A ROS implementation of ORB_SLAM3
License: GNU General Public License v3.0
Hello as part of my project i need to be publishing keyframes from orb slam3 rgbd the thing is i am not familiar with C++ so I don't know which file I should modify and how to do it.
Hello! I'm new to this so I will probably need a deep explanation. I'm trying to run my own bags with orb_slam3_ros, more specifically the tum_rgbd.launch since my camera is d435i. however, i'm facing a lot of problems that I don't know how to fix.
First of all, I changed the launch txt to accomodate the topics that I had. So the launch code looks like that:
<!-- Main node --> <node name="orb_slam3" pkg="orb_slam3_ros" type="ros_rgbd" output="screen"> <!-- change the topics according to the dataset --> <remap from="/camera/rgb/image_raw" to="/d345i/color/image_raw"/> <remap from="/camera/depth_registered/image_raw" to="/d345i/aligned_depth_to_color/image_raw"/> <!-- Parameters for original ORB-SLAM3 --> <param name="voc_file" type="string" value="$(find orb_slam3_ros)/orb_slam3/Vocabulary/ORBvoc.txt.bin"/> <param name="settings_file" type="string" value="$(find orb_slam3_ros)/config/RGB-D/RealSense_D435i.yaml"/> <!-- Parameters for ROS --> <param name="world_frame_id" type="string" value="world" /> <param name="cam_frame_id" type="string" value="d435i_color_optical_frame" /> <param name="enable_pangolin" type="bool" value="false" /> </node> <!-- Visualization --> <node name="rviz" pkg="rviz" type="rviz" args="-d $(find orb_slam3_ros)/config/orb_slam3_rgbd.rviz" output="screen" /> <!-- Trajectory path --> <node pkg="hector_trajectory_server" type="hector_trajectory_server" name="trajectory_server_orb_slam3" output="screen" ns="orb_slam3_ros" > <param name="/target_frame_name" value="/world" /> <param name="/source_frame_name" value="/camera" /> <param name="/trajectory_update_rate" value="20.0" />
<param name="/trajectory_publish_rate" value="20.0" /> </node>
So I'm able to open the Rivz with no problem, but once I run my bag I face two warnings. and one error. Frame World simply doesn't exist, the tf is unable to make the transformation and, the weirdest one, is the tracking img one.
On the tracking img, here's the problem. The topic exists but no image shows up.
I don't know what to do, and I would really appreaciate some insight on what might help.
Hello,
First I want to say that I am not that deep into ROS.
I would like to run Stereo-Inertial with ROS and a pre recorded bag file with Intel RealSense D435i.
I already tried the ros_stereo_inertial example.
But while looking into the source code I have seen that it subscribes to /imu topic.
But when I record with the D435i I have the IMU data devided in 2 separate topics (acceleration and gyro).
Is there a way to run that without modifying the whole example?
I was hoping to find something in this repo.
Hi,
Thank you for sharing code, I used of your Code and when I try to run it with getting camera and Imu from Gazebo, I see points and frames on gui, but I can't see path(line) of frames like source code, Can you say where is problem?
Thank you
I have the following doubts in the process of reading your source code:
pSLAM->TrackStereo(imLeft, imRight, tImLeft, vImuMeas) The return value of this function is published as location information.pSLAM->GetCamTwc(), I noticed that your return value is the inverse matrix return (mCurrentFrame.GetPose()).inverse() of the pose of the current frame. I want to know why the inversion is in Is there any special need in the follow-up processing?I need help..
When i tried to build of the orb_slam3_ros through catkin build, it appeared failed to build the package due to the libg2o.so file that was missing.
Is there any solution to fix this??
I'm using NVIDIA Jetson Nano, with ubuntu 18 and melodic ROS version
Thank you
Hello, I am trying to build an Image by using the Dockerfile. But I am getting the make errors.
Can you let me know how to solve it ?
Hello, I am trying to set up orb_slam3_ros following the instructions in README.md, but I encounter the error below while executing "catkin build" in the installation process.
