Closed Dave-van-der-Meer closed 1 year ago
same question, have you solved it?
oh, I have solved it. just change these 2 lines https://github.com/zang09/ORB_SLAM3_ROS2/blob/00c54335ccc010d74c1e24e336aa817604124947/src/rgbd/rgbd-slam-node.cpp#L11-L12 to
rgb_sub = std::make_shared< message_filters::Subscriber<ImageMsg> >(this, "camera/rgb");
depth_sub = std::make_shared< message_filters::Subscriber<ImageMsg> >(this, "camera/depth");
I had the same issue, and the solution from @HUANG-Haolun helped me. Thanks!
Hi there,
I have trouble running the ROS 2 nodes.
Issue
The rgbd and the stereo node both crash after I run them.
Setup
I have set up a Dockerfile to create an environment with all the necessary dependencies for ORB-SLAM3. After compiling ORB-SLAM3, I proceed to clone the ORB_SLAM3_ROS2 repo from Github and then I switch to the humble branch since my Docker environment is running ROS 2 Humble.
I configure the path to my ORB-SLAM3 installation and I use
colcon build
to create the orbslam3 package. I then source the workspace.Expected behaviour
When I run
ros2 run orbslam3 rgbd <PATH_TO_VOC_FILE> <PATH_TO_CAMERA_CONFIG> --ros-args <topic remappings>
I expect that the node should initiate the parameters from the indicated config file and then start applying SLAM.Actual behaviour
When I run the following command, I can see that it is loading the config file. I put everything in a launch file, but the result is the same when I run it with
ros2 run
and all the parameters.The node shuts down with the following terminal output:
Question
Can you help me figure out why the node shuts down after launching it? Am I missing something? Is there something wrong in how I run the node? Am I missing a configuration?
With kind regards, Dave