Problem with L515 - Githubissues

wh200720041 / ssl_slam2

SSL_SLAM2: Lightweight 3-D Localization and Mapping for Solid-State LiDAR (mapping and localization separated) ICRA 2021

GNU General Public License v3.0

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Problem with L515 #2

Closed avgilias closed 3 years ago

avgilias commented 3 years ago

Hello, first of all impresive work. I have my L515 connected and facing the following problem after running the " roslaunch ssl_slam ssl_slam_mapping.launch".

I am completely new in ROS. Thank you very much for your time.

wh200720041 commented 3 years ago

Can you try

rosrun rqt_graph rqt_graph

and

rosrun rqt_tf_tree rqt_tf_tree

you can attach the results here

avgilias commented 3 years ago

Thank you for the reply. I am getting the message "Couldn't find ROS master. Either start 'roscore' or abort loading the plug in" I have the L515 directly connected on my laptop and I am getting the same problem in two different versions of Ubuntu 18.04 and 20.04 (with ROS melodic and noetic). Maybe I am missing something while trying to use your code.

wh200720041 commented 3 years ago

You have to launch

roslaunch ssl_slam ssl_slam_mapping.launch

before

rosrun rqt_graph rqt_graph

avgilias commented 3 years ago

The graph for Melodic ROS version is

and for Noetic ROS version

and the tree is tree

Really thank you for your support !

wh200720041 commented 3 years ago

It seems that you did not publish correct laser points, the ssl_slam2 node does not subscribe to realsense camera.

You can check the data from realsense by

rostopic hz /camera/depth/color/points

avgilias commented 3 years ago

Thank you very much again