----------------------- log message -----------------------
make[2]: *** No rule to make target '/root/reproduce_orb-slam/catkin_ws/src/orb_slam3_ros/orb_slam3/Thirdparty/DBoW2/lib/libDBoW2.so', needed by '/root/reproduce_orb-slam/catkin_ws/src/orb_slam3_ros/orb_slam3/lib/liborb_slam3_ros.so'. Stop.
make[2]: *** Waiting for unfinished jobs....
…
make[1]: *** [CMakeFiles/Makefile2:300: CMakeFiles/orb_slam3_ros.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
----------------------- end -----------------------
I really appreciate any help you can provide.
How to load .osa map file? Can you elaborate?System.LoadAtlasFromFile: "/home/nby/SLAM3/ROS_MAP/map.osa" But I can't see the map loading in rviz or tracking img
When I run the roslaunch orb_slam3_ros ntuviral_mono.launch command, the terminal displays: [orb_slam3-2] process has died [pid 25461, exit code 127, cmd /home/nby/SLAM3/devel/lib/orb_slam3_ros/ros_mono /camera/image_raw:=/left/image_raw __name:=orb_slam3 __log:=/home/nby/.ros/log/128f4c92-7218-11ee-bd4e-f0b61e0a2346/orb_slam3-2.log].
log file: /home/nby/.ros/log/128f4c92-7218-11ee-bd4e-f0b61e0a2346/orb_slam3-2*.log
. Unable to execute ros_mono command
I am new to ros / slam. I am using orb_slam3 with a DJI Tello on ROS-Noetic.
I have most of it working, the one problem I have is that the full frame is not being processed for feature points.
I'm clearly missing something in a config but can't for the life of me see it.
I'd appreciate any help.
Hi everyone.
I Start working on ORBSLAM3, I used of:
Ubuntu 20.04
Camera: RealSense T265
Jetson xavier jetPack 5.1.2
L4T: 35.4.1
RealSense SDK 2.50.0
Open CV: 4.5.4
when I run ORBSLAM3 it can detect points and path in Orbslam Map viewer, But when I move camera, every minute points and path disappear and it start again... how I can fix this issue? it's need special config to can show path and points realtime??
Problem 2:
I read calibration pdf, it say you should configure TBC1 and TC1C2 in stereo Inertial, and it say Camera2(c2) is Right Camera in T265
but in RealSense_T265.yaml is C2 as left Camera:
Transformation matrix from right camera to left camera
Stereo.T_c1_c2: !!opencv-matrix
rows: 4
cols: 4
dt: f
data: [ 0.999983, 0.00445005, 0.00385861, 0.0636739954352379,
-0.00443664, 0.999984, -0.00347621, -0.000252007856033742,
-0.00387402, 0.00345903, 0.999986, -8.87895439518616e-05,
0.0, 0.0, 0.0, 1.0]
which is Correct? please Help me for these issues.
Hi @thien94,
Thank you very much for your great work. Its been a core part of my research in VSLAM systems.
I am attempting to modify your code to move the project into ROS2. At the moment I am unable to get the project to compile. The project structure, current cmake and the error that I am getting are shown in this question https://robotics.stackexchange.com/questions/105973/stuck-with-cmake-configuration-for-a-ros2-cpp-node-that-builds-a-library-within
Would you kindly help?
With best
@Mechazo11
when i use roslaunch orb_slam3_ros rs_d435i_rgbd_inertial.launch
it will report this issue, and repeat initiate。
Can you tell me the reason why it cannot be run directly due to repeated initialization?
TRACK: Reset map because local mapper set the bad imu flag
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 8982
mnInitialFrameId = 8980
8786 Frames set to lost
not IMU meas
Map point vector is empty!
First KF:679; Map init KF:668
New Map created with 849 points
Not enough motion for initializing. Reseting...
TRACK: Reset map because local mapper set the bad imu flag
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 9140
mnInitialFrameId = 9138
8936 Frames set to lost
not IMU meas
Map point vector is empty!
First KF:690; Map init KF:679
New Map created with 892 points
Not enough motion for initializing. Reseting...
TRACK: Reset map because local mapper set the bad imu flag
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 9292
mnInitialFrameId = 9290
9087 Frames set to lost
not IMU meas
Map point vector is empty!
First KF:701; Map init KF:690
New Map created with 888 points
^CNot enough motion for initializing. Reseting...
