Running ORB_SLAM2 Mono in ROS Kinetic

asked 2017-08-04 01:12:17 -0500

user_123 gravatar image

I am running ORB_SLAM2 in ROS Kinetic as suggested in this link. After executing the line rosrun ORB_SLAM2 Mono /home/ubuntu_16/ORB_SLAM2/Vocabulary/ORBvoc.txt /home/ubuntu_16/ORB_SLAM2/Examples/Monocular/TUM1.yaml, I am getting this output in the terminal,

    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
Framebuffer with requested attributes not available. Using available framebuffer. You may see visual artifacts.
(Mono:2818): Gtk-ERROR **: GTK+ 2.x symbols detected. Using GTK+ 2.x and GTK+ 3 in the same process is not supported
Trace/breakpoint trap (core dumped)

I am unable to solve the issue. Please help to get rid of this problem. Thank you.

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