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thien94 / orb_slam3_ros_wrapper

A ROS wrapper for ORB-SLAM3. Focus on portability and flexibility.
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error while running orbslam3 example #24

Open cuongnguyensad opened 1 year ago

cuongnguyensad commented 1 year ago

... logging to /home/cuongduc/.ros/log/ae2b41d0-7aaf-11ed-8036-d965f0b19240/roslaunch-idealpad-56861.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://localhost:36581/

SUMMARY

PARAMETERS

NODES / orb_slam3_mono_inertial (orb_slam3_ros_wrapper/orb_slam3_ros_wrapper_mono_inertial) rviz (rviz/rviz) /orb_slam3_ros/ trajectory_server_orb_slam3 (hector_trajectory_server/hector_trajectory_server)

ROS_MASTER_URI=http://localhost:11311

process[orb_slam3_mono_inertial-1]: started with pid [56875] process[rviz-2]: started with pid [56876] ERROR: cannot launch node of type [hector_trajectory_server/hector_trajectory_server]: hector_trajectory_server ROS path [0]=/opt/ros/noetic/share/ros ROS path [1]=/home/cuongduc/catkin_ws/src ROS path [2]=/opt/ros/noetic/share

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-Inertial Loading settings from /home/cuongduc/catkin_ws/src/orb_slam3_ros_wrapper/config/EuRoC.yaml Camera1.k3 optional parameter does not exist... -Loaded camera 1 Camera.newHeight optional parameter does not exist... Camera.newWidth optional parameter does not exist... -Loaded image info IMU.InsertKFsWhenLost optional parameter does not exist... -Loaded IMU calibration -Loaded ORB settings -Loaded viewer settings System.LoadAtlasFromFile optional parameter does not exist... System.SaveAtlasToFile optional parameter does not exist... -Loaded Atlas settings System.thFarPoints optional parameter does not exist... -Loaded misc parameters

SLAM settings: -Camera 1 parameters (Pinhole): [ 458.654 457.296 367.215 248.375 ] -Camera 1 distortion parameters: [ -0.283408 0.0739591 0.00019359 1.76187e-05 ] -Original image size: [ 752 , 480 ] -Current image size: [ 752 , 480 ] -Sequence FPS: 20 -Gyro noise: 0.00017 -Accelerometer noise: 0.002 -Gyro walk: 1.9393e-05 -Accelerometer walk: 0.003 -IMU frequency: 200 -Features per image: 1200 -ORB scale factor: 1.2 -ORB number of scales: 8 -Initial FAST threshold: 20 -Min FAST threshold: 7

Loading ORB Vocabulary. This could take a while... [ INFO] [1670913056.488832874]: rviz version 1.14.19 [ INFO] [1670913056.488957820]: compiled against Qt version 5.12.8 [ INFO] [1670913056.488990786]: compiled against OGRE version 1.9.0 (Ghadamon) [ INFO] [1670913056.505582386]: Forcing OpenGl version 0. [ INFO] [1670913056.842900726]: Stereo is NOT SUPPORTED [ INFO] [1670913056.843016244]: OpenGL device: AMD RENOIR (DRM 3.42.0, 5.15.0-56-generic, LLVM 12.0.0) [ INFO] [1670913056.843047183]: OpenGl version: 4,6 (GLSL 4,6) limited to GLSL 1.4 on Mesa system. Vocabulary loaded!

Initialization of Atlas from scratch Creation of new map with id: 0 Creation of new map with last KF id: 0 There are 1 cameras in the atlas Camera 0 is pinhole

(ORB-SLAM3: Current Frame:56875): Gtk-ERROR *: 13:31:06.274: GTK+ 2.x symbols detected. Using GTK+ 2.x and GTK+ 3 in the same process is not supported [orb_slam3_mono_inertial-1] process has died [pid 56875, exit code -5, cmd /home/cuongduc/catkin_ws/devel/lib/orb_slam3_ros_wrapper/orb_slam3_ros_wrapper_mono_inertial /camera/image_raw:=/cam0/image_raw /imu:=/imu0 __name:=orb_slam3_mono_inertial __log:=/home/cuongduc/.ros/log/ae2b41d0-7aaf-11ed-8036-d965f0b19240/orb_slam3_mono_inertial-1.log]. log file: /home/cuongduc/.ros/log/ae2b41d0-7aaf-11ed-8036-d965f0b19240/orb_slam3_mono_inertial-1.log

After I ran this code :roslaunch orb_slam3_ros_wrapper euroc_monoimu.launch the orbslam3 shut down, i dont know why? (i've already play the bag file)

fickrie67 commented 1 year ago

probably because the gt lib used in opencv? try change the opencv in cmakelist with:

find_package(OpenCV 4.0) if(NOT OpenCV_FOUND) find_package(OpenCV 3.0) if(NOT OpenCV_FOUND) message(FATAL_ERROR "OpenCV > 3.0 not found.") endif() endif() MESSAGE("OPENCV VERSION:") MESSAGE(${OpenCV_VERSION})