TRACK: Reset map because local mapper set the bad imu flag
Hi~
I run the euroc_mono, tum_rgbd and those launch file and i get :
[orb_slam3-2] process has died [pid 2417, exit code -11, cmd /home/ace428/catkin_ws/devel/lib/orb_slam3_ros/ros_mono /camera/image_raw:=/cam0/image_raw __name:=orb_slam3 __log:=/home/ace428/.ros/log/fc4d4438-85bf-11ed-9c6d-f02f7455103d/orb_slam3-2.log].
log file: /home/ace428/.ros/log/fc4d4438-85bf-11ed-9c6d-f02f7455103d/orb_slam3-2*.log
I can run the ORB-SLAM3 with ROS success from 'https://github.com/UZ-SLAMLab/ORB_SLAM3' V1.0, but i'll need the ROS output of pose and map
Did I do some thing wrong?
Thank you very much
############ Full Output ########
$ roslaunch orb_slam3_ros euroc_mono.launch
... logging to /home/ace428/.ros/log/fc4d4438-85bf-11ed-9c6d-f02f7455103d/roslaunch-ace428-System-Product-Name-2359.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://ace428-System-Product-Name:39841/
PARAMETERS
NODES
/
orb_slam3 (orb_slam3_ros/ros_mono)
rviz (rviz/rviz)
/orb_slam3_ros/
trajectory_server_orb_slam3 (hector_trajectory_server/hector_trajectory_server)
auto-starting new master
process[master]: started with pid [2384]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to fc4d4438-85bf-11ed-9c6d-f02f7455103d
process[rosout-1]: started with pid [2410]
started core service [/rosout]
process[orb_slam3-2]: started with pid [2417]
process[rviz-3]: started with pid [2418]
process[orb_slam3_ros/trajectory_server_orb_slam3-4]: started with pid [2419]
[ INFO] [1672129514.430482407]: Waiting for tf transform data between frames /world and /camera to become available
[ INFO] [1672129514.531219519]: rviz version 1.13.29
[ INFO] [1672129514.531258498]: compiled against Qt version 5.9.5
[ INFO] [1672129514.531269596]: compiled against OGRE version 1.9.0 (Ghadamon)
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
[ INFO] [1672129514.535178826]: Forcing OpenGl version 0.
[orb_slam3-2] process has died [pid 2417, exit code -11, cmd /home/ace428/catkin_ws/devel/lib/orb_slam3_ros/ros_mono /camera/image_raw:=/cam0/image_raw __name:=orb_slam3 __log:=/home/ace428/.ros/log/fc4d4438-85bf-11ed-9c6d-f02f7455103d/orb_slam3-2.log].
log file: /home/ace428/.ros/log/fc4d4438-85bf-11ed-9c6d-f02f7455103d/orb_slam3-2*.log
[ INFO] [1672129515.346225379]: Stereo is NOT SUPPORTED
[ INFO] [1672129515.346273215]: OpenGL device: NVIDIA GeForce RTX 3090/PCIe/SSE2
[ INFO] [1672129515.346290483]: OpenGl version: 4.6 (GLSL 4.6).
[ WARN] [1672129534.432550771]: No transform between frames /world and /camera available after 20.002048 seconds of waiting. This warning only prints once.
Hi, I tried to use your orb_slam3_ros code on a jetson xavier nx development board, catkin_make compiled successfully, but after using the roslaunch orb_slam3_ros tum_rgbd.launch command, the following errors occur: how can I fix them please?
[orb_slam3-2] process has died [pid 8623, exit code -11, cmd /home/robot/Desktop/motion_control/devel/lib/orb_slam3_ros/ros_rgbd /camera/rgb/ image_raw:=/camera/rgb/image_color /camera/depth_registered/image_raw:=/camera/depth/image __name:=orb_slam3 __log:=/home/robot/.ros/ log/849ed678-a6f1-11ee-9cd4-d8c0a650ee1f/orb_slam3-2.log].
log file: /home/robot/.ros/log/849ed678-a6f1-11ee-9cd4-d8c0a650ee1f/orb_slam3-2*.log
The full error message is as follows:
motion_control ➤ roslaunch orb_slam3_ros tum_rgbd.launch git:main*
... logging to /home/robot/.ros/log/849ed678-a6f1-11ee-9cd4-d8c0a650ee1f/roslaunch-ubuntu-8587.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://192.168.200.155:37469/
SUMMARY
========
PARAMETERS
* /orb_slam3/cam_frame_id: camera
* /orb_slam3/enable_pangolin: True
* /orb_slam3/settings_file: /home/robot/Deskt...
