problem when using ros2 launch isaac_ros_visual_slam isaac_ros_visual_slam_realsense.launch.py

[TotalCodeHammer]

Thank you for your excellent work.

I am using a Jetson Orin with a D435i for visual SLAM. The kit works well when I run the quick start launch file:

ros2 launch isaac_ros_examples isaac_ros_examples.launch.py
launch_fragments:=realsense_stereo_rect,visual_slam
interface_specs_file:=${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_visual_slam/quickstart_interface_specs.json
base_frame:=camera_link
camera_optical_frames:="['camera_infra1_optical_frame', 'camera_infra2_optical_frame']"

However, when I try to use the following launch file:

ros2 launch isaac_ros_visual_slam isaac_ros_visual_slam_realsense.launch.py

it gets stuck.

Any advice would be greatly appreciated.

[manueldiaz96]

I was having the same problem, but with a D435 (so without IMU) and removing all references to the IMU information helped the node get unstuck.

For your visual_slam_node change to the following configuration in the isaac_ros_visual_slam_realsense.launch.py file:

visual_slam_node = ComposableNode(
        name='visual_slam_node',
        package='isaac_ros_visual_slam',
        plugin='nvidia::isaac_ros::visual_slam::VisualSlamNode',
        parameters=[{
            'enable_image_denoising': False,
            'rectified_images': True,
            'enable_imu_fusion': False,
            # 'gyro_noise_density': 0.000244,
            # 'gyro_random_walk': 0.000019393,
            # 'accel_noise_density': 0.001862,
            # 'accel_random_walk': 0.003,
            # 'calibration_frequency': 200.0,
            'image_jitter_threshold_ms': 22.00,
            'base_frame': 'camera_link',
            # 'imu_frame': 'camera_gyro_optical_frame',
            'enable_slam_visualization': True,
            'enable_landmarks_view': True,
            'enable_observations_view': True,
            'camera_optical_frames': [
                'camera_infra1_optical_frame',
                'camera_infra2_optical_frame',
            ],
        }],
        remappings=[
            ('visual_slam/image_0', 'camera/infra1/image_rect_raw'),
            ('visual_slam/camera_info_0', 'camera/infra1/camera_info'),
            ('visual_slam/image_1', 'camera/infra2/image_rect_raw'),
            ('visual_slam/camera_info_1', 'camera/infra2/camera_info'),
            # ('visual_slam/imu', 'camera/imu'),
        ],
    )

I hope this helps