I am trying to run VSLAM with Issac sim. I dont have a saved map and I am running it for the first time. when i give the initial pose of the robot in visual_slam_node.cpp
initial_pose_sub_(
this → rclcpp::Subscription::SharedPtr {
rclcpp::SubscriptionOptions options;
options.callback_group = localize_in_map_callback_group_;
return create_subscription(
“visual_slam/initial_pose”, rclcpp::QoS(rclcpp::ServicesQoS()),
std::bind(&VisualSlamNode::CallbackInitialPose, this, std::placeholders::_1),
options
);
}()),
I changed visual_slam/initial_pose to the topic that is publishing the pose of my robot. The callback function tries to localize and fails since it cant find the transform. Why is it trying to localize? How is this initial pose supposed to be used?
[component_container-1] [INFO] [1743114937.974761255] [visual_slam_node]: cuVSLAM version: 12.6
[component_container-1] [INFO] [1743114938.048414346] [visual_slam_node]: Time taken by CUVSLAM_WarmUpGPU(): 0.073573
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/visual_slam_node’ in container ‘/visual_slam_launch_container’
[component_container-1] [INFO] [1743114940.089721977] [visual_slam_node]: Trying to localize in map ‘’ around [13.679463, -4.240747, 0.635841]
[component_container-1] Warning: Invalid frame ID “map” passed to canTransform argument target_frame - frame does not exist
If i dont use this topic and keep the default value visual_slam/initial_pose, i keep seeing the error
[component_container-1] [ERROR] [1743116977.663146835] [visual_slam_node]: Failed to initialize CUVSLAM tracker: 4
In my launch file. num_cameras is set to 2 and I am using stereo cameras which are time synced.
I dont have optical camera frames set
My input launch file provides the camera remapping and the camera info remapping
I am I’m using x86_64, Ubuntu 24.04