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Running VSLAM on stereo data

asked 2011-05-22 03:31:49 -0500

maz
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updated 2011-05-28 05:23:22 -0500

kwc
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I'm trying to run VSLAM on Stereo Data. When trying to roslaunch stereo_vslam.launch, I'm getting this error message cannot launch node of type [vslam_system/stereo_vslam_node]

I suspect it has to do with files: find holidays.tree, holidays.weights, data/calonder.rtc on the line .....find vocabulary_tree)/holidays.tree $(find vocabulary_tree)/holidays.weights $(find vslam_system)/data/calonder.rtc ......

I don't find this file on the server ( holidays.tree, holidays.weights, data/calonder.rtc). Do I need them? If yes, how do I get them? Where Do I start?

Thanks

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answered 2011-06-23 00:14:46 -0500

Jordi Pages
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You actually need these files to launch stereo_vslam_node. They should be at /opt/ros/diamondback/stacks/vslam/vocabulary_tree folder. If not, try to upgrade the vslam package.

Then, you can download the bag file mentioned in the tutorial:

roscd vslam_system wget http://pr.willowgarage.com/data/vslam_system/vslam_tutorial.bag

but according to my experience you have to fix the bag file before using it:

rosbag fix vslam_tutorial.bag vslam_tutorial_fixed.bag

and then you can play it before launching the vslam node:

rosbag play --clock vslam_tutorial_fixed.bag

Regards

Jordi

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Asked: 2011-05-22 03:31:49 -0500

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Last updated: Jun 23 '11

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