"No cam calibration" error wtih roslaunch morefusion_panda_ycb_video setup_dynamic.desk.launch

[neubotech]

Hello,

Thank you for your work on morefusion. The package is quite comprehensive.

I have been trying to use it for ROS, and I encountered the following error while launching roslaunch morefusion_panda_ycb_video setup_dynamic.desk.launch:

Failed to get camera calibration parameters from the launch file.
terminate called after throwing an instance of 'std::runtime_error'
what(): No cam calibration

I could be wrong, but it seems like an issue with the orb_slam2_d435_rgbd.launch" file in the morefusion/ros/morefusion_panda_ycb_video/launch` folder. It should point to an .xml configuration file rs_rgbd.robot.814412071258.xml but it seems that it failed to load this calibration file calibration.

My question is:

1. does the *.xml file need to match the real-sense serial number?
2. is there a general procedure to follow or any particular "camera calibration" package you are using to generate this *.xml file? (I saw <jsk_interactive_maker> node in the .xml file, is that a hint?)

Attached is the screenshot of the error. Thank you very much for helping!

[zhuhang0796]

Hello,I encountered the same error,have you solved it?Looking forward to your reply,thanks.

[wkentaro]

does the *.xml file need to match the real-sense serial number?

I don't think so. It should work even with imperfect camera calibration.

The camera calibration file is loaded from here:

morefusion/ros/morefusion_panda_ycb_video/launch/orb_slam2_d435_rgbd.launch

Line 19 in 5c1036c

<param name="settings_file" type="string" value="$(find morefusion_panda_ycb_video)/config/RealSenseD435RGBD_$(arg SERIAL_NUMBER).yaml" />

and the corresponding file is here.
https://github.com/wkentaro/morefusion/blob/master/ros/morefusion_panda_ycb_video/config/RealSenseD435RGBD_814412071942.yaml

From the errors you show, it's probably worth trying to launch only orb_slam2_d435_rgbd.launch to see where the issue is coming from. Possibly it could be from new version of the orb_slam2_ros package:
https://github.com/appliedAI-Initiative/orb_slam_2_ros