1672129514.531219519]: rviz version 1.13.29 [ INFO] [1672129514.531258498]: compiled against Qt version 5.9.5 [ INFO] [1672129514.531269596]: compiled against OGRE version 1.9.0 (Ghadamon)
ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza. ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza. This program comes with ABSOLUTELY NO WARRANTY; This is free software, and you are welcome to redistribute it under certain conditions. See LICENSE.txt.
Input sensor was set to: Monocular [ INFO] [1672129514.535178826]: Forcing OpenGl version 0. [orb_slam3-2] process has died [pid 2417, exit code -11, cmd /home/ace428/catkin_ws/devel/lib/orb_slam3_ros/ros_mono /camera/image_raw:=/cam0/image_raw __name:=orb_slam3 __log:=/home/ace428/.ros/log/fc4d4438-85bf-11ed-9c6d-f02f7455103d/orb_slam3-2.log]. log file: /home/ace428/.ros/log/fc4d4438-85bf-11ed-9c6d-f02f7455103d/orb_slam3-2*.log [ INFO] [1672129515.346225379]: Stereo is NOT SUPPORTED [ INFO] [1672129515.346273215]: OpenGL device: NVIDIA GeForce RTX 3090/PCIe/SSE2 [ INFO] [1672129515.346290483]: OpenGl version: 4.6 (GLSL 4.6). [ WARN] [1672129534.432550771]: No transform between frames /world and /camera available after 20.002048 seconds of waiting. This warning only prints once.