Isaac Ros VSlam localization and imu questions

Robotics & Edge Computing Robotics - Isaac Isaac ROS
3

Hi there,

Thank you for response! Here’s the launch file for the first question above. The camera is not launched by using the file below. I do it separately.

import launch
from launch_ros.actions import ComposableNodeContainer
from launch_ros.descriptions import ComposableNode


def generate_launch_description():
    """Launch file to bring up visual slam node standalone."""
    visual_slam_node = ComposableNode(
        name='visual_slam_node',
        package='isaac_ros_visual_slam',
        plugin='isaac_ros::visual_slam::VisualSlamNode',
        remappings=[('stereo_camera/left/image', '/camera/infra1/image_rect_raw'),
                    ('stereo_camera/left/camera_info', '/camera/infra1/camera_info'),
                    ('stereo_camera/right/image', '/camera/infra2/image_rect_raw'),
                    ('stereo_camera/right/camera_info', '/camera/infra2/camera_info'),
                    ('visual_slam/imu', '/camera/imu')
                    ],
        parameters=[{
                    'enable_rectified_pose': True,
                    'denoise_input_images': False,
                    'rectified_images': True,
                    'enable_debug_mode': False,
                    'debug_dump_path': '/tmp/elbrus',
                    'enable_slam_visualization': True,
                    'enable_landmarks_view': True,
                    'enable_observations_view': True,
                    'enable_localization_n_mapping': True,
                    'enable_imu': True,
                    'map_frame': 'map',
                    'odom_frame': 'odom',   
                    'base_frame': 'camera_link',
                    'input_left_camera_frame': 'camera_infra1_frame',
                    'input_right_camera_frame': 'camera_infra2_frame',
                    'input_imu_frame': 'camera_imu_optical_frame',
                    'path_max_size': 5000,
                    'gravitational_force': [0.8429, 6.0940, 8.5260]
                    }]
    )

    visual_slam_launch_container = ComposableNodeContainer(
        name='visual_slam_launch_container',
        namespace='',
        package='rclcpp_components',
        executable='component_container',
        composable_node_descriptions=[
            visual_slam_node
        ],
        output='screen'
    )

    return launch.LaunchDescription([visual_slam_launch_container])

I was curious if the picture above represents the expected results. Also, what about **poseGraph->Reindex() ** error? Do you have any idea what causes it?

Thank you once again!