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svo_ros + kinetic, no topic publishing

asked 2016-07-18 05:23:27 -0500

Rouno
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Hi everyone,

I'm trying to run SVO on Ubuntu 16.04 and Kinetic running on my macbook air. Compiling is ok and tracking seems to work good on svo rosbag dataset from what I see rqt_svo GUI ("GOOD TRACKING" displayed).

However, no tf topic nor pose and image are published form svo_ros node. In fact, vo_->last_frame_ always seems null.

I posted the issue on svo github ( https://github.com/uzh-rpg/rpg_svo/is... ) but I re post it here because I think it is more related to ROS.

Because pointers on cv::Mat are involved, I was wondering if the problem came from openCV (version 3 in Kinetic).

What do you think ?

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answered 2016-07-18 09:42:06 -0500

Rouno
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FYI I find a solution to fix the problem temporary (I'm sure there is still some topics not published)

I made last_frame_ public in svo/frame_handler_mono.h instead of protected

Somehow the function lastFrame() always returned NULL otherwise.

Now Rviz displays svo/image and tf properly

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Asked: 2016-07-18 05:23:27 -0500

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Last updated: Jul 18 '16

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svo_ros + kinetic, no topic publishing