Giter Club home page Giter Club logo

Comments (3)

erinline avatar erinline commented on July 28, 2024

Just noticed this error prints a little while before crash:

         [ INFO] [1650725492.622501147]: ROS Grabber Node successfully loaded camera: 
        fps = 10
        cx = 610.324
        cy = 516.917
        fx = 1209.07
        fy = 1210.66
        k1 = -0.198806
        k2 = 0.122544
        p1 = -0.000221
        p2 = -0.000877
        k3 = 0
    terminate called after throwing an instance of 'ros::ConflictingSubscriptionException'
      what():  Tried to subscribe to a topic with the same name but different md5sum as a topic that was already subscribed [sensor_msgs/Imu/6a62c6daae103f4ff57a132d6f95cec2 vs. std_msgs/Float64/fdb28210bfa9d7c91146260178d9a584]

from openrealm_ros1_bridge.

laxnpander avatar laxnpander commented on July 28, 2024

@erinline Hey, the problem with running it with an image topic is that OpenREALM expects GNSS, heading and relative altitude above ground as well. An image alone is not sufficient. Here is an example how to launch the ros_grabber_node correctly:

    <node pkg="realm_ros" type="realm_ros_grabber" name="realm_ros_grabber" output="screen">
        <param name="config/id" type="string" value="$(arg camera_id)"/>
        <param name="config/profile" type="string" value="alexa_gnss"/>
        <param name="topic/image" type="string" value="$(arg topic_in_image)"/>
        <param name="topic/gnss" type="string" value="$(arg topic_in_gnss)"/>
        <param name="topic/heading" type="string" value="$(arg topic_in_heading)"/>
        <param name="topic/relative_altitude" type="string" value="$(arg topic_in_relative_altitude)"/>
        <param name="topic/orientation" type="string" value="$(arg topic_in_orientation)"/>
        <param name="topic/out/frame" type="string" value="$(arg topic_out_adapter_frame)"/>
	<!--param name="topic/out/imu" type="string" value="$(arg topic_out_adapter_imu)"/-->
    </node>

Info: The additional sensor data is required to georeference the visual SLAM poses. You could "hack" some reasonable values, though I'd recommend to use real sensor inputs if you have them.

from openrealm_ros1_bridge.

laxnpander avatar laxnpander commented on July 28, 2024

Reopen if there are open questions left.

from openrealm_ros1_bridge.

Related Issues (5)

Recommend Projects

  • React photo React

    A declarative, efficient, and flexible JavaScript library for building user interfaces.

  • Vue.js photo Vue.js

    🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.

  • Typescript photo Typescript

    TypeScript is a superset of JavaScript that compiles to clean JavaScript output.

  • TensorFlow photo TensorFlow

    An Open Source Machine Learning Framework for Everyone

  • Django photo Django

    The Web framework for perfectionists with deadlines.

  • D3 photo D3

    Bring data to life with SVG, Canvas and HTML. 📊📈🎉

Recommend Topics

  • javascript

    JavaScript (JS) is a lightweight interpreted programming language with first-class functions.

  • web

    Some thing interesting about web. New door for the world.

  • server

    A server is a program made to process requests and deliver data to clients.

  • Machine learning

    Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.

  • Game

    Some thing interesting about game, make everyone happy.

Recommend Org

  • Facebook photo Facebook

    We are working to build community through open source technology. NB: members must have two-factor auth.

  • Microsoft photo Microsoft

    Open source projects and samples from Microsoft.

  • Google photo Google

    Google ❤️ Open Source for everyone.

  • D3 photo D3

    Data-Driven Documents codes.