Starting ROS node for Monocular camera

[ujur007]

I have multiple problems while processing live input of Monocular camera using ROS and SLAM2 library
1st issue
I always have to export ORB_SLAM2 path when I start a new session of bash using export command then only I can find ORB-SLAM2 package.(see the code below)

ujjval@ujjval-VPCEH18FG:~$ rospack find ORB_SLAM2 [rospack] Error: package 'ORB_SLAM2' not found ujjval@ujjval-VPCEH18FG:~$ export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/ujjval/ORB_SLAM2 ujjval@ujjval-VPCEH18FG:~$ rospack find ORB_SLAM2/home/ujjval/ORB_SLAM2/Examples/ROS/ORB_SLAM2
2nd Issue

when I do rosrun with Vocabulary and settings file provided I don't get any output until I press (Ctrl+X),(Ctrl+X) and (Cntr+C) then the slam starts with Waiting for images message but no camera video.

`ujjval@ujjval-VPCEH18FG:~$ rosrun ORB_SLAM2 Mono /home/ujjval/ORB_SLAM2/Vocabulary/ORBvoc.txt /home/ujjval/ORB_SLAM2/Examples/Monocular/TUM1.yaml
[ERROR] [1531064871.417644383]: [registerPublisher] Failed to contact master at [localhost:11311]. Retrying...
^X^X^C
ORB-SLAM2 Copyright (C) 2014-2016 Raul Mur-Artal, 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 ORB Vocabulary. This could take a while...
Vocabulary loaded!

Camera Parameters:

• fx: 517.306
• fy: 516.469
• cx: 318.643
• cy: 255.314
• k1: 0.262383
• k2: -0.953104
• k3: 1.16331
• p1: -0.005358
• p2: 0.002628
• fps: 30
• color order: RGB (ignored if grayscale)

ORB Extractor Parameters:

• Number of Features: 1000
• Scale Levels: 8
• Scale Factor: 1.2
• Initial Fast Threshold: 20
• Minimum Fast Threshold: 7
  `
  Anyone has an idea what could be the problem?

[ArifSohaib]

Yes. I just installed it tonight and I am facing the second issue.
I was thinking it might need one of the mentioned datasets to load the images but I haven't tried it yet.
For the first one you just need to add the export command to the end of your .bashrc file.

[ujur007]

I have already done adding that in My .bashrc file... Also I have sourced it!!

[ujur007]

For Stereo I saw the example that it needs one of the ROS bag files. but for Mono I don t think it is so. Though I tried providing the cammand with image sequence but it did't seem to work.

[pankhurivanjani]

I am also facing this similar issue.. did anyone solved it?

[ss26]

I have found that adding the ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH} line as the last line in ~./bashrc works, as it sources properly in a new terminal.