ISAAC ROS Visual Slam Node hangs when calling LocalizeInMap()

Robotics & Edge Computing Robotics - Isaac Isaac ROS
1

When using the localize in map service call or the pose hint topic to trigger localization the node will hang indefinitely.
I’m sending it the following service call

ros2 service call /front/visual_slam/localize_in_map isaac_ros_visual_slam_interfaces/LocalizeInMap "{map_folder_path: ‘/workspaces/isaac_ros-dev/maps/ds_map’, pose_hint: {position: {x: 0.0, y: 0.0, z: 0.0 },orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}}}"

I don’t get any error feedback for an invalid file path or a general failure to localize

What’s odd is that when localizing on startup with the localize_on_startup param set and the load_map_folder_path set to /workspaces/isaac_ros-dev/maps/ds_map, localization succeeds and the node functions.

Poking around in gdb points me towards line 1118 in visual_slam_impl.cpp

Here the node seems to hang indefinitely waiting for the future to return.

Has anyone else encountered this issue?

2 Likes
2

I am facing similar issue. After saving the map and then trying to localize in the same map using LocalizeInMap(), it gets stuck on the call and gives no response. @ecrotty Do you set the localize_on_startup to True in the launch file and that loads the saved pointcloud and displays on rviz? I tried doing the same with my saved map and I cannot see the saved pointcloud.