Comments (3)
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]
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@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.
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Reopen if there are open questions left.
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