* /orb_slam3/voc_file: /home/robot/Deskt...
* /orb_slam3/world_frame_id: world
* /orb_slam3_ros/trajectory_server_orb_slam3/source_frame_name: /camera
* /orb_slam3_ros/trajectory_server_orb_slam3/target_frame_name: /world
* /orb_slam3_ros/trajectory_server_orb_slam3/trajectory_publish_rate: 20.0
* /orb_slam3_ros/trajectory_server_orb_slam3/trajectory_update_rate: 20.0
* /rosdistro: melodic
* /rosversion: 1.14.13
* /use_sim_time: False
NODES
/
orb_slam3 (orb_slam3_ros/ros_rgbd)
rviz (rviz/rviz)
/orb_slam3_ros/
trajectory_server_orb_slam3 (hector_trajectory_server/hector_trajectory_server)
auto-starting new master
process[master]: started with pid [8601]
ROS_MASTER_URI=http://192.168.200.155:11311
setting /run_id to 849ed678-a6f1-11ee-9cd4-d8c0a650ee1f
process[rosout-1]: started with pid [8620]
started core service [/rosout]
process[orb_slam3-2]: started with pid [8623]
process[rviz-3]: started with pid [8640]
process[orb_slam3_ros/trajectory_server_orb_slam3-4]: started with pid [8642]
[ INFO] [1703926679.606618797]: Waiting for tf transform data between frames /world and /camera to become available
[ INFO] [1703926680.919036007]: rviz version 1.13.30
[ INFO] [1703926680.919228220]: compiled against Qt version 5.9.5
[ INFO] [1703926680.919308242]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1703926680.941769068]: Forcing OpenGl version 0.
[ INFO] [1703926682.492292234]: Stereo is NOT SUPPORTED
[ INFO] [1703926682.492539919]: OpenGL device: NVIDIA Tegra Xavier (nvgpu)/integrated
[ INFO] [1703926682.492651438]: OpenGl version: 4.6 (GLSL 4.6).
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: RGB-D
[orb_slam3-2] process has died [pid 8623, exit code -11, cmd /home/robot/Desktop/motion_control/devel/lib/orb_slam3_ros/ros_rgbd /camera/rgb/image_raw:=/camera/rgb/image_color /camera/depth_registered/image_raw:=/camera/depth/image __name:=orb_slam3 __log:=/home/robot/.ros/log/849ed678-a6f1-11ee-9cd4-d8c0a650ee1f/orb_slam3-2.log].
log file: /home/robot/.ros/log/849ed678-a6f1-11ee-9cd4-d8c0a650ee1f/orb_slam3-2*.log
[ WARN] [1703926699.618176433]: No transform between frames /world and /camera available after 20.011265 seconds of waiting. This warning only prints once.
I installed eigen3, Pangolin, OpenCV normally, where opencv version is 4.1.1 and libopencv-dev version is as follows.
dpkg -s libopencv-dev | grep Version
Version: 4.1.1-2-gd5a58aa75
Also, I used orb_slam3_ros on a dual system ubuntu and it compiled and roslaunch successfully with opencv and libopencv-dev version 3.2.0. And there are no errors at all.
How to fix them please, thanks!
Load saved map with only keyframes and no other feature points, map points
I want to change this repo to cuda enabled version for running with in jetson nano for indoor autonomous navigation. Can you provide any suggestions, because they will be really useful to me
I'm currently working for my study project with ORB-SLAM3 ROS
Whenever i run the examples, it always come up with error.
RViz could visualize the raw image, but it did not work for the slam footage and there is no transform between frame /world and /imu
I'm running it on NVIDIA Jetson nano and ROS Melodic
Please, can anyone help...
