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[ Minor Debugging ] : Changes topic from /camera to /tello
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@aPR0T0
aPR0T0 committed Sep 20, 2023
1 parent 2e10516 commit feb55b3
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Showing 2 changed files with 3 additions and 8 deletions.
5 changes: 0 additions & 5 deletions Examples/ROS/.vscode/settings.json
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6 changes: 3 additions & 3 deletions Examples/ROS/ORB_SLAM3/src/ros_mono.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,7 @@
#include <ros/ros.h>
#include <sensor_msgs/CompressedImage.h>
#include <cv_bridge/cv_bridge.h>
#include <image_transport/image_encoding.h>
#include <sensor_msgs/image_encodings.h>
#include <opencv2/core.hpp>
#include "../../../include/System.h"

Expand Down Expand Up @@ -54,7 +54,7 @@ int main(int argc, char** argv)
ImageGrabber igb(&SLAM);

ros::NodeHandle nodeHandler;
ros::Subscriber sub = nodeHandler.subscribe("/camera/image_raw/compressed", 1, &ImageGrabber::GrabImage, &igb);
ros::Subscriber sub = nodeHandler.subscribe("/tello/image_raw/compressed", 1, &ImageGrabber::GrabImage, &igb);

ros::spin();

Expand All @@ -75,7 +75,7 @@ void ImageGrabber::GrabImage(const sensor_msgs::CompressedImageConstPtr& msg)
cv_bridge::CvImageConstPtr cv_ptr;
try
{
cv_ptr = cv_bridge::toCvCopy(msg,image_transport::ImageEncodings::BGR8 );
cv_ptr = cv_bridge::toCvCopy(msg,sensor_msgs::image_encodings::BGR8 );
}
catch (cv_bridge::Exception& e)
{
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3 comments on commit feb55b3

@evertale888
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@evertale888 evertale888 commented on feb55b3 Sep 27, 2023 •
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Hello.. I am quite new with orbslam3 & i am using your fork for the orbslam3 after spend few hours with original code. I managed to compile & run it with MH01 and MH02 data set for testing. I have few beginner questions & i hope to get your reply on it. Im still in the process of understanding the coding structure of orbslam3.

  1. In Mapviewer, when i press stop button, the orbslam3 will crashed, hang in ubuntu, i need to forcefully close it. How to solve it?
  2. How to make the mapviewer & the current frame window stay open after mapping session is done? So far, it close after done mapping.

@aPR0T0
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@aPR0T0 aPR0T0 commented on feb55b3 Oct 1, 2023

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Actually I haven't faced this issue yet on my system
But I think it doesn't close when you press the stop button on the window, and if it happening then maybe there is some broken installation>

Can you send me the specs of your system?

so for the second question, I am not sure but I think you can make some changes in this file
https://github.com/UZ-SLAMLab/ORB_SLAM3/blob/master/src/Viewer.cc
to not close the frame once you done mapping

@evertale888
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My spec is quite limited i guess. It is an intel I5 11th gen with 8 gig ram. I know I need a better spec to efficiently run orbslam3, plus I use vmware also to run it which limit the ram further more...I can only compile orbslam3 when i increased the swap file which I know, mine doesn't have enough ram to begin with...I will change to better spec soon... I will ask more if I am having another issue later on. Tq for your answers, I really appreciate it..

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