Gtk conflicting error

[ani-4nirudh]

Hello Thien, The command roslaunch orb_slam3_ros_wrapper orb_slam3_euroc_mono.launch is giving the following output:

(ORB-SLAM3: Current Frame:26263): Gtk-ERROR **: 19:39:01.227: GTK+ 2.x symbols detected. Using GTK+ 2.x and GTK+ 3 in the same process is not supported
[orb_slam3_mono-1] process has died [pid 26263, exit code -5, cmd /home/xxx/ros1_ws/devel/lib/orb_slam3_ros_wrapper/orb_slam3_ros_wrapper_mono /camera/image_raw:=/usb_cam/image_raw __name:=orb_slam3_mono __log:=/home/xxx/.ros/log/618a0dba-294d-11ed-acd5-79ec372d828f/orb_slam3_mono-1.log].
log file: /home/xxx/.ros/log/618a0dba-294d-11ed-acd5-79ec372d828f/orb_slam3_mono-1*.log
[ WARN] [1661967556.988548827]: No transform between frames /world and /camera available after 20.002753 seconds of waiting. This warning only prints once.

I tried searching for the answers for this gtk conflict, but haven't found anything useful. Another note, the ROS node for ORBSLAM3 viewer is working completely fine.

Any help would be appreciated. Thanks :)

[thien94]

Hi @ani-4nirudh , I have not encountered this error before so I am not sure what is the real issue.

Firstly, maybe you can try to install gtk and gtk3 module sudo apt install libcanberra-gtk-module libcanberra-gtk3-module

The issue might be related to opencv, as suggested in this discussion and this one. Hopefully you can find some helpful pointers from them.

[ani-4nirudh]

Hey @thien94, thanks for your reply. You were correct it seems, that there are some OpenCV compatibility issues. For the ORBSLAM_3 it is better to use release 4.4.0.

• Instructions for building OpenCV are here and here. The only difference is, that instead of using the command cmake -D CMAKE_BUILD_TYPE=Release -D WITH_CUDA=OFF -D CMAKE_INSTALL_PREFIX=/usr/local .. replace it with cmake -D CMAKE_BUILD_TYPE=Release -D WITH_CUDA=OFF -D WITH_GTK=ON -D WITH_GTK3=ON -D WITH_GTK_2_X=OFF -DENABLE_PRECOMPILED_HEADERS=OFF -D CMAKE_INSTALL_PREFIX=/usr/local ..
• Rest of the instructions for OpenCV build can be followed as given in the two sources above.
• Then, one can go ahead with rebuilding ORBSLAM3 (The bash scripts ./build.sh & ./build_ros.sh), and rebuild your ROS repo. Hopefully that removes this error.

Another useful source, here.

So, I will go ahead and close this issue. Thanks again for all the help :)