Current Frame displays waiting for images, which takes a long time to display.
Firstly thank you sir for this repo and huge respect for your work
i want to run orbslam3 in a device where i can't access screen ,so can you suggest necessary changes to run in headless format
I ran successfully on my own dataset in a monocular scenario.
But when I try to run monocular-inertial scenario on my own dataset, I get errors.
IMU: 200Hz
Images: 20Hz
Camera type: Pinhole
Imu calibration params: default values of EuRoC dataset
Timestamps: IMU and images start at the same time then match certain periods.
Fail to track local map! IMU is not recently initialized. Reseting active map... SYSTEM-> Reseting active map in monocular case LM: Active map reset received LM: Active map reset waiting... LM: End reseting Local Mapping... LM: Reset free the mutex LM: Active map reset, Done!!! mnFirstFrameId = 38 mnInitialFrameId = 0 New map created with 68 points Empty IMU measurement vector!!!
Above errors are repeated periodically.
How can I solve it? I received these errors when i run without ros. After this, I tried that calibrate Zed camera and IMU then use a rosbag file to run but i received take errors again like that:
Error: Frame with a timestamp older than previous frame detected.
Map point vector is empty.
TimeStamp jump detected, before IMU initialization.
What should i do solve these problems? How can i run ZED camera on mono-inertial mode?
There are no errors in the run just the absence of the cloud points in RVIZ as shown in this screenshot https://imgur.com/a/ORlmEzf
I built orb slam with opencv 4.4 with installation option cuda off and no GTK
anyone had this issue before?
How to estimate the scale of the trajectory?
Hello! I followed the step-by-step installation listed in the README file and then tried to launch the first example with monocular camera.
When I used:
$ roslaunch orb_slam3_ros ntuviral_mono.launch
I encountered the following error:
RLException: [ntuviral_mono.launch] is neither a launch file in package [orb_slam3_ros] nor is [orb_slam3_ros] a launch file name
Can you help me to solve this issue? Thank you Thien!
Hello, I have been trying to use orb_slam3_ros, but I encounter this problem when running some examples.
I tried NTU VIRAL, EuRoC and TUM-VI datasets and all give me the same error message, when I run them. When I run this command roslaunch orb_slam3_ros ntuviral_mono.launch the Rviz interface opens and I get this message in the console:
Camera 0 is pinhole
Framebuffer with requested attributes not available. Using available framebuffer. You may see visual artifacts.Starting the Viewer
[orb_slam3-2] process has died [pid 156, exit code -11, cmd /home/david/catkin_ws/devel/lib/orb_slam3_ros/ros_mono /camera/image_raw:=/left/image_raw __name:=orb_slam3 __log:=/home/david/.ros/log/67e35d76-dd4b-11ed-b03e-00155d3ffca5/orb_slam3-2.log].
log file: /home/david/.ros/log/67e35d76-dd4b-11ed-b03e-00155d3ffca5/orb_slam3-2.log*
If I then proceed and run the bag file the raw camera footage is shown on Rviz but the slam footage is not show at all.
Thank you in advance
when I type rosservice call /orb_slam3/save_traj traj
it shows:
ERROR: Unable to load type [orb_slam3_ros/SaveMap].
Have you typed 'make' in [orb_slam3_ros]?
did I miss making some packages?
May I ask in what unit the output camera coordinates are? For example, if we calculate the distance difference between two points using these coordinates, what would be the unit of this distance in real-world terms?
Hi,
Actually, orbslam3 keeps creating a new map over the loaded one and never relocalize itself on top of the previous loaded MAP...
I'am using the ROS MONO INTERIAL..
Thanks
I have always had a question. In the ROS example program of the original ORB_SLAM3 algorithm, there will be a flag like do_rectify to control the correction of the image. So is it necessary to correct it in advance in the actual process? Or do you just need to use the original image directly without any pre-processing like in your code?
I am now using a RealSense D455 camera for testing, and the node used is Stereo_Inertial_ros. I would like to know which topic should I subscribe to if I need to view real-time positioning information?
