Hi there,
I am trying to run Luxonis OAK-Pro camera in stereo mode with Isaac VSLAM, although the process stucks inside VSLAM node. The camera publishes non-rectified left/right images with corresponding camera_info topics and IMU data. According to rqt_graph, the visual_slam node subscribes to remapped topics, but outputs empty topics and map → camera_link transform (Error: Frame [map] does not exist). /image_raw and /camera_info topics are publish in the same rate, so I neglect #108 (comment) Could you please check my launchfile and confirm the parameter configuration? Any opinions on the reason of missing transform?
I use following launchfile:
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', 'oak/left/image_raw'),
('stereo_camera/right/image', 'oak/right/image_raw'),
('stereo_camera/left/camera_info', 'oak/left/camera_info'),
('stereo_camera/right/camera_info', 'oak/right/camera_info'),
('visual_slam/imu', 'oak/imu/data')],
parameters=[{
'use_sim_time': False,
'denoise_input_images': True,
'rectified_images': True,
'enable_slam_visualization': True,
'enable_observations_view': True,
'enable_landmarks_view': True,
'enable_imu_fusion': True,
'enable_debug_mode': False,
'enable_verbosity': True,
'debug_dump_path': '/tmp/cuvslam',
'base_frame': 'oak-d-base-frame',
'map_frame': 'map',
'odom_frame': 'odom',
'input_imu_frame': 'oak_imu_frame'
}]
)
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])
rqt_graph output:
