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thien94 / orb_slam3_ros_wrapper

A ROS wrapper for ORB-SLAM3. Focus on portability and flexibility.
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How to run ros bag MH_01_easy.bag #4

Closed alaamh closed 3 years ago

alaamh commented 3 years ago

I'm getting an error the file not found.

I'm using VirtualBox on MAC, do you think it is a memory assigned to the VM?

thien94 commented 3 years ago

Can you elaborate on the problem: which file is not found and is that file part of this package?

alaamh commented 3 years ago

The environment configured as the following:

macOS Big Sur
vmware fusion
processors 2 cores
memory 4096MB
Ubuntu 18.04
ROS Melodic

All dependency has been installed. running following command: $ roslaunch orb_slam3_ros_wrapper orb_slam3_mono_inertial_euroc.launch gives the below error:

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
[orb_slam3_mono_inertial-2] process has died [pid 2849, exit code -11, cmd /home/alaamh/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/alaamh/.ros/log/4d9126dc-b26f-11eb-88e2-000c2902f0b7/orb_slam3_mono_inertial-2.log].
log file: /home/alaamh/.ros/log/4d9126dc-b26f-11eb-88e2-000c2902f0b7/orb_slam3_mono_inertial-2*.log

running following command: $ rosbag play MH_01_easy.bag gives the below error:

[ INFO] [1620747730.446810883]: Opening MH_01_easy.bag
[FATAL] [1620747730.530635794]: Error opening file: MH_01_easy.bag
thien94 commented 3 years ago

For the first error with $ roslaunch orb_slam3_ros_wrapper orb_slam3_mono_inertial_euroc.launch, unfortunately it is not clear what is the problem so you have to investigate a bit further.

For the second error with $ rosbag play MH_01_easy.bag: have you navigate to the folder where the bag file is located? You can only run that command when you provide the correct path to the bag file or are in the same folder.

alaamh commented 3 years ago

Thanks again for your help and support.

I could not figure it out, the mentioned log file orb_slam3_mono_inertial-2 does not exist and other logos for ROS have no errors, what is the easy way to test ORB_SLAM3 itself? Please note it has built without any error and all dependency library is installed successfully.

for example rosrun ORB_SLAM3 Mono PATH_TO_VOCABULARY PATH_TO_SETTINGS_FILE

I use the following rosrun ORB_SLAM3 Mono Vocabulary/ORBvoc.txt

but where are the settings file? is it Examples/RGB-D/TUM1.yaml

If I'm running above I get the below error:

ubuntu:~/ORB_SLAM3$ rosrun ORB_SLAM3 Mono Vocabulary/ORBvoc.txt Examples/RGB-D/TUM1.yaml

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
Segmentation fault (core dumped)
alaamh commented 3 years ago

it seems I have missed getting EuRoc Dataset: wget -c http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/machine_hall/MH_01_easy/MH_01_easy.zip

then Unzip to MH01 folder :)

thien94 commented 3 years ago

Hi @alaamh is the issue resolved? If yes, you can close the issue for now. Feel free to reopen it if the need arises.