ros2机器人foxy版用笔记本摄像头跑单目orb_slam3

[SciMaker]

@毛哥成山轮胎机油保养 你好，我用的是galactic版本，步骤一样但在编译ROS2包的时候会报错：
/usr/bin/ld: /home/turtlebot/origin_slam/ORB_SLAM3/lib/libORB_SLAM3.so: undefined reference to DUtils::Random::RandomInt(int, int)' /usr/bin/ld: /home/turtlebot/origin_slam/ORB_SLAM3/lib/libORB_SLAM3.so: undefined reference to DUtils::Random::SeedRandOnce()'
/usr/bin/ld: /home/turtlebot/origin_slam/ORB_SLAM3/lib/libORB_SLAM3.so: undefined reference to DUtils::Random::SeedRandOnce(int)' /usr/bin/ld: /home/turtlebot/origin_slam/ORB_SLAM3/lib/libORB_SLAM3.so: undefined reference to DBoW2::FORB::L'
请问你遇到过这个问题么

[毛哥成山轮胎机油保养]

@SciMaker 按你的提示应该是缺少libORB_SLAM3.so这个文件，你搜一下这个文件看看你机子里面有吗，有的话把他复制到/usr/lib/文件夹下。
搜索命令：sudo find / -name libORB_SLAM3.so

[lightwxz]

@毛哥成山轮胎机油保养 在 ros2机器人foxy版用笔记本摄像头跑单目orb_slam3 中说：

zang09

xin@MOSS:~/Code/Test$ colcon build --symlink-install --packages-select orbslam3
Starting >>> orbslam3
--- stderr: orbslam3                         
Traceback (most recent call last):
  File "/opt/ros/rolling/share/ament_cmake_core/cmake/package_templates/templates_2_cmake.py", line 21, in <module>
    from ament_package.templates import get_environment_hook_template_path
ModuleNotFoundError: No module named 'ament_package'
CMake Error at /opt/ros/rolling/share/ament_cmake_core/cmake/ament_cmake_package_templates-extras.cmake:41 (message):
  execute_process(/usr/bin/python3.10
  /opt/ros/rolling/share/ament_cmake_core/cmake/package_templates/templates_2_cmake.py
  /home/xin/Code/Test/build/orbslam3/ament_cmake_package_templates/templates.cmake)
  returned error code 1
Call Stack (most recent call first):
  /opt/ros/rolling/share/ament_cmake_core/cmake/ament_cmake_coreConfig.cmake:41 (include)
  /opt/ros/rolling/share/ament_cmake/cmake/ament_cmake_export_dependencies-extras.cmake:15 (find_package)
  /opt/ros/rolling/share/ament_cmake/cmake/ament_cmakeConfig.cmake:41 (include)
  CMakeLists.txt:18 (find_package)


---
Failed   <<< orbslam3 [0.32s, exited with code 1]

Summary: 0 packages finished [0.42s]

我编译的时候遇到这个问题，可以帮我看看吗

[毛哥成山轮胎机油保养]

@lightwxz
这是我编译的过程，你看看对你是否有帮助
https://blog.csdn.net/m0_73694897/article/details/129137521?spm=1001.2014.3001.5502

[SciMaker]

@毛哥成山轮胎机油保养 谢谢回复，我的设备中是有个文件的，目前通过改写CMakelists把路径加进去了，问题解决了啦

[2689324574]

Starting the Viewer
[ros2run]: Segmentation fault
最后一步的时候会这样，是什么原因

[毛哥成山轮胎机油保养]

@2689324574 程序跑起来了吗？

[1157354382]

此回复已被删除！

[1157354382]

此回复已被删除！

[1157354382]

你好 出现这种错 这是沙玩意儿

[毛哥成山轮胎机油保养]

@1157354382 你这是跑的单目的程序，需要启动摄像头的，你的主程序已经启动，正在等你的摄像头数据，如果你的摄像头已经启动了，那要检查摄像头发布的话题和你的主程序接收的话题是否一致
ros2 topic list 查看话题

