Trying to run with my own bags

[daelisa]

Hello! I'm new to this so I will probably need a deep explanation. I'm trying to run my own bags with orb_slam3_ros, more specifically the tum_rgbd.launch since my camera is d435i. however, i'm facing a lot of problems that I don't know how to fix.

First of all, I changed the launch txt to accomodate the topics that I had. So the launch code looks like that:

<!-- Main node -->
<node name="orb_slam3" pkg="orb_slam3_ros" type="ros_rgbd" output="screen">
    <!-- change the topics according to the dataset -->
    <remap from="/camera/rgb/image_raw"    to="/d345i/color/image_raw"/>
    <remap from="/camera/depth_registered/image_raw"   to="/d345i/aligned_depth_to_color/image_raw"/>

    <!-- Parameters for original ORB-SLAM3 -->
    <param name="voc_file"      type="string" value="$(find orb_slam3_ros)/orb_slam3/Vocabulary/ORBvoc.txt.bin"/>
    <param name="settings_file" type="string" value="$(find orb_slam3_ros)/config/RGB-D/RealSense_D435i.yaml"/>

    <!-- Parameters for ROS -->
    <param name="world_frame_id"    type="string"   value="world" />
    <param name="cam_frame_id"      type="string"   value="d435i_color_optical_frame" />
    <param name="enable_pangolin"   type="bool"     value="false" />
</node>

<!-- Visualization -->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find orb_slam3_ros)/config/orb_slam3_rgbd.rviz" output="screen" />

<!-- Trajectory path -->
<node pkg="hector_trajectory_server" type="hector_trajectory_server" name="trajectory_server_orb_slam3" output="screen" ns="orb_slam3_ros" >
    <param name="/target_frame_name" value="/world" />
    <param name="/source_frame_name" value="/camera" />
    <param name="/trajectory_update_rate" value="20.0" />

    <param name="/trajectory_publish_rate" value="20.0" />
</node>

So I'm able to open the Rivz with no problem, but once I run my bag I face two warnings. and one error. Frame World simply doesn't exist, the tf is unable to make the transformation and, the weirdest one, is the tracking img one.

On the tracking img, here's the problem. The topic exists but no image shows up.

I don't know what to do, and I would really appreaciate some insight on what might help.

[ThakurSarveshGit]

For debugging, start with knowing the names of topics in your bag file:
rosbag info bag_file_path.bag
This will give you the names of the topics your bag file is publishing to.

In the launch file, make sure your orb_slam3 ros nodes are listening to these topics.