Added support for ROS2 Jazzy and Ubuntu 24.04 #500
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nathanshankar
commented
Apr 17, 2025
nathanshankar
commented
- Addressed segmentation faults caused by the latest Ceres version on Ubuntu 24.04
- Added support for ROS2 Jazzy by fixing header includes and adjustments in the ros2visualizer module
- config files D455 Stereo Mode: Using stereo IR streams + IMU.
- config files D455 Mono Mode: Using mono RGB + IMU.
modified: ov_msckf/src/ros/ROS2Visualizer.h modified: ov_msckf/src/ros/ROSVisualizerHelper.h
new file: config/rs_d455_mono/kalibr_imu_chain.yaml new file: config/rs_d455_mono/kalibr_imucam_chain.yaml renamed: config/rs_d455/launch_d455.example -> config/rs_d455_mono/launch_d455.example renamed: config/rs_d455/estimator_config.yaml -> config/rs_d455_stereo/estimator_config.yaml renamed: config/rs_d455/kalibr_imu_chain.yaml -> config/rs_d455_stereo/kalibr_imu_chain.yaml renamed: config/rs_d455/kalibr_imucam_chain.yaml -> config/rs_d455_stereo/kalibr_imucam_chain.yaml new file: config/rs_d455_stereo/launch_d455.example
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I can confirm I can build/run on ubuntu24/jazzy with these changes. But for some reason with same sensor (Luxonis OAK-Pro-W) and same open_vins settings the initialisation does not work: did anyone experience this? |
Do you have a rosbag, so I can reproduce this? |
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I traced the problem to change in Luxonis Oak-d-pro driver for ROS Jazzy: https://github.com/luxonis/depthai-ros/pull/696/files Without new parameters IMU was running at 0.2 Hz and that was an issue for OpenVINS |
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this PR works on Jazzy, BTW. I have tested |
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