[1157354382]

@毛哥成山轮胎机油保养 是的 这些我都修改好了，好奇怪

[1157354382]

@毛哥成山轮胎机油保养 我看了一眼里面的代码，好像执行到这一步就没了好像是直接死掉了

后面哪怕我加了 cout 也不显示，但是我用 ./运行 exalmple，就能正常显示，我不懂啊

[毛哥成山轮胎机油保养]

@1157354382 m@ubun:~$ ros2 run orbslam3 mono ~/ORB_SLAM3/Vocabulary/ORBvoc.txt ~/ORB_SLAM3/Examples/Monocular/RealSense_D435i.yaml

ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
This program comes with ABSOLUTELY NO WARRANTY;
This is free software, and you are welcome to redistribute it
under certain conditions. See LICENSE.txt.

Input sensor was set to: Monocular
Loading settings from /home/m/ORB_SLAM3/Examples/Monocular/RealSense_D435i.yaml
Camera1.k3 optional parameter does not exist...
-Loaded camera 1
Camera.newHeight optional parameter does not exist...
Camera.newWidth optional parameter does not exist...
-Loaded image info
-Loaded ORB settings
Viewer.imageViewScale optional parameter does not exist...
-Loaded viewer settings
System.LoadAtlasFromFile optional parameter does not exist...
System.SaveAtlasToFile optional parameter does not exist...
-Loaded Atlas settings
System.thFarPoints optional parameter does not exist...
-Loaded misc parameters

SLAM settings:
-Camera 1 parameters (Pinhole): [ 382.613 382.613 320.183 236.455 ]
-Camera 1 distortion parameters: [ 0 0 0 0 ]
-Original image size: [ 640 , 480 ]
-Current image size: [ 640 , 480 ]
-Sequence FPS: 30
-Features per image: 1250
-ORB scale factor: 1.2
-ORB number of scales: 8
-Initial FAST threshold: 20
-Min FAST threshold: 7

Loading ORB Vocabulary. This could take a while...
Vocabulary loaded!

Initialization of Atlas from scratch
Creation of new map with id: 0
Creation of new map with last KF id: 0
Seq. Name:
There are 1 cameras in the atlas
Camera 0 is pinhole
slam changed

Starting the Viewer
你的下一步该加载摄像头配置了，看看你的摄像头配置文件路径对吗？

[1157354382]

@毛哥成山轮胎机油保养 无论我是对的还是错的，都直接结束程序了，莫名其妙的，用ros2来驱动

[3532206791]

@WK%2.png" class=" img-fluid img-markdown" />
您好，wo'xian我想结合ros2——orbslam3和gazebo仿真，在订阅到图像后，在运行程序后，orbslam3也显示出来有图像接收到了，但是在可视化界面根本没有图像，这是什么原因，困扰很久了，真心想解决这个问题

[毛哥成山轮胎机油保养]

@3532206791 你让仿真的小车移动一下，也许就会出来图像，我没有跑过仿真的，但是用实体的摄像头跑单目跑到你这个地方也卡了我很久，有一次无意中移动了一下摄像头图像就出来了。他计算第一帧和第二帧图像，如果摄像头没动，第一帧和第二帧图像是同一个图像，初始化不了，不知道你碰到的问题和我曾经碰到的问题是否一样。

[3532206791]

@毛哥成山轮胎机油保养 哎，我尝试了，不管怎么动小车都没有图像显示，不知道是不是代码方面还有什么其他的问题，还是说只进行话题的订阅还不够，还需要调整其他参数？不明白

[3532206791]

@毛哥成山轮胎机油保养 还是说需要用这个文件 RealSense_D435i.yaml

[3532206791]

你好，我解决了无法显示图像的问题，但是新的问题又出现了，我在仿真环境下运行orbslam3很容易终止，不知道您用摄像头卡不卡，会不会很容易中断