slam_toolbox with IntelRealsense publishing empty /map topic

[lujan002]

Required Info
Camera Model	D455
Firmware Version	5.15.1
Operating System & Version	Linux (Ubuntu 20.04.3
Kernel Version (Linux Only)	5.15.0-92-generic
Platform	PC
Librealsense SDK Version	2.54.2
Language	n/a
Segment	Robot
ROS Distro	Humble
RealSense ROS Wrapper Version	4.54.1

Issue Description

Hello,

I will preface that I am fairly new to ROS. I have been trying to use slam_toolbox using my IntelRealsense D455 depth camera in Ros2 Humble, but /map topic output is empty, which I beleive stems from the fact that either my camera or /tf topic is failing to publish an /odom topic, which slam_toolbox expects.

My situation is similar to this user's: https://support.intelrealsense.com/hc/en-us/community/posts/19599334779283--D455-SLAM-using-Ros2 and issue #2387.

I am using depthimage_to_laserscan to convert the camera's depth map to a /scan topic. My understanding is that slam_toolbox expects a /scan, /odom, and /tf topic, and since my /scan and /tf topics appear to be working below, I reason that the issue is to do with the lack of an /odom topic.

I can confirm that the /camera/imu topic is being published. How can I "convert" this /imu topic to an /odom topic? (Is this even the right approach?).

My end goal is to incorporate the camera with a Clearpath Jackal Rover, which I imagine might be able to provide an /odom topic, but I imagine that there should be a way to get the realsense to publish it's own /odom topic for SLAM independet of a robot.

If there is a SLAM package which works better with realsense and Ros2, I would love to know.

ros2 topic list returns:

/camera/accel/imu_info
/camera/accel/metadata
/camera/accel/sample
/camera/aligned_depth_to_color/camera_info
/camera/aligned_depth_to_color/image_raw
/camera/aligned_depth_to_color/image_raw/compressed
/camera/aligned_depth_to_color/image_raw/compressedDepth
/camera/aligned_depth_to_color/image_raw/theora
/camera/color/camera_info
/camera/color/image_raw
/camera/color/image_raw/compressed
/camera/color/image_raw/compressedDepth
/camera/color/image_raw/theora
/camera/color/metadata
/camera/depth/camera_info
/camera/depth/color/points
/camera/depth/image_rect_raw
/camera/depth/image_rect_raw/compressed
/camera/depth/image_rect_raw/compressedDepth
/camera/depth/image_rect_raw/theora
/camera/depth/metadata
/camera/extrinsics/depth_to_accel
/camera/extrinsics/depth_to_color
/camera/extrinsics/depth_to_depth
/camera/extrinsics/depth_to_gyro
/camera/gyro/imu_info
/camera/gyro/metadata
/camera/gyro/sample
/camera/imu
/clicked_point
/clock
/goal_pose
/initialpose
/map
/map_metadata
/map_updates
/parameter_events
/pose
/rosout
/scan
/slam_toolbox/feedback
/slam_toolbox/graph_visualization
/slam_toolbox/scan_visualization
/slam_toolbox/update
/tf
/tf_static`

Rviz says "no map received"

rqt graph

Closer look at the TF

[MartyG-RealSense]

Hi @lujan002 slam_toolbox and depthimage_to_laserscan are difficult to get working together in ROS2, unfortunately.

If possible to do so then I would recommend instead using ORB-SLAM with ROS2 and running it in Stereo mode with your D455 stereo depth camera.

https://github.com/zang09/ORB_SLAM3_ROS2/tree/humble

[MartyG-RealSense]

Hi @lujan002 Do you require further assistance with this case, please? Thanks!

[lujan002]

Hi Marty, I am having some issues setting up orb_slam_3. After following the instructions in the link you sent, I get this error when trying to build:

CMake Error at CMakeLists.txt:23 (find_package):
By not providing "FindSophus.cmake" in CMAKE_MODULE_PATH this project has
asked CMake to find a package configuration file provided by "Sophus", but
CMake did not find one.

Could not find a package configuration file provided by "Sophus" with any
of the following names:

SophusConfig.cmake
sophus-config.cmake

Add the installation prefix of "Sophus" to CMAKE_PREFIX_PATH or set
"Sophus_DIR" to a directory containing one of the above files. If "Sophus"
provides a separate development package or SDK, be sure it has been
installed.

Not sure if this is your area of expertise, but any guidance would be helpful.

[MartyG-RealSense]

Hi @lujan002 I carefully researched your problem with Sophus but there was very little available information about it unfortunately.

If Sophus could not be found after following the installation guide's troubleshooting advice:

https://github.com/zang09/ORB_SLAM3_ROS2/tree/humble?tab=readme-ov-file#troubleshootings

One user took the approach of installing Sophus by performing a git clone of its GitHub repository.

https://github.com/strasdat/Sophus

[MartyG-RealSense]

Hi @lujan002 Do you require further assistance with this case, please? Thanks!

[lujan002]

Hi Marty, tbh I haven't touched this issue for some time, I will let you know if I need assistance in the future.

[MartyG-RealSense]

Okay, thanks for the update. I will close the issue for now as you are not currently working on it. Please feel free to re-open the issue at a future date if you need to or create a new issue. Thanks again!