Hello, First of all thank you for the great work.
i have a problem and i hope you can help me.
i run realsense d435i with rs_rgbd.launch and i am trying to estimate the speed of it through orb slam
so i run this launch file rs_d435i_rgbd_inertial.launch but i am having a problem that the camera and imu frames in rviz always spinning and returninh to the world frame so they are moving little bit and then returning to the world frame and keep spinning.
and when the frames return to the fixed frame "world" repeated on the screen this message:
mnFirstFrameId = 3731
mnInitialFrameId = 3729
3373 Frames set to lost
not IMU meas
Map point vector is empty!
First KF:488; Map init KF:477
New Map created with 1206 points
Not enough motion for initializing. Reseting...
TRACK: Reset map because local mapper set the bad imu flag
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
but i noticed that when i active the localization mode it moves normal.
can you please help me to know what i'm doing wrong.
Hello author!
I'm not very good at english. hope you can understand.
i use your code to run orbslam3 in gazebo. i have a mono camera to publish camera data, which can be seen directly by rviz.
however, when i run the roslaunch orb_slam3_ros gimbal_mono.launch, the image in rviz is BLACK with 'Waiting for images', and the terminal shows 'Map point vector is empty!'
i have download the database and run them correctly as readme shows. but the camera data from gazebo has something wrong.
here is my .launch file and .yaml file
`
<!-- Main node -->
<node name="orb_slam3" pkg="orb_slam3_ros" type="ros_mono" output="screen">
<!-- change the topics according to the dataset -->
<!-- <remap from="/camera/image_raw" to="/cam0/image_raw"/> -->
<!-- Parameters for original ORB-SLAM3 -->
<param name="voc_file" type="string" value="$(find orb_slam3_ros)/orb_slam3/Vocabulary/ORBvoc.txt.bin"/>
<param name="settings_file" type="string" value="$(find orb_slam3_ros)/config/Monocular/dog_gimbal.yaml"/>
<!-- Parameters for ROS -->
<param name="world_frame_id" type="string" value="world" />
<param name="cam_frame_id" type="string" value="camera" />
<param name="enable_pangolin" type="bool" value="true" />
</node>
<!-- Visualization -->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find orb_slam3_ros)/config/orb_slam3_no_imu.rviz" output="screen" />
<!-- Trajectory path -->
<node pkg="hector_trajectory_server" type="hector_trajectory_server" name="trajectory_server_orb_slam3" output="screen" ns="orb_slam3_ros" >
<param name="/target_frame_name" value="/world" />
<param name="/source_frame_name" value="/camera" />
<param name="/trajectory_update_rate" value="20.0" />
<param name="/trajectory_publish_rate" value="20.0" />
</node>
`
`%YAML:1.0
#--------------------------------------------------------------------------------------------
#--------------------------------------------------------------------------------------------
File.version: "1.0"
Camera.type: "PinHole"
Camera1.fx: 1144.6249960878738
Camera1.fy: 1144.6249960878738
Camera1.cx: 800.5
Camera1.cy: 600.5
Camera1.k1: 0.0
Camera1.k2: 0.0
Camera1.p1: 0.0
Camera1.p2: 0.0
Camera1.k3: 0.0
Camera.fps: 30
Camera.RGB: 1
Camera.width: 752
Camera.height: 480
#--------------------------------------------------------------------------------------------
#--------------------------------------------------------------------------------------------
ORBextractor.nFeatures: 1000
ORBextractor.scaleFactor: 1.2
ORBextractor.nLevels: 8
ORBextractor.iniThFAST: 20
ORBextractor.minThFAST: 7
#--------------------------------------------------------------------------------------------
#--------------------------------------------------------------------------------------------
Viewer.KeyFrameSize: 0.05
Viewer.KeyFrameLineWidth: 1.0
Viewer.GraphLineWidth: 0.9
Viewer.PointSize: 2.0
Viewer.CameraSize: 0.08
Viewer.CameraLineWidth: 3.0
Viewer.ViewpointX: 0.0
Viewer.ViewpointY: -0.7
Viewer.ViewpointZ: -1.8
Viewer.ViewpointF: 500.0
`
May i ask why "1 package failed" in the "catkin build"step?
I am able to launch the rs235i launch file. Everything launches fine. However the slam routine is not starting.
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