Comments (5)
This launch should work for kitti. If not, check that you are running before launch S-PTAM:
roscore &
rosparam set use_sim_time true
<launch>
<!-- Set use_sim_time true for datasets-->
<param name="use_sim_time" value="true" />
<!-- static_transform_publisher x y z yaw pitch roll frame_id child_frame_id -->
<!-- This transform was used set only to test if everything works
when using something different than the camera as a reference frame.
If enabled, take care to also fix the transform below. -->
<node pkg="tf2_ros" type="static_transform_publisher" name="camera_broadcaster" args="1 0 0.5 -1.57 0 -1.57 base_link left_camera" />
<!-- 'start' frame is the starting pose of the camera
When 'base_link' is set as the reference frame,
take care to set this transformation to the same as the previous one -->
<node pkg="tf2_ros" type="static_transform_publisher" name="start_broadcaster" args="0 0 0 0 0 0 start map" />
<!-- S-PTAM pose path publisher. Used for visualization. -->
<node pkg="ros_utils" type="pose_to_path" name="sptam_path">
<remap from="pose" to="sptam/robot/pose" />
<remap from="path" to="sptam/robot/path" />
</node>
<!-- Nodelet Manager -->
<node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager" output="screen" clear_params="true"/>
<!-- Choose between Nodelet and Node S-PTAM -->
<!-- <node pkg="sptam" type="sptam_node" name="sptam" output="screen" > -->
<node pkg="nodelet" type="nodelet" name="sptam" args="load sptam/sptam_nodelet nodelet_manager" output="screen" clear_params="true" >
<!-- Read S-PTAM parameters file -->
<rosparam command="load" file="$(find sptam)/configurationFiles/kitti.yaml" />
<param name="LoopDetectorVocabulary" value="$(find sptam)/bow_voc/DBoW2/brief_mit_malaga_vocabulary.yml.gz" />
<param name="use_prediction" value="false" />
<param name="approximate_sync" value="false" />
<param name="publish_transform" value="true" />
<param name="publish_on_fail" value="true" />
<!--param name="prediction_frame" value="odom" /-->
<param name="base_frame" value="left_camera" />
<param name="camera_frame" value="left_camera" />
<!--param name="map_frame" value="map" /-->
<param name="reference_frame" value="base_link" />
<remap from="/stereo/left/image_rect" to="/kitti_stereo/left/image_rect" />
<remap from="/stereo/right/image_rect" to="/kitti_stereo/right/image_rect" />
<remap from="/stereo/left/camera_info" to="/kitti_stereo/left/camera_info" />
<remap from="/stereo/right/camera_info" to="/kitti_stereo/ri`ght/camera_info" />
</node>
</launch>
from sptam.
Thanks for the help.
It doesn't publish anything and It gets stuck at this point I guess.
waitForService: Service [/nodelet_manager/load_nodelet] has not been advertised, waiting...
I have a few queries :
- What is the difference in using Node S-PTAM and Nodelet?
- Can we use Node instead of Nodelet in the above setting?
- Is it possible to load a pre-recorded point-cloud global map of features generated on an earlier run? How to accomplish this?
The following is the output of the launch:
WARNING: Metapackage "elas" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
... logging to /home/sal/.ros/log/6627cd42-541f-11e8-87ce-8056f2bf2829/roslaunch-sal-5921.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://sal:34565/
SUMMARY
========
CLEAR PARAMETERS
* /nodelet_manager/
* /sptam/
PARAMETERS
* /rosdistro: kinetic
* /rosversion: 1.12.13
* /sptam/BundleAdjustmentActiveKeyframes: 10
* /sptam/DescriptorExtractor/Name: BRIEF
* /sptam/DescriptorExtractor/bytes: 32
* /sptam/DescriptorMatcher/Name: BruteForce-Hamming
* /sptam/DescriptorMatcher/crossCheck: False
* /sptam/EpipolarDistance: 0
* /sptam/FeatureDetector/Name: GFTT
* /sptam/FeatureDetector/minDistance: 15.0
* /sptam/FeatureDetector/nfeatures: 1000
* /sptam/FeatureDetector/qualityLevel: 0.01
* /sptam/FeatureDetector/useHarrisDetector: False
* /sptam/FrustumFarPlaneDist: 10000.0
* /sptam/FrustumNearPlaneDist: 0.1
* /sptam/LoopDetectorVocabulary: /home/sal/sptam_w...
