suchetanrs/orb-slam3-ros2-docker

This repository contains a full wrapper class for running ORB-SLAM3 on a docker container with ROS2 Humble with Ubuntu 22.04.

Hello there! 👋

I'm Suchetan, an Electrical and Electronics undergraduate at BITS Pilani, Goa. I've been facinated with robots ever since I learned about them.

Navigation, planning and perception is what I love to work on. I'm currently pursuing my thesis in the field of Active SLAM at ISAE-SUPAERO, France as a part of the NaviR2eS research team. I hold a position of responsibility in Project Kratos, a mars rover research project. I'm currently improvising on robotic perception and actively participating in projects related to SLAM and perception aware planning. I'm a huge embedded systems fan. I love working with microcontrollers.

If you are looking to collaborate with me on any autonomy based project, do hit me up :D

Please do checkout my repositories to get a better idea of my work :)

You can always reach out to me via email: [email protected]

Knock knock Who's there? Wal! Wal, who? Wall-E!

orb-slam3-ros2-docker's Issues

ros2 run error

Hello,

I followed the steps and got as far as running but when I run ros2 launch orb_slam3_ros2_wrapper with unirobot.launch.py I get the following error

[INFO] [launch]: All log files can be found below /root/.ros/log/2024-03-20-10-30-19-498424-onurpc-1049 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [rgbd-1]: process started with pid [1050] [ERROR] [rgbd-1]: process has died [pid 1050, exit code 127, cmd '/root/colcon_ws/install/orb_slam3_ros2_wrapper/lib/orb_slam3_ros2_wrapper/rgbd /home/orb/ORB_SLAM3/Vocabulary/ORBvoc.txt /root/colcon_ws/src/orb_slam3_ros2_wrapper/params/scout_v2_rgbd.yaml --ros-args -r __ns:=/scout_2 --params-file /tmp/tmp896xhlqk']. [rgbd-1] /root/colcon_ws/install/orb_slam3_ros2_wrapper/lib/orb_slam3_ros2_wrapper/rgbd: error while loading shared libraries: libORB_SLAM3.so: cannot open shared object file: No such file or directory

Running error

I run: ros2 launch orb_slam3_ros2_wrapper unirobot.launch.py

and get the following output:
INFO] [launch]: All log files can be found below /root/.ros/log/2024-05-07-11-37-56-223309-asm-1523 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [rgbd-1]: process started with pid [1524] [rgbd-1] Interface constructor started [rgbd-1] [rgbd-1] ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza. [rgbd-1] ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza. [rgbd-1] This program comes with ABSOLUTELY NO WARRANTY; [rgbd-1] This is free software, and you are welcome to redistribute it [rgbd-1] under certain conditions. See LICENSE.txt. [rgbd-1] [rgbd-1] Input sensor was set to: RGB-D [rgbd-1] [rgbd-1] Loading ORB Vocabulary. This could take a while... [rgbd-1] Vocabulary loaded! [rgbd-1] [rgbd-1] Initialization of Atlas from scratch [rgbd-1] Creation of new map with id: 0 [rgbd-1] Creation of new map with last KF id: 0 [rgbd-1] Seq. Name: [rgbd-1] [rgbd-1] Camera Parameters: [rgbd-1] - Camera: Pinhole [rgbd-1] - Image scale: 1 [rgbd-1] - fx: 528.434 [rgbd-1] - fy: 528.434 [rgbd-1] - cx: 320.5 [rgbd-1] - cy: 240.5 [rgbd-1] - k1: 0 [rgbd-1] - k2: 0 [rgbd-1] - p1: 0 [rgbd-1] - p2: 0 [rgbd-1] - k3: 0 [rgbd-1] - fps: 30 [rgbd-1] - color order: BGR (ignored if grayscale) [rgbd-1] [rgbd-1] Depth Threshold (Close/Far Points): 2.80073 [rgbd-1] [rgbd-1] ORB Extractor Parameters: [rgbd-1] - Number of Features: 1250 [rgbd-1] - Scale Levels: 8 [rgbd-1] - Scale Factor: 1.2 [rgbd-1] - Initial Fast Threshold: 20 [rgbd-1] - Minimum Fast Threshold: 7 [rgbd-1] There are 1 cameras in the atlas [rgbd-1] Camera 0 is pinhole [rgbd-1] INIT COMPLETE [rgbd-1] Interface constructor complete [rgbd-1] ============================ [rgbd-1] [INFO] [1715074681.161079568] [scout_2.ORB_SLAM3_RGBD_ROS2]: CONSTRUCTOR END! [rgbd-1] [rgbd-1] (ORB-SLAM3: Current Frame:1524): dbind-WARNING **: 11:38:01.854: Couldn't connect to accessibility bus: Failed to connect to socket /run/user/1000/at-spi/bus_0: No such file or directory [rgbd-1] Gtk-Message: 11:38:01.911: Failed to load module "canberra-gtk-module" [rgbd-1] Gtk-Message: 11:38:01.914: Failed to load module "canberra-gtk-module" [rgbd-1] Starting the Viewer