* /sptam/MatchingCellSize: 15
* /sptam/MatchingDistance: 25
* /sptam/MatchingNeighborhood: 2
* /sptam/approximate_sync: False
* /sptam/base_frame: left_camera
* /sptam/camera_frame: left_camera
* /sptam/minimumTrackedPointsRatio: 0.9
* /sptam/publish_on_fail: True
* /sptam/publish_transform: True
* /sptam/reference_frame: base_link
* /sptam/use_prediction: False
* /use_sim_time: True
NODES
/
camera_broadcaster (tf2_ros/static_transform_publisher)
nodelet_manager (nodelet/nodelet)
sptam (nodelet/nodelet)
sptam_path (ros_utils/pose_to_path)
start_broadcaster (tf2_ros/static_transform_publisher)
ROS_MASTER_URI=http://localhost:11311
WARNING: Metapackage "elas" should not have other dependencies besides a buildtool_depend on catkin and run_depends.
process[camera_broadcaster-1]: started with pid [5940]
process[start_broadcaster-2]: started with pid [5941]
process[sptam_path-3]: started with pid [5961]
process[nodelet_manager-4]: started with pid [5973]
process[sptam-5]: started with pid [5985]
[ INFO] [1525935478.722579432]: Loading nodelet /sptam of type sptam/sptam_nodelet to manager nodelet_manager with the following remappings:
[ INFO] [1525935478.722705606]: /stereo/left/camera_info -> /kitti_stereo/left/camera_info
[ INFO] [1525935478.722745247]: /stereo/left/image_rect -> /kitti_stereo/left/image_rect
[ INFO] [1525935478.722769475]: /stereo/right/camera_info -> /kitti_stereo/right/camera_info
[ INFO] [1525935478.722789006]: /stereo/right/image_rect -> /kitti_stereo/right/image_rect
[ INFO] [1525935478.728956715]: waitForService: Service [/nodelet_manager/load_nodelet] has not been advertised, waiting...
[ INFO] [1525935478.782675911]: Initializing nodelet with 4 worker threads.
from sptam.
- nodelet make s-ptam faster because ROS messages do not need to be serialised. Check http://wiki.ros.org/nodelet
- Yes. Check to run in Node mode.
- No, It is not possible with the current code.
I suggest you to remove the catkin workspace and redo all the steps. Maybe you have a wrong configuration. Also, It looks like you have the libelas library in your wrokspace and it is throwing a warning, try to remove the package that contains it.
Try to compile without Loop Closure.
from sptam.
Yes I'm using Libelas for building 3D maps using Point-cloud generated by elas and Pose output of SPTAM.
It's weird that SPTAM works perfectly with using left_camera as frame of reference but not while using base_link. Anyways I'll try to re-install everything.
Thanks for the help.
from sptam.
There is a work that maybe do the same idea: https://github.com/CIFASIS/dense-sptam
However, take into account that it is based in a previous version of S-PTAM and it does not have a Loop Closure module.
from sptam.
Related Issues (20)
- Gtest error while compilation HOT 12
- Not enough points for tracking with MIT dataset HOT 1
- ERROR: There is not any covisibility keyframes observing the tracked points HOT 7
- Building standalone HOT 2
- Running KITTI sequences on standalone HOT 3
- Error Running kitti.launch with kitti_01.bag HOT 20
- symbol lookup error: /home/ros/vslam/devel/lib/libsptam.so: undefined symbol HOT 2
- Improvement for pure localization after running a SLAM session HOT 3
- error: ‘DBoW2::FBrief::TDescriptor {aka class std::bitset<256ul>}’ has no member named ‘resize’ HOT 6
- [ERROR] [1563717737.344465687]: [registerPublisher] Failed to contact master at [localhost:11311]. Retrying... HOT 17
- File:'file:///home/lzb/catkin_ws2/src/sptam/src/sptam/loopclosing/detectors/DLDLoopDetector.cpp' Severity:'Error' Message:''DBoW2:: FBrief:: TDescriptor {aka class std:: BitSet < 256ul >}'has no member named'resize'' HOT 4
- Gtest error while doing catkin_make --pkg sptam -DCMAKE_BUILD_TYPE=RelWithDebInfo -DSINGLE_THREAD=OFF -DSHOW_TRACKED_FRAMES=ON -DSHOW_PROFILING=ON -DPARALLELIZE=ON HOT 3
- Error while running the roslaunch sptam kitti.launch HOT 23
- KITTI Bag Files HOT 4
- Disable GTest? HOT 1
- CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkin_workspace.cmake:95 (message): This workspace contains non-catkin packages in it, and catkin cannot build a non-homogeneous workspace without isolation. Try the 'catkin_make_isolated' command instead. Call Stack (most recent call first): CMakeLists.txt:67 (catkin_workspace) HOT 4
- rosplay kitti_04 error,need help HOT 3
- Please HELP me::::::when-->“catkin_make --pkg sptam -DCMAKE_BUILD_TYPE=RelWithDebInfo -DSINGLE_THREAD=OFF -DSHOW_TRACKED_FRAMES=ON -DSHOW_PROFILING=ON -DPARALLELIZE=ON” HOT 7
- Please help me, it's too difficult to solve HOT 18
- Can we use this slam with only lidar? HOT 1